A multi-photovoltaic array cleaning method, system, movable cleaning device and medium

Abstract

The embodiments of the present application provide a multi-photovoltaic array cleaning method, system, movable cleaning equipment and medium. In the method, when cleaning the first photovoltaic array, the reference inclination information of the second photovoltaic array adjacent to the first photovoltaic array is obtained. Subsequently, the real-time inclination information of the second photovoltaic array is calculated by a laser radar, and the estimated difference between the first inclinations of the two is determined to obtain the target roller brush inclination. The adjacent array spacing between the second photovoltaic array and the first photovoltaic array is calculated by a laser radar, and the roller brush adjustment parameters are determined accordingly. After the cleaning of the first photovoltaic array is completed, the inclination of the cleaning roller brush is adjusted according to the roller brush adjustment parameters and the target roller brush inclination, so that the movable cleaning equipment adjusts the roller brush inclination of the cleaning roller brush to the target roller brush inclination before continuing to move to the second photovoltaic array. In this way, the equipment safety and cleaning efficiency of the multi-photovoltaic array when conducting automated cleaning based on mechanical equipment are effectively improved.

Description

Technical Field

[0001] The present application relates to the field of automated control technology, and in particular to a multi-photovoltaic array cleaning method, system, movable cleaning equipment and medium. Background Art

[0002] In the current automated mechanical cleaning solutions for multiple photovoltaic arrays, it is necessary to rely on the cleaning roller brush of mechanical equipment to traverse all photovoltaic arrays to achieve automated cleaning of multiple photovoltaic arrays. However, due to the differences in array properties of each photovoltaic array (such as the inclination angle of photovoltaic panels, the number of photovoltaic panels, etc.), the current mechanical equipment cannot flexibly adjust its cleaning roller brush based on array transformation. The fixed inclination angle of the cleaning roller brush may cause damage to the photovoltaic panel, making the safety of the photovoltaic equipment in each array poor when the multiple photovoltaic arrays are automatically cleaned based on mechanical equipment.

[0003] In the current photovoltaic array cleaning method based on a moving robot, the robot is usually required to stop moving before reaching the target photovoltaic array to adjust the roller brush inclination angle. The robot can only be controlled to continue moving after the adjustment is completed. This method has the problem of poor cleaning efficiency of multiple photovoltaic arrays. Summary of the invention

[0004] Based on the above problems, in order to improve the safety of photovoltaic equipment in each array when multiple photovoltaic arrays are automatically cleaned based on mechanical equipment, and to maximize the cleaning efficiency during the cleaning process, the embodiments of the present application provide a multi-photovoltaic array cleaning method, system, movable cleaning equipment and medium.

[0005] The embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a multi-photovoltaic array cleaning method, which is applied to a movable cleaning device, wherein the movable cleaning device includes a cleaning roller brush and a laser radar; the method includes:

[0007] When cleaning the first photovoltaic array, obtaining reference tilt angle information of a second photovoltaic array adjacent to the first photovoltaic array; the reference tilt angle information is obtained based on an angle measuring instrument of the second photovoltaic array;

[0008] The real-time inclination information of the second photovoltaic array is calculated by the laser radar, and a target roller brush inclination is determined according to a first estimated inclination difference between the reference inclination information and the real-time inclination information; the target roller brush inclination is used to characterize the target inclination of the cleaning roller brush when cleaning the second photovoltaic array;

[0009] Calculating the adjacent array spacing between the second photovoltaic array and the first photovoltaic array by the laser radar, and determining the roller brush adjustment parameter according to the target roller brush inclination angle and the adjacent array spacing;

[0010] After finishing cleaning the first photovoltaic array, the inclination of the cleaning roller brush is adjusted according to the roller brush adjustment parameters and the target roller brush inclination angle, so that the roller brush inclination angle of the cleaning roller brush is adjusted to the target roller brush inclination angle before the movable cleaning device continues to move to the second photovoltaic array.

[0011] In a possible implementation, determining the roller brush adjustment parameter according to the target roller brush inclination angle and the adjacent array spacing includes:

[0012] Get the current roller brush inclination angle;

[0013] Calculating the roller brush inclination difference between the target roller brush inclination and the current roller brush inclination, and determining the roller brush adjustment safety distance according to the preset spacing conversion ratio and the adjacent array spacing; the roller brush adjustment safety distance is used to enable the movable cleaning device to adjust the roller brush inclination to the target roller brush inclination within the roller brush adjustment safety distance;

[0014] Calculate the roller brush adjustment speed and roller brush adjustment range according to a preset proportionality coefficient, the roller brush inclination difference and the roller brush adjustment safety distance; the preset proportionality coefficient is determined by the hardware properties and working environment of the cleaning device;

[0015] The roller brush adjustment speed and the roller brush adjustment amplitude are determined as the roller brush adjustment parameters.

[0016] In a possible implementation, adjusting the inclination angle of the cleaning roller brush by using the roller brush adjustment parameter and the target roller brush inclination angle includes:

[0017] Acquiring in real time the equipment distance between the movable cleaning equipment and the second photovoltaic array;

[0018] When adjusting the inclination angle of the cleaning roller brush, safety monitoring is performed based on the device spacing and the roller brush adjustment safety distance to ensure that the roller brush inclination angle is adjusted to the target roller brush inclination angle before the device spacing is less than the roller brush adjustment safety distance.

[0019] In a possible implementation, the safety monitoring based on the device spacing and the roller brush adjusting the safety distance includes:

[0020] If the device spacing is less than the roller brush adjustment safety distance and the roller brush inclination angle does not reach the target roller brush inclination angle, a movement termination control instruction is generated to terminate the movement of the movable cleaning device toward the second photovoltaic array.

[0021] In a possible implementation, determining a target roller brush inclination angle according to a first estimated inclination angle difference between the reference inclination angle information and the real-time inclination angle information includes:

[0022] Performing a difference calculation based on the reference inclination information and the real-time inclination information to obtain a second inclination estimated difference;

[0023] Determining a first preset weight coefficient corresponding to the second tilt angle estimated difference;

[0024] Performing data correction on the second tilt angle estimated difference by using the first preset weight coefficient to determine the first tilt angle estimated difference;

[0025] The first estimated inclination angle difference is summed with the reference inclination angle information to obtain the target roller brush inclination angle.

[0026] In a possible implementation, the calculating the real-time inclination information of the second photovoltaic array by using the laser radar includes:

[0027] Collecting array point cloud data of the second photovoltaic array by using the laser radar;

[0028] Perform contour extraction based on the array point cloud data to obtain photovoltaic array contour information;

[0029] A plane normal vector of the second photovoltaic array is calculated according to the photovoltaic array profile information, and the real-time inclination information is calculated based on the plane normal vector.

[0030] In a possible implementation, extracting contours based on the array point cloud data to obtain photovoltaic array contour information includes:

[0031] Performing regional segmentation processing on the array point cloud data based on ground segmentation technology to obtain a target point cloud area; the target point cloud area includes edge information of the second photovoltaic array;

[0032] The target point cloud area is filtered to remove point cloud data that does not contain the edge information, thereby obtaining the photovoltaic array contour information.

[0033] In a second aspect, an embodiment of the present application provides a multi-photovoltaic array cleaning system, which is applied to a movable cleaning device, wherein the movable cleaning device includes a cleaning roller brush and a laser radar; the system includes:

[0034] An acquisition module, used to acquire reference inclination information of a second photovoltaic array adjacent to the first photovoltaic array when cleaning the first photovoltaic array; the reference inclination information is obtained based on an angle measuring instrument of the second photovoltaic array;

[0035] a first determination module, configured to calculate the real-time inclination information of the second photovoltaic array by using the laser radar, and determine a target roller brush inclination according to a first estimated inclination difference between the reference inclination information and the real-time inclination information; the target roller brush inclination is used to characterize a target inclination of the cleaning roller brush when cleaning the second photovoltaic array;

[0036] A second determination module, configured to calculate the adjacent array spacing between the second photovoltaic array and the first photovoltaic array by using the laser radar, and determine a roller brush adjustment parameter according to the target roller brush inclination angle and the adjacent array spacing;

[0037] An adjustment module is used to adjust the inclination of the cleaning roller brush according to the roller brush adjustment parameters and the target roller brush inclination angle when the cleaning of the first photovoltaic array is completed, so that the roller brush inclination angle of the cleaning roller brush is adjusted to the target roller brush inclination angle before the movable cleaning device continues to move to the second photovoltaic array.

[0038] In a third aspect, an embodiment of the present application provides a movable cleaning device, the movable cleaning device comprising: a processor, a memory, and a system bus;

[0039] The processor and the memory are connected via the system bus;

[0040] The memory is used to store one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes any possible multi-photovoltaic array cleaning method in the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any possible multi-photovoltaic array cleaning method in the first aspect.

[0042] Compared with the prior art, the present application has the following beneficial effects: The embodiments of the present application provide a multi-photovoltaic array cleaning method, system, movable cleaning device and medium, and the method is applied to a movable cleaning device provided with a cleaning roller brush and a laser radar. When controlling the movable cleaning device to clean the first photovoltaic array, it is necessary to synchronously obtain the reference inclination information of the second photovoltaic array adjacent thereto. Among them, the reference inclination information of the second photovoltaic array is obtained based on the actual measurement of the angle measuring instrument set in the second photovoltaic, and the reference inclination information can be used as the data basis for the subsequent control of the second photovoltaic array. Subsequently, the real-time inclination information of the second photovoltaic array is calculated by the laser radar, and the target roller brush inclination of the cleaning roller when cleaning the second photovoltaic array in the future is determined based on the first inclination estimated difference between the real-time inclination information and the reference inclination information. In this way, the first inclination angle estimated difference between the two is determined through the reference inclination angle information fed back from the second photovoltaic array in the field, combined with the high-precision inclination angle calculation of the second photovoltaic array by the laser radar, so as to more accurately characterize the inclination angle of the photovoltaic panels of the second photovoltaic array, thereby determining the target roller brush inclination angle when the cleaning brush is cleaning the second photovoltaic array, so as to ensure that the target roller brush can remain as parallel to the second photovoltaic array as possible, thereby preventing the cleaning roller brush from causing damage to the second photovoltaic array. Furthermore, after determining the target roller brush inclination angle, the adjacent array spacing between the second photovoltaic array and the first photovoltaic array is calculated by laser radar, and the corresponding roller brush adjustment parameters are determined based on the adjacent array spacing and the target roller brush inclination angle. This ensures that after the movable cleaning device finishes cleaning the first photovoltaic array and before continuing to move to the second photovoltaic array, the roller brush inclination angle of the cleaning roller is adjusted to be parallel to the second photovoltaic array. There is no need to stop the cleaning device midway for adjusting the inclination angle of the cleaning roller brush. The entire inclination adjustment process is completed while the cleaning device is moving. This prevents the cleaning roller brush from causing equipment damage to the second photovoltaic array while ensuring the cleaning efficiency of the multi-photovoltaic array, thereby effectively improving the equipment safety and cleaning efficiency of the multi-photovoltaic array when conducting automated cleaning based on mechanical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 A schematic diagram of photovoltaic cleaning of a crawler-type photovoltaic cleaning robot provided in an embodiment of the present application;

[0045] Figure 2A schematic diagram of a crawler-type photovoltaic cleaning robot cleaning photovoltaic arrays at different tilt angles provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of a multi-photovoltaic array cleaning method provided in an embodiment of the present application;

[0047] Figure 4 A flow chart of a method for calculating roller brush adjustment parameters provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of a flow chart of a method for adjusting the inclination angle of a roller brush provided in an embodiment of the present application;

[0049] Figure 6 A schematic flow chart of a method for determining a target roller brush inclination angle provided in an embodiment of the present application;

[0050] Figure 7 A flowchart of a method for calculating real-time inclination information provided in an embodiment of the present application;

[0051] Figure 8 A schematic structural diagram of a multi-photovoltaic array cleaning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of this application more clear, the following is a further detailed description of this application in combination with specific embodiments and with reference to the accompanying drawings. It should be noted that the embodiments described in the embodiments of this application are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0053] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "include" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0054] As described above, in the current relevant automated mechanical cleaning solutions for multiple photovoltaic arrays, it is necessary to rely on the cleaning roller brush of mechanical equipment to traverse all photovoltaic arrays to achieve automated cleaning of multiple photovoltaic arrays. For details, please refer to Figure 1 and Figure 2 . Figure 1 A schematic diagram of photovoltaic cleaning of a crawler-type photovoltaic cleaning robot provided in an embodiment of the present application, Figure 2 A schematic diagram of a crawler-type photovoltaic cleaning robot cleaning photovoltaic arrays at different tilt angles provided in an embodiment of the present application.

[0055] like Figure 1 As shown, ① represents the laser radar set for the mobile cleaning device in the embodiment of the present application, and ② represents the cleaning roller brush at the end of its mechanical arm. When the cleaning roller brush is used to clean the photovoltaic array, it is necessary to ensure that the cleaning roller brush and the photovoltaic panel are as parallel as possible and maintain a certain fit distance, so that the equipment can be cleaned without damaging the photovoltaic panel.

[0056] In addition, by Figure 2 It can be seen that when the cleaning robot cleans multiple photovoltaic arrays in sequence, the inclination angles of different photovoltaic arrays are different. If the inclination angle of the roller brush of the cleaning robot cannot be adjusted in time, the photovoltaic array may be damaged, and the safety of the photovoltaic equipment in each array is poor.

[0057] In the current photovoltaic array cleaning method based on a moving robot, the robot is usually required to stop moving before reaching the target photovoltaic array to adjust the roller brush inclination angle. The robot can only be controlled to continue moving after the adjustment is completed. This method has the problem of poor cleaning efficiency of multiple photovoltaic arrays.

[0058] In order to solve the above problems, the embodiments of the present application provide a multi-photovoltaic array cleaning method, system, movable cleaning device and medium, and the method is applied to a movable cleaning device provided with a cleaning roller brush and a laser radar. When controlling the movable cleaning device to clean the first photovoltaic array, it is necessary to synchronously obtain the reference inclination information of the second photovoltaic array adjacent thereto. Among them, the reference inclination information of the second photovoltaic array is based on the actual measurement obtained by the angle measuring instrument set in the second photovoltaic, and the reference inclination information can be used as the data basis for subsequent control of the second photovoltaic array. Subsequently, the real-time inclination information of the second photovoltaic array is calculated by the laser radar, and the target roller brush inclination angle of the cleaning roller when cleaning the second photovoltaic array in the future is determined based on the first inclination estimated difference between the real-time inclination information and the reference inclination information. In this way, the first inclination angle estimated difference between the two is determined through the reference inclination angle information fed back from the second photovoltaic array in the field, combined with the high-precision inclination angle calculation of the second photovoltaic array by the laser radar, so as to more accurately characterize the inclination angle of the photovoltaic panels of the second photovoltaic array, thereby determining the target roller brush inclination angle when the cleaning brush is cleaning the second photovoltaic array, so as to ensure that the target roller brush can remain as parallel to the second photovoltaic array as possible, thereby preventing the cleaning roller brush from causing damage to the second photovoltaic array. Furthermore, after determining the target roller brush inclination angle, the adjacent array spacing between the second photovoltaic array and the first photovoltaic array is calculated by laser radar, and the corresponding roller brush adjustment parameters are determined based on the adjacent array spacing and the target roller brush inclination angle. This ensures that after the movable cleaning device finishes cleaning the first photovoltaic array and before continuing to move to the second photovoltaic array, the roller brush inclination angle of the cleaning roller is adjusted to be parallel to the second photovoltaic array. There is no need to stop the cleaning device midway for adjusting the inclination angle of the cleaning roller brush. The entire inclination adjustment process is completed while the cleaning device is moving. This prevents the cleaning roller brush from causing equipment damage to the second photovoltaic array while ensuring the cleaning efficiency of the multi-photovoltaic array, thereby effectively improving the equipment safety and cleaning efficiency of the multi-photovoltaic array when conducting automated cleaning based on mechanical equipment.

[0059] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] See also Figure 3 , which is a schematic diagram of a process of a multi-photovoltaic array cleaning method provided in an embodiment of the present application, specifically comprising the following steps:

[0061] S101: when cleaning a first photovoltaic array, obtaining reference tilt angle information of a second photovoltaic array adjacent to the first photovoltaic array; the reference tilt angle information is obtained based on an angle measuring instrument of the second photovoltaic array.

[0062] The second photovoltaic array is adjacent to the first photovoltaic array. When the cleaning device is cleaning the first photovoltaic array, it will obtain the reference tilt angle information of the second photovoltaic array and use it as the data basis for adjusting its own cleaning roller brush. When the cleaning device is about to clean the second photovoltaic array, the reference tilt angle information of the second photovoltaic array is used to adjust the tilt angle of its own roller brush in advance to prevent the cleaning roller brush from damaging the photovoltaic panels in the second photovoltaic array.

[0063] Among them, the photovoltaic inclination information of the second photovoltaic array is fed back by the angle measuring instrument arranged in the photovoltaic array. The angle measuring instrument needs to establish a communication connection with the movable cleaning device in advance through a certain communication method, such as Bluetooth, Wi-Fi, Zigbee, LTE (4G / 5G) and other wireless communication technologies. When the movable cleaning device approaches the second photovoltaic array, the movable cleaning device sends a data request signal for the reference inclination information to the angle measuring instrument on the second photovoltaic array. The angle measuring instrument that receives the request will activate its internal sensor to measure the actual inclination of the photovoltaic panel in the second photovoltaic array and use it as the reference inclination information. The inclination information is then fed back to the movable cleaning device to facilitate the roller brush inclination adjustment in the subsequent process of the movable cleaning device.

[0064] For example, taking a flat single-axis photovoltaic array as an example of the second photovoltaic array, its angle measuring instrument can be set on the flat single axis in the array to obtain the actual inclination information of the array in real time, thereby improving the real-time nature of the acquisition of the inclination information and avoiding data transmission delays. In a possible implementation, the angle measuring instrument can also be set in the power station support system, and the movable cleaning equipment can be connected to the power station support system to obtain the inclination information measured by the angle measuring instrument. This embodiment does not limit the specific setting method of the angle measuring instrument.

[0065] S102: Calculate the real-time inclination information of the second photovoltaic array through the laser radar, and determine the target roller brush inclination according to the first estimated inclination difference between the reference inclination information and the real-time inclination information; the target roller brush inclination is used to characterize the target inclination of the cleaning roller brush when cleaning the second photovoltaic array.

[0066] The principle of LiDAR is to obtain the three-dimensional spatial information of the target object by measuring the reflection time of the laser beam and the transmission and reception angles, so as to calculate the real-time tilt information of the photovoltaic array. Through the specific laser distance measurement and object shape contour drawing technology, it can quickly and accurately obtain the three-dimensional information of the target object, and then determine the tilt information of the target photovoltaic array.

[0067] See the above mentioned Figure 1 , this figure is an example of a movable cleaning device in the embodiment of the present application. The laser radar ① can be set on the side of the photovoltaic cleaning robot and set a certain upward angle, so that the laser radar can have a suitable angle to scan the adjacent photovoltaic array when scanning the adjacent photovoltaic array, so as to determine the actual inclination information of the adjacent photovoltaic array. In the actual application scenario, the laser radar can be set at any position of the movable cleaning device. It only needs to ensure that the inclination information of the adjacent photovoltaic array can be effectively scanned. This implementation is not limited to this. In the actual application scenario, since the movable cleaning device is dynamically moved, the real-time inclination information measured by the laser radar will also show slight fluctuations. If the inclination measured by the laser radar is directly used as the target inclination for adjusting the roller brush, it may cause the cleaning device to overreact during the adjustment of the roller brush. Therefore, after the laser radar calculates the real-time inclination information of the second photovoltaic device, it is necessary to further determine the target roller brush inclination based on the first inclination estimated difference between the real-time inclination information and the reference inclination information, so as to ensure the accuracy of the roller brush inclination control.

[0068] S103: Calculate the adjacent array spacing between the second photovoltaic array and the first photovoltaic array through the laser radar, and determine the roller brush adjustment parameter according to the target roller brush inclination angle and the adjacent array spacing.

[0069] In the cleaning scenario of multiple photovoltaic arrays, even if the mobile cleaning device determines the target roller brush inclination angle for the adjacent photovoltaic array, if the cleaning device cannot adjust the roller brush inclination angle to the corresponding target roller brush inclination angle in time when cleaning the adjacent photovoltaic array, it may still cause equipment damage to the photovoltaic array. Therefore, the laser radar also needs to calculate the adjacent array spacing between the second photovoltaic array and the first photovoltaic array, and determine the roller brush adjustment parameters based on the adjacent array spacing and the actual target roller brush inclination angle, so as to ensure that the cleaning device has adjusted the roller brush inclination angle to the corresponding target roller brush inclination angle when cleaning the adjacent second photovoltaic array.

[0070] Among them, the roller brush adjustment parameter is used to characterize the adjustment speed and adjustment range of the cleaning equipment for the cleaning roller brush, which serves as a data reference indicator to reflect the speed of roller brush adjustment.

[0071] In addition, in one possible implementation, in addition to obtaining the real-time inclination information and adjacent array spacing of adjacent photovoltaic arrays through the laser radar, the laser radar can also pre-acquire the spacing and inclination information between all adjacent photovoltaic arrays within its detection range, so as to improve the subsequent adjustment efficiency of the cleaning roller brush.

[0072] S104: After finishing cleaning the first photovoltaic array, the inclination angle of the cleaning roller brush is adjusted according to the roller brush adjustment parameter and the target roller brush inclination angle, so that the roller brush inclination angle of the cleaning roller brush is adjusted to the target roller brush inclination angle before the movable cleaning device continues to move to the second photovoltaic array.

[0073] Finally, after completing the cleaning of the first photovoltaic array, when the movable cleaning device moves from the end of the first photovoltaic array to the front of the second photovoltaic array, the cleaning roller brush is adjusted through the roller brush adjustment parameters so that the cleaning device can adjust its own roller brush inclination angle to the target roller brush inclination angle before continuing to move to the front of the second photovoltaic array. Thus, the roller brush inclination angle of the cleaning roller brush is adjusted in real time before the cleaning device continues to move to the second photovoltaic array, thereby achieving the effect of balancing cleaning efficiency and ensuring the safety of the photovoltaic array equipment.

[0074] In the process of determining the roller brush adjustment parameter in the above step S103, the roller brush adjustment parameter needs to be calculated according to the inclination difference between the first photovoltaic array and the second photovoltaic array. Next, the calculation process of the roller brush adjustment parameter will be introduced in conjunction with the specific embodiment drawings. Figure 4 , which is a flow chart of a method for calculating roller brush adjustment parameters provided in an embodiment of the present application, and specifically includes the following steps:

[0075] S1031: Obtain the current roller brush inclination angle;

[0076] S1032: Calculate the roller brush inclination difference between the target roller brush inclination and the current roller brush inclination, and determine the roller brush adjustment safety distance based on the preset spacing conversion ratio and the adjacent array spacing; the roller brush adjustment safety distance is used to enable the movable cleaning device to adjust the roller brush inclination to the target roller brush inclination within the roller brush adjustment safety distance.

[0077] Regardless of whether the cleaning device is currently in the cleaning state, it is necessary to obtain the current roller brush inclination angle of the cleaning device and the roller brush inclination difference between the current roller brush inclination angle and the target roller brush inclination angle, so as to determine the overall angle that needs to be adjusted for the roller brush. At the same time, in order to prevent the situation where the cleaning device has reached the array but the roller brush has not been adjusted, it is necessary to determine the roller brush adjustment safety distance based on the preset spacing conversion ratio and the actual adjacent array spacing. For example, if the preset spacing conversion ratio is set to 70%, and the adjacent array spacing is 100m, the corresponding roller brush adjustment safety distance is 100*70%=70m. In this way, the corresponding roller brush adjustment parameters are determined based on the specific roller brush adjustment safety distance between two adjacent photovoltaic arrays, which can maximize the guarantee that the cleaning device adjusts the roller brush inclination of its own cleaning roller brush to the target roller brush inclination before reaching the second photovoltaic array, so as to prevent the roller brush from causing equipment damage to the photovoltaic array, and ensure the equipment safety of multiple photovoltaic arrays during cleaning.

[0078] S1033: Calculate the roller brush adjustment speed and roller brush adjustment amplitude according to a preset proportionality coefficient, the roller brush inclination difference, and the roller brush adjustment safety distance; the preset proportionality coefficient is determined by the hardware properties and working environment of the cleaning device.

[0079] S1034: Determine the roller brush adjustment speed and the roller brush adjustment amplitude as the roller brush adjustment parameters.

[0080] Specifically, the roller brush adjustment parameters include roller brush adjustment speed and roller brush adjustment amplitude, and the calculation method thereof can refer to the following formula:

[0081] vv==kk1**ttannθθ++kk2**dd;

[0082] ff==kk3**θθ++kk4**dd;

[0083] Wherein, v represents the adjustment speed of the roller brush, f represents the adjustment amplitude of the roller brush, θθ represents the above-mentioned roller brush inclination difference, and d represents the roller brush adjustment safety distance. Wherein, kK1, Kk2, Kk3, and kk4 represent preset proportional coefficients set according to the hardware attributes and working environment of the cleaning device. In a possible implementation, the hardware attributes of the cleaning device may be factors such as the length and design of the robot arm, which is not limited in this embodiment.

[0084] The above is an introduction to the calculation method of the roller brush adjustment parameters. From the above introduction to the roller brush adjustment parameters, it can be seen that the core purpose of calculating the roller brush adjustment parameters is to prevent the cleaning equipment from damaging the photovoltaic equipment due to the roller brush inclination not being adjusted in time when it reaches the second photovoltaic array. Similarly, in the process of adjusting the roller brush inclination based on the roller brush adjustment parameters and synchronously heading to the second photovoltaic array, the cleaning equipment also needs to perform real-time monitoring based on the distance between itself and the second photovoltaic array and the roller brush adjustment safety distance, so as to ensure the equipment safety of the second photovoltaic array.

[0085] Next, the process of adjusting the roller brush inclination angle by using the roller brush adjustment parameters and the target roller brush inclination angle in step S104 will be introduced in conjunction with the drawings of specific embodiments.

[0086] See also Figure 5 , which is a schematic flow chart of a method for adjusting the inclination angle of a roller brush provided in an embodiment of the present application, and specifically comprises the following steps:

[0087] S1041: Acquire in real time the equipment distance between the movable cleaning equipment and the second photovoltaic array;

[0088] S1042: When adjusting the inclination angle of the cleaning roller brush, safety monitoring is performed based on the device spacing and the roller brush adjustment safety distance to ensure that the roller brush inclination angle is adjusted to the target roller brush inclination angle before the device spacing becomes smaller than the roller brush adjustment safety distance.

[0089] When the movable cleaning device is able to receive the laser radar reflection information for the second photovoltaic array, the device distance between the movable cleaning device and the second photovoltaic array is synchronously calculated through the laser radar information. After the cleaning device finishes cleaning the first photovoltaic array, the cleaning device needs to synchronously adjust the inclination of its cleaning roller brush while driving towards the second photovoltaic array. At this time, the laser radar on the cleaning device obtains the device distance between itself and the second photovoltaic array in real time, and compares it with the roller brush adjustment safety distance to perform safety detection.

[0090] The cleaning device needs to adjust the roller brush inclination angle to the target roller brush inclination angle before the distance between the cleaning device and the second photovoltaic array is less than the roller brush adjustment safety distance, so as to prevent the cleaning roller brush from causing damage to the equipment of the second photovoltaic array. During the entire process, if the distance between the cleaning device and the second photovoltaic array is less than the roller brush adjustment safety distance, and the roller brush inclination angle of the cleaning device itself does not reach the target roller brush inclination angle, a movement termination control instruction needs to be generated to terminate the movement of the cleaning device toward the second photovoltaic array. Only when the roller brush inclination angle is adjusted to the target roller brush inclination angle can the movable cleaning device be controlled to continue to move toward the second photovoltaic array, so as to prevent the cleaning roller brush from causing damage to the second photovoltaic array and ensure the safety of the equipment of the second photovoltaic array.

[0091] In the above step S102, the first estimated inclination angle difference is actually the inclination angle difference obtained after data processing of the inclination angle difference between the two, rather than a mathematical difference in an intuitive sense. Next, the process of calculating the target roller brush inclination angle through the first estimated inclination angle difference will be introduced in conjunction with the drawings of specific embodiments.

[0092] See also Figure 6 , which is a flow chart of a method for determining a target roller brush inclination angle provided in an embodiment of the present application, and specifically includes the following steps:

[0093] S1021: performing difference calculation based on the reference inclination information and the real-time inclination information to obtain a second inclination estimated difference;

[0094] S1022: Determine a first preset weight coefficient corresponding to the second tilt angle estimated difference.

[0095] In the process of determining the target roller brush inclination angle, it is necessary to calculate the difference between the reference inclination angle information and the real-time inclination angle information to obtain the second inclination angle estimated difference. Furthermore, in order to prevent the dynamic change between the real-time inclination angle and the reference inclination angle information from affecting the angle adjustment of the roller brush inclination angle, it is necessary to determine the corresponding first preset weight coefficient through the second inclination angle estimated difference, so as to facilitate the subsequent numerical correction of the second inclination angle estimated difference.

[0096] Among them, the first preset weight coefficient is obtained through a pre-trained machine learning model. During the historical training process of the model, multiple groups of second inclination estimated differences (i.e., the inclination difference between the reference inclination and the real-time inclination) and the actual inclination of the photovoltaic array are used as training data to train the model and determine the distribution of the inclination difference (such as mean, variance, standard deviation, etc.). Based on the distribution of the inclination difference, the corresponding weight coefficient range under different differences is set. For example, when the inclination difference between the two is large, it is necessary to set a lower first preset weight coefficient (such as 0.45-0.85) to prevent the inclination difference from being too large and causing excessive adjustment of the roller brush. When the inclination difference between the two is too small, it is necessary to set a higher first preset weight coefficient (such as 1.0-1.2) to supplement a certain roller brush inclination adjustment.

[0097] S1023: performing data correction on the second tilt angle estimated difference by using the first preset weight coefficient to determine the first tilt angle estimated difference;

[0098] S1024: performing a sum operation on the first estimated inclination angle difference and the reference inclination angle information to obtain the target roller brush inclination angle.

[0099] Correspondingly, the first preset weight coefficient is multiplied by the second estimated inclination difference to obtain the first estimated inclination difference, and the first estimated inclination difference is summed with the reference inclination information actually measured by the angle measuring instrument to obtain the target roller brush inclination. After actual testing, the target roller brush inclination obtained after such processing is closer to the actual inclination of the photovoltaic array, which can make the cleaning roller brush and the photovoltaic panels of the photovoltaic array almost parallel to each other, so as to ensure that the cleaning roller brush will not damage the photovoltaic panels in the second photovoltaic array, so as to ensure the safety of the photovoltaic array during equipment cleaning.

[0100] On the other hand, in step S102, the calculation of the real-time inclination information of the second photovoltaic array by the laser radar needs to be completed based on the point cloud data of the second photovoltaic array. Next, the process of calculating the real-time inclination information of the second photovoltaic array by the laser radar in step S102 will be introduced in conjunction with the specific embodiment drawings. Figure 7 , which is a flow chart of a method for calculating real-time inclination information provided by an embodiment of the present application, and specifically includes the following steps:

[0101] S1025: Collecting array point cloud data of the second photovoltaic array by using the laser radar;

[0102] S1026: Perform contour extraction based on the array point cloud data to obtain photovoltaic array contour information.

[0103] The laser radar needs to collect the array point cloud data of the second photovoltaic array and perform downsampling processing on it, thereby reducing the amount of data in the array point cloud data to achieve the effect of improving data processing efficiency. Subsequently, it is necessary to perform contour extraction on the collected array point cloud data to extract the photovoltaic array contour information including the photovoltaic array edge.

[0104] In the process of extracting the contour of the array point cloud data, it is necessary to perform regional segmentation processing on the collected array point cloud data based on the ground segmentation technology, so as to separate the ground part and the part of the photovoltaic array containing the photovoltaic panels, and obtain the target point cloud area containing the edge information of the photovoltaic array. Furthermore, in order to prevent the interference of irrelevant data, it is necessary to further filter the target point cloud area to remove the point cloud data that does not belong to the photovoltaic array, so as to obtain the overall contour information of the photovoltaic array.

[0105] In a possible implementation, the filtering operation on the target point cloud area may be performed by filtering on the Z axis. This embodiment does not limit the filtering method.

[0106] S1027: Calculate a plane normal vector of the second photovoltaic array according to the photovoltaic array profile information, and calculate the real-time inclination information based on the plane normal vector.

[0107] After obtaining the overall contour information of the photovoltaic array, the plane normal vector corresponding to the overall contour of the photovoltaic array is calculated, and then the real-time inclination information of the photovoltaic array can be calculated by the plane normal vector, thereby promoting the subsequent process of determining the target rolling brush angle.

[0108] The embodiments of the present application provide a multi-photovoltaic array cleaning method, system, movable cleaning device and medium, and the method is applied to a movable cleaning device provided with a cleaning roller brush and a laser radar. When controlling the movable cleaning device to clean the first photovoltaic array, it is necessary to synchronously obtain the reference inclination information of the second photovoltaic array adjacent thereto. Among them, the reference inclination information of the second photovoltaic array is based on the actual measurement obtained by the angle measuring instrument set in the second photovoltaic, and the reference inclination information can be used as the data basis for the subsequent control of the second photovoltaic array. Subsequently, the real-time inclination information of the second photovoltaic array is calculated by the laser radar, and the target roller brush inclination angle of the cleaning roller when cleaning the second photovoltaic array in the future is determined based on the first inclination estimated difference between the real-time inclination information and the reference inclination information. In this way, the first inclination angle estimated difference between the two is determined through the reference inclination angle information fed back from the second photovoltaic array in the field, combined with the high-precision inclination angle calculation of the second photovoltaic array by the laser radar, so as to more accurately characterize the inclination angle of the photovoltaic panels of the second photovoltaic array, thereby determining the target roller brush inclination angle when the cleaning brush is cleaning the second photovoltaic array, so as to ensure that the target roller brush can remain as parallel to the second photovoltaic array as possible, thereby preventing the cleaning roller brush from causing damage to the second photovoltaic array. Furthermore, after determining the target roller brush inclination angle, the adjacent array spacing between the second photovoltaic array and the first photovoltaic array is calculated by laser radar, and the corresponding roller brush adjustment parameters are determined based on the adjacent array spacing and the target roller brush inclination angle. This ensures that after the movable cleaning device finishes cleaning the first photovoltaic array and before continuing to move to the second photovoltaic array, the roller brush inclination angle of the cleaning roller is adjusted to be parallel to the second photovoltaic array. There is no need to stop the cleaning device midway for adjusting the inclination angle of the cleaning roller brush. The entire inclination adjustment process is completed while the cleaning device is moving. This prevents the cleaning roller brush from causing equipment damage to the second photovoltaic array while ensuring the cleaning efficiency of the multi-photovoltaic array, thereby effectively improving the equipment safety and cleaning efficiency of the multi-photovoltaic array when conducting automated cleaning based on mechanical equipment.

[0109] A multi-photovoltaic array cleaning system provided in an embodiment of the present application is introduced below. The multi-photovoltaic array cleaning system described below and the multi-photovoltaic array cleaning method described above can refer to each other.

[0110] See also Figure 8 , which is a schematic diagram of the structure of a multi-photovoltaic array cleaning system provided in an embodiment of the present application, wherein the system is applied to a movable cleaning system provided with a cleaning roller brush and a laser radar, and specifically includes the following modules:

[0111] An acquisition module 100 is used to acquire reference inclination information of a second photovoltaic array adjacent to the first photovoltaic array when cleaning the first photovoltaic array; the reference inclination information is obtained based on an angle measuring instrument of the second photovoltaic array;

[0112] A first determination module 200 is used to calculate the real-time inclination information of the second photovoltaic array by the laser radar, and determine the target roller brush inclination according to the first estimated inclination difference between the reference inclination information and the real-time inclination information; the target roller brush inclination is used to represent the target inclination of the cleaning roller brush when cleaning the second photovoltaic array;

[0113] A second determination module 300 is used to calculate the adjacent array spacing between the second photovoltaic array and the first photovoltaic array by the laser radar, and determine the roller brush adjustment parameter according to the target roller brush inclination angle and the adjacent array spacing;

[0114] The adjustment module 400 is used to adjust the inclination of the cleaning roller brush according to the roller brush adjustment parameters and the target roller brush inclination angle when the cleaning of the first photovoltaic array is completed, so that the roller brush inclination angle of the cleaning roller brush is adjusted to the target roller brush inclination angle before the movable cleaning device continues to move to the second photovoltaic array.

[0115] Accordingly, an embodiment of the present application further provides a movable cleaning device, the movable cleaning device comprising: a processor, a memory, and a system bus;

[0116] The processor and the memory are connected via the system bus;

[0117] The memory is used to store one or more programs, and the one or more programs include instructions. When the instructions are executed by the processor, the processor executes the multi-photovoltaic array cleaning method described in any of the above embodiments.

[0118] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, an embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the multi-photovoltaic array cleaning method described in any of the above embodiments.

[0119] The computer-readable media of the embodiments of the present application include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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, read-only 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.

[0120] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the multi-photovoltaic array cleaning method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0121] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for methods, systems, electronic devices and media, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. The methods, systems, electronic devices and media described above are merely schematic, in which the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0122] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for cleaning a multi-photovoltaic array, characterized in that: Applied to a movable cleaning device, the movable cleaning device includes a cleaning roller brush and a laser radar; the method includes: When cleaning the first photovoltaic array, obtaining reference tilt angle information of a second photovoltaic array adjacent to the first photovoltaic array; the reference tilt angle information is obtained based on an angle measuring instrument of the second photovoltaic array; The real-time inclination information of the second photovoltaic array is calculated by the laser radar, and a target roller brush inclination is determined according to a first estimated inclination difference between the reference inclination information and the real-time inclination information; the target roller brush inclination is used to characterize the target inclination of the cleaning roller brush when cleaning the second photovoltaic array; Calculating the adjacent array spacing between the second photovoltaic array and the first photovoltaic array by the laser radar, and determining the roller brush adjustment parameter according to the target roller brush inclination angle and the adjacent array spacing; After finishing cleaning the first photovoltaic array, the inclination of the cleaning roller brush is adjusted according to the roller brush adjustment parameters and the target roller brush inclination angle, so that the roller brush inclination angle of the cleaning roller brush is adjusted to the target roller brush inclination angle before the movable cleaning device continues to move to the second photovoltaic array.

2. The method according to claim 1, characterized in that The step of determining the roller brush adjustment parameter according to the target roller brush inclination angle and the adjacent array spacing includes: Get the current roller brush inclination angle; Calculating the roller brush inclination difference between the target roller brush inclination and the current roller brush inclination, and determining the roller brush adjustment safety distance according to the preset spacing conversion ratio and the adjacent array spacing; the roller brush adjustment safety distance is used to enable the movable cleaning device to adjust the roller brush inclination to the target roller brush inclination within the roller brush adjustment safety distance; Calculate the roller brush adjustment speed and roller brush adjustment range according to a preset proportionality coefficient, the roller brush inclination difference and the roller brush adjustment safety distance; the preset proportionality coefficient is determined by the hardware properties and working environment of the cleaning device; The roller brush adjustment speed and the roller brush adjustment amplitude are determined as the roller brush adjustment parameters.

3. The method according to claim 2, characterized in that The step of adjusting the inclination angle of the cleaning roller brush by using the roller brush adjustment parameter and the target roller brush inclination angle includes: Acquiring in real time the equipment distance between the movable cleaning equipment and the second photovoltaic array; When adjusting the inclination angle of the cleaning roller brush, safety monitoring is performed based on the device spacing and the roller brush adjustment safety distance to ensure that the roller brush inclination angle is adjusted to the target roller brush inclination angle before the device spacing is less than the roller brush adjustment safety distance.

4. The method according to claim 3, characterized in that The safety monitoring based on the equipment spacing and the roller brush adjusting the safety distance includes: If the device spacing is less than the roller brush adjustment safety distance and the roller brush inclination angle does not reach the target roller brush inclination angle, a movement termination control instruction is generated to terminate the movement of the movable cleaning device toward the second photovoltaic array.

5. The method according to claim 1, characterized in that: The step of determining a target roller brush inclination angle according to a first inclination angle estimated difference between the reference inclination angle information and the real-time inclination angle information comprises: Performing a difference calculation based on the reference inclination information and the real-time inclination information to obtain a second inclination estimated difference; Determining a first preset weight coefficient corresponding to the second tilt angle estimated difference; Performing data correction on the second tilt angle estimated difference by using the first preset weight coefficient to determine the first tilt angle estimated difference; The first estimated inclination angle difference is summed with the reference inclination angle information to obtain the target roller brush inclination angle.

6. The method according to claim 1, characterized in that The calculating the real-time inclination information of the second photovoltaic array by the laser radar includes: Collecting array point cloud data of the second photovoltaic array by using the laser radar; Perform contour extraction based on the array point cloud data to obtain photovoltaic array contour information; A plane normal vector of the second photovoltaic array is calculated according to the photovoltaic array profile information, and the real-time inclination information is calculated based on the plane normal vector.

7. The method according to claim 6, characterized in that The step of extracting contours based on the array point cloud data to obtain photovoltaic array contour information includes: Performing regional segmentation processing on the array point cloud data based on ground segmentation technology to obtain a target point cloud area; the target point cloud area includes edge information of the second photovoltaic array; The target point cloud area is filtered to remove point cloud data that does not contain the edge information, thereby obtaining the photovoltaic array contour information.

8. A multi-photovoltaic array cleaning system, characterized in that: Applied to a movable cleaning device, the movable cleaning device includes a cleaning roller brush and a laser radar; the system includes: An acquisition module, used to acquire reference inclination information of a second photovoltaic array adjacent to the first photovoltaic array when cleaning the first photovoltaic array; the reference inclination information is obtained based on an angle measuring instrument of the second photovoltaic array; a first determination module, configured to calculate the real-time inclination information of the second photovoltaic array by using the laser radar, and determine a target roller brush inclination according to a first estimated inclination difference between the reference inclination information and the real-time inclination information; the target roller brush inclination is used to characterize a target inclination of the cleaning roller brush when cleaning the second photovoltaic array; A second determination module, configured to calculate the adjacent array spacing between the second photovoltaic array and the first photovoltaic array by using the laser radar, and determine a roller brush adjustment parameter according to the target roller brush inclination angle and the adjacent array spacing; An adjustment module is used to adjust the inclination of the cleaning roller brush according to the roller brush adjustment parameters and the target roller brush inclination angle when the cleaning of the first photovoltaic array is completed, so that the roller brush inclination angle of the cleaning roller brush is adjusted to the target roller brush inclination angle before the movable cleaning device continues to move to the second photovoltaic array.

9. A movable cleaning device, characterized in that: The mobile cleaning device includes: a processor, a memory and a system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the multi-photovoltaic array cleaning method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the multi-photovoltaic array cleaning method described in any one of claims 1 to 7 is implemented.

Images