Charging method, device and equipment of photovoltaic panel cleaning robot and storage medium

Abstract

The invention is suitable for the field of new energy, and discloses a charging method, device and equipment of a photovoltaic panel cleaning robot and a storage medium. The charging method of the photovoltaic panel cleaning robot comprises the steps that when the electric quantity is lower than a preset threshold value, a first preset identifier is detected, and the photovoltaic panel cleaning robot moves to a first area according to the first preset identifier; if the second preset identifier and the third preset identifier are identified in the first area, executing a pose adjustment operation according to the second preset identifier; and when the execution of the pose adjustment operation is completed, moving to an optimal charging area in the electromagnetic induction area according to the third preset identifier and a fourth preset identifier in the electromagnetic induction area so as to perform wireless charging. According to the invention, the stability of wireless charging is remarkably improved through a multi-level, step-by-step and accurate guiding mode.

Description

Technical Field

[0001] The present invention belongs to the field of new energy, and in particular relates to a charging method, device, equipment and storage medium for a photovoltaic panel cleaning robot. Background Art

[0002] The photovoltaic panel cleaning robot is an automated robot used to clean photovoltaic modules (solar panels).

[0003] The traditional charging method of photovoltaic panel cleaning robots is to complete wireless charging based on remote control, vision or RTK navigation control. These methods are prone to position deviation when docking the transmitter and receiver, resulting in low charging stability. A new technical means is needed to solve the above technical problems. Summary of the invention

[0004] In view of this, the embodiments of the present invention provide a charging method, device, equipment and storage medium for a photovoltaic panel cleaning robot, which can solve the problem of low charging stability of the photovoltaic panel cleaning robot in the related art.

[0005] A first aspect of the present invention provides a charging method for a photovoltaic panel cleaning robot, comprising: When the power level is lower than a preset threshold, a first preset mark is detected, and according to the first preset mark, the first area is moved; If the second preset mark and the third preset mark are recognized in the first area, a posture adjustment operation is performed according to the second preset mark; When the posture adjustment operation is completed, the wireless charging device moves to the optimal charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area to perform wireless charging.

[0006] Optionally, in a first implementation of the first aspect of the present invention, when the posture adjustment operation is completed, the step of moving to the optimal charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area includes: When the posture adjustment operation is completed, moving to the electromagnetic induction area according to the third preset mark; If the fourth preset mark is recognized in the electromagnetic induction area, it is determined that the best charging area in the electromagnetic induction area has been reached, and the movement is stopped.

[0007] Optionally, in a second implementation of the first aspect of the present invention, when the posture adjustment operation is completed, the step of moving to the optimal charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area includes: When the posture adjustment operation is completed, according to the third preset mark, move to the electromagnetic induction area and detect whether the wireless charging voltage is in a preset optimal charging range; If the wireless charging voltage is not in the optimal charging range, a position fine-tuning operation is performed according to the optimal charging range and the current charging voltage to move to the optimal charging area.

[0008] Optionally, in a third implementation of the first aspect of the present invention, if the wireless charging voltage is not in the optimal charging range, the step of performing the position fine-tuning operation according to the optimal charging range and the current charging voltage includes: Generate a charging voltage change trend based on the current charging voltage and the preset historical charging voltage; Perform position fine-tuning operations based on the charging voltage change trend and pre-stored historical trajectory.

[0009] Optionally, in a fourth implementation of the first aspect of the present invention, after the posture adjustment operation is completed, according to the third preset mark and the fourth preset mark in the electromagnetic induction area, the method further includes: If the power level is higher than the target threshold, wireless charging is stopped and the battery is moved to a preset cleaning area to continue the photovoltaic cleaning operation.

[0010] Optionally, in a fifth implementation of the first aspect of the present invention, if the power level is higher than the target threshold, the step of stopping wireless charging and moving to a preset cleaning area to continue the photovoltaic cleaning operation includes: If the current cleaning task is marked with priority data, the target threshold is dynamically generated based on the priority data.

[0011] Optionally, in a sixth implementation of the first aspect of the present invention, the second marker is a circular marker, which includes a central large circle as a main reference point, and a number of smaller circular markers are arranged in sequence outward from the central large circle, and the size and arrangement of the small circular markers decrease step by step based on the distance from the central large circle.

[0012] In a second aspect, an embodiment of the present invention provides a charging device for a photovoltaic panel cleaning robot, comprising: A detection module, used for detecting a first preset mark when the power level is lower than a preset threshold, and moving to a first area according to the first preset mark; A posture adjustment module, configured to perform a posture adjustment operation according to the second preset identifier if a second preset identifier and a third preset identifier are recognized in the first area; The moving module is used to move to the best charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area when the posture adjustment operation is completed, so as to perform wireless charging.

[0013] In a third aspect, an embodiment of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the charging method of the above-mentioned photovoltaic panel cleaning robot when executing the computer program.

[0014] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the charging method of the photovoltaic panel cleaning robot are implemented.

[0015] In a fifth aspect, an embodiment of the present invention provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the above-mentioned charging method for the photovoltaic panel cleaning robot.

[0016] Compared with the prior art, the embodiment of the present invention has the following beneficial effects: when the power is lower than the preset threshold, the first preset mark is detected, and according to the first preset mark, the robot moves to the first area; if the second preset mark and the third preset mark are identified in the first area, the posture adjustment operation is performed according to the second preset mark; when the posture adjustment operation is completed, the robot moves to the best charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area to perform wireless charging. Based on the perception and decision-making ability of the charging device of the photovoltaic panel cleaning robot itself, the robot can autonomously detect the mark, adjust the posture and move to the best charging area, thereby realizing the full automation of the charging process. By introducing the first preset mark, the second preset mark and the third preset mark, the charging device of the photovoltaic panel cleaning robot can locate the charging area more accurately. The first preset mark guides the photovoltaic panel cleaning robot to move to the first area, while the second preset mark and the third preset mark further refine the position of the photovoltaic panel cleaning robot, so that the robot can move after performing the posture adjustment operation, thereby ensuring accurate docking with the wireless charging transmitter. The multi-level and step-by-step precise guidance method significantly improves the stability of wireless charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A schematic diagram of an embodiment of a charging method for a photovoltaic panel cleaning robot in an embodiment of the present invention; Figure 2This is a schematic diagram of a specific embodiment of step S103 of the charging method of the photovoltaic panel cleaning robot in an embodiment of the present invention; Figure 3 This is another specific embodiment schematic diagram of step S103 of the charging method of the photovoltaic panel cleaning robot in an embodiment of the present invention; Figure 4 A schematic diagram of an embodiment of a charging device for a photovoltaic panel cleaning robot according to an embodiment of the present invention; Figure 5 The figure is a schematic diagram of an embodiment of a terminal device in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are protected by the present invention.

[0020] It should be noted that the terms "include", "comprises" and "have" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, terminal, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the claims, specifications and drawings of the present invention, relational terms such as "first" and "second" are merely used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such real-time relationship or order between these entities / operations / objects.

[0021] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] The photovoltaic panel cleaning robot is an automated robot used to clean photovoltaic modules (solar panels).

[0023] The traditional charging method of photovoltaic panel cleaning robots is to complete wireless charging based on remote control, vision or RTK navigation control. These methods are prone to position deviation when docking the transmitter and receiver, resulting in low charging stability. A new technical means is needed to solve the above technical problems.

[0024] In view of this, an embodiment of the present invention provides a charging method, device, equipment and storage medium for a photovoltaic panel cleaning robot. Based on the perception and decision-making ability of the charging device of the photovoltaic panel cleaning robot itself, it can autonomously detect the mark, adjust the posture and move to the optimal charging area, thereby realizing the full automation of the charging process. By introducing the first preset mark, the second preset mark and the third preset mark, the charging device of the photovoltaic panel cleaning robot can locate the charging area more accurately. The first preset mark guides the photovoltaic panel cleaning robot to move to the first area, while the second preset mark and the third preset mark further refine the position of the photovoltaic panel cleaning robot so that it can move after performing the posture adjustment operation, thereby ensuring accurate docking with the wireless charging transmitter. The multi-level, step-by-step precise guidance method significantly improves the stability of wireless charging.

[0025] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0026] Figure 1 The present invention provides a schematic diagram of a charging method for a photovoltaic panel cleaning robot, which can be applied to a terminal device, such as a mobile phone, a tablet computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, etc.

[0027] Specifically, the charging method of the photovoltaic panel cleaning robot may include the following steps S101 to S103.

[0028] Step S101, when the power level is lower than a preset threshold, a first preset mark is detected, and according to the first preset mark, the device moves to a first area.

[0029] In an embodiment of the present invention, the photovoltaic panel cleaning robot continuously monitors the battery power during the cleaning task, and when the battery power is lower than a preset threshold (for example, the remaining power is lower than 20%), the robot triggers the charging control process.

[0030] The charging device of the photovoltaic panel cleaning robot searches and identifies the first preset mark in the surrounding environment through the camera, laser radar or other sensors carried by it. The first preset mark is an obvious mark or pattern used to indicate the approximate direction or position of the robot to the charging area.

[0031] When the first preset mark is identified, a path to the first area is planned based on the position information of the mark. The robot moves to the first area according to the planned path through autonomous navigation technology (such as SLAM, visual navigation, etc.).

[0032] Optionally, during movement, the vehicle senses the surrounding environment in real time to avoid collisions and adjust the path.

[0033] Step S102: If the second preset mark and the third preset mark are recognized in the first area, a posture adjustment operation is performed according to the second preset mark.

[0034] In an embodiment of the present invention, after the robot enters the first area, it will continue to search for and identify the second preset mark.

[0035] The second preset mark is a more precise preset mark, which is used to guide the robot to adjust its posture. The posture and position will be adjusted according to the position and shape information of the mark to ensure the docking accuracy with the wireless charging transmitter. The posture adjustment may include actions such as rotation, translation or tilt. The posture refers to a comprehensive description of the position and orientation of the robot relative to a reference point or reference coordinate system. It describes the specific position and orientation of the robot in space.

[0036] The third preset mark serves as a guide for the robot's next action after the posture adjustment. When the robot successfully recognizes the second preset mark in the first area and performs the corresponding posture adjustment operation, it will determine the next moving direction and target position (such as the electromagnetic induction area) according to the third preset mark.

[0037] Optionally, the second logo is a circular logo, which includes a central large circle as the main reference point, and a number of smaller circular logos are arranged in sequence outward from the central large circle, and the size and arrangement of the small circular logos decrease step by step based on the distance from the central large circle.

[0038] Specifically, the robot first identifies and locks the central circle, which is the main reference point of the entire second preset mark. The position and outline of the central circle can be determined by a perception device such as a visual sensor or a laser radar.

[0039] Then, several small circle marks arranged around the central large circle are identified. The size and arrangement of each small circle mark decreases step by step based on its distance from the central large circle. By calculating the relative position and distance of each small circle mark to the central large circle, an accurate coordinate system or position relationship diagram is constructed.

[0040] Based on the constructed position relationship graph, the deviation between its current position and posture (i.e., pose) and the ideal charging position is evaluated. If there is a deviation, the necessary rotation angle and translation distance are calculated to adjust its pose.

[0041] After the adjustment direction and distance are determined, the drive system is started to perform the corresponding rotation and translation actions.

[0042] After completing the posture adjustment, the robot will check its relative position relationship with the second preset mark again to ensure that it has been accurately aligned to the optimal charging position.

[0043] If the verification results show that there is still a deviation, the robot will repeat the pose evaluation and adjustment steps until precise alignment is achieved.

[0044] Step S103, when the posture adjustment operation is completed, move to the best charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area to perform wireless charging.

[0045] In an embodiment of the present invention, after completing the posture adjustment, the path will be fine-tuned according to the precise position information of the third preset marker to move into the electromagnetic induction area, and based on the fourth preset marker in the electromagnetic induction area, it is determined whether the current position is the optimal charging area.

[0046] When the robot reaches the optimal charging area, it will establish a connection with the wireless charging transmitter and start wireless charging.

[0047] Compared with the prior art, the embodiment of the present invention has the following beneficial effects: when the power is lower than the preset threshold, the first preset mark is detected, and according to the first preset mark, the robot moves to the first area; if the second preset mark and the third preset mark are identified in the first area, the posture adjustment operation is performed according to the second preset mark; when the posture adjustment operation is completed, the robot moves to the best charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area to perform wireless charging. Based on the perception and decision-making ability of the charging device of the photovoltaic panel cleaning robot itself, the robot can autonomously detect the mark, adjust the posture and move to the best charging area, thereby realizing the full automation of the charging process. By introducing the first preset mark, the second preset mark and the third preset mark, the charging device of the photovoltaic panel cleaning robot can locate the charging area more accurately. The first preset mark guides the photovoltaic panel cleaning robot to move to the first area, while the second preset mark and the third preset mark further refine the position of the photovoltaic panel cleaning robot, so that the robot can move after performing the posture adjustment operation, thereby ensuring accurate docking with the wireless charging transmitter. The multi-level and step-by-step precise guidance method significantly improves the stability of wireless charging.

[0048] During the charging process of a conventional photovoltaic panel cleaning robot, there is a tendency for position deviation to occur when the transmitter and receiver are docked, resulting in low charging stability. Position deviation may be caused by a variety of factors, such as the navigation accuracy of the robot, the layout of the wireless charging transmitter, etc. Based on this, the present invention proposes an optional embodiment.

[0049] Figure 2 Schematic diagram of a specific embodiment of step S103 of the charging method of the photovoltaic panel cleaning robot in the embodiment of the present invention. Step S103 also includes the following specific implementation methods.

[0050] Step S1031, when the posture adjustment operation is completed, move to the electromagnetic induction area according to the third preset mark.

[0051] In the embodiment of the present invention, the user moves to the electromagnetic induction area according to the guidance of the second preset mark. In this step, a visual sensor, a laser radar or other sensing device is used again to accurately enter the electromagnetic induction area.

[0052] Step S1032: if a fourth preset mark is recognized in the electromagnetic induction area, it is determined that the best charging area in the electromagnetic induction area has been reached, and movement is stopped.

[0053] In the embodiment of the present invention, a fourth preset mark is searched and identified in the electromagnetic induction area. The fourth preset mark is an accurate charging position mark, which is used to indicate the specific position of the optimal charging area.

[0054] When the fourth preset mark is recognized, the robot will determine that it has reached the optimal charging area in the electromagnetic induction area. At this time, the robot will stop moving and prepare for wireless charging.

[0055] In the embodiment of the present invention, by introducing the fourth preset mark, the robot can locate the optimal charging area more efficiently and accurately, thereby improving the charging accuracy and efficiency.

[0056] Figure 3 2 is another specific embodiment schematic diagram of step S103 of the charging method of the photovoltaic panel cleaning robot in an embodiment of the present invention. Step S103 also includes the following specific implementation methods.

[0057] Step S1033, when the posture adjustment operation is completed, move to the electromagnetic induction area according to the third preset mark, and detect whether the wireless charging voltage is in a preset optimal charging range.

[0058] In an embodiment of the present invention, after the photovoltaic panel cleaning robot recognizes the second preset mark in the first area, it performs a posture adjustment operation according to the mark so that its position and posture with the wireless charging transmitter reach an optimal docking state.

[0059] After the posture adjustment is completed, move to the electromagnetic induction area according to the guidance of the second preset mark.

[0060] In the electromagnetic induction area, the wireless charging voltage is detected to see if it is in the preset optimal charging range. This can be achieved by establishing a connection between the wireless charging receiving device on the robot and the wireless charging transmitting end, and then monitoring the charging voltage in real time.

[0061] If the detected wireless charging voltage is within the optimal charging range, the device will maintain the current position and continue wireless charging. If the charging voltage does not meet the standard, proceed to the next step.

[0062] Step S1034: if the wireless charging voltage is not in the optimal charging range, a position fine-tuning operation is performed according to the optimal charging range and the current charging voltage to move to the optimal charging area.

[0063] In an embodiment of the present invention, when the charging voltage is not in the optimal charging range, a position fine-tuning operation is performed according to the difference between the optimal charging range and the current charging voltage. For example, according to the charging voltage change trend and the pre-stored historical trajectory, the position and posture of the robot are adjusted to be closer to the optimal charging position.

[0064] After fine-tuning the position, the robot will cyclically detect whether the wireless charging voltage meets the standard. If it still does not meet the standard, the position fine-tuning operation will be repeated until the charging voltage enters the optimal charging range.

[0065] In the embodiment of the present invention, by real-time monitoring of the wireless charging voltage and fine-tuning the position as needed, the optimal charging position can be accurately located, thereby improving the charging efficiency. In addition, the position fine-tuning operation effectively reduces the phenomenon of unstable charging caused by position deviation.

[0066] Traditional charging methods often rely on fixed charging stations or charging areas. However, due to environmental factors (such as light intensity, temperature changes, etc.) and the robot's own state (such as battery power, moving speed, etc.), fixed charging areas may not always provide the best charging effect. Based on this, the present invention proposes an optional embodiment.

[0067] Step S1034 also includes the following specific implementation methods.

[0068] Step S10341, when the posture adjustment operation is completed, move to the electromagnetic induction area according to the third preset mark, and detect whether the wireless charging voltage is in a preset optimal charging range.

[0069] In an embodiment of the present invention, after moving to the electromagnetic induction area, the current wireless charging voltage is detected.

[0070] The detected wireless charging voltage is compared with a preset optimal charging interval to determine whether it is within the interval.

[0071] If the current wireless charging voltage is not within the optimal charging range, a charging voltage change trend will be generated based on the current charging voltage and the pre-stored historical charging voltage.

[0072] Step S10342: if the wireless charging voltage is not in the optimal charging range, a position fine-tuning operation is performed according to the optimal charging range and the current charging voltage to move to the optimal charging area.

[0073] In an embodiment of the present invention, based on the charging voltage change trend and the pre-stored historical trajectory (i.e., the path and voltage change recorded when the robot moved previously), a position fine-tuning operation is performed to move to an area that can provide a better wireless charging voltage, i.e., the optimal charging area.

[0074] In the embodiment of the present invention, by real-time monitoring of the wireless charging voltage and fine-tuning the position according to the voltage change trend, the robot can find the best charging area more quickly, thereby improving the charging efficiency. In addition, keeping the charging voltage within the optimal charging range can reduce battery damage caused by excessively high or low voltage.

[0075] Traditional charging control methods often start charging only when the battery power is below a certain threshold, and the charging process often continues until the battery is fully charged or reaches a certain fixed power level. When the battery power is already high, the rate of continued charging will be significantly reduced, resulting in a longer charging time. Based on this, the present invention proposes an optional embodiment.

[0076] The following specific implementation is also included after step S103.

[0077] Step S201, if the power level is higher than the target threshold, stop wireless charging and move to a preset cleaning area to continue the photovoltaic cleaning operation.

[0078] In an embodiment of the present invention, after the robot completes posture adjustment and moves to the optimal charging area in the electromagnetic induction area, it performs power detection. If the detected power is higher than the preset target threshold, the next operation is triggered; if the power does not reach or is lower than the target threshold, charging continues.

[0079] In the embodiment of the present invention, by stopping wireless charging in time and moving to the cleaning area, the robot can start cleaning the photovoltaic panel more quickly. When the power level is higher than the target threshold, stopping charging in time can avoid damage to the battery due to overcharging and extend the battery life.

[0080] Traditional charging control methods often start charging only when the battery power is below a certain threshold, and the charging process often continues until the battery is fully charged or reaches a certain fixed power level. This method cannot enable the robot to perform cleaning tasks at the same time, thereby reducing cleaning flexibility. Based on this, the present invention proposes an optional embodiment.

[0081] The following specific implementation is also included after step S103.

[0082] Step S202: If the current cleaning task is marked with priority data, a target threshold is dynamically generated according to the priority data.

[0083] In an embodiment of the present invention, it is checked whether there are photovoltaic cleaning tasks to be completed, and the priority data of these tasks are obtained. According to the priority data, the target threshold is dynamically adjusted (if it has not been adjusted according to the priority before) to make the cleaning task cycle more reasonable.

[0084] After stopping wireless charging, the robot plans and moves to the designated cleaning area according to the preset cleaning area path or instructions.

[0085] After arriving at the cleaning area, the robot continues to clean the photovoltaic panels according to the preset cleaning tasks or instructions and priority order.

[0086] During the cleaning process, you can adjust parameters such as cleaning intensity and speed according to actual conditions to improve the cleaning effect.

[0087] In the embodiment of the present invention, by stopping wireless charging in time and moving to the cleaning area, the robot can start cleaning the photovoltaic panel more quickly, thereby improving the cleaning efficiency. Avoiding continuous charging when the battery is fully charged can reduce unnecessary energy waste and improve energy utilization efficiency.

[0088] Figure 4 The schematic diagram of the structure of a charging device of a photovoltaic panel cleaning robot provided by an embodiment of the present invention is shown. The charging device 400 of the photovoltaic panel cleaning robot can be configured on a terminal device. Specifically, the charging device 400 of the photovoltaic panel cleaning robot can include: The detection module 401 is used for the detection module, which is used to detect a first preset mark when the power is lower than a preset threshold, and move to the first area according to the first preset mark; A posture adjustment module 402, configured to perform a posture adjustment operation according to the second preset identifier if a second preset identifier and a third preset identifier are identified in the first area; The moving module 403 is used to move to the best charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area to perform wireless charging when the posture adjustment operation is completed.

[0089] Compared with the prior art, the embodiment of the present invention has the following beneficial effects: when the power is lower than the preset threshold, the first preset mark is detected, and according to the first preset mark, the robot moves to the first area; if the second preset mark and the third preset mark are identified in the first area, the posture adjustment operation is performed according to the second preset mark; when the posture adjustment operation is completed, the robot moves to the best charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area to perform wireless charging. Based on the perception and decision-making ability of the charging device of the photovoltaic panel cleaning robot itself, the robot can autonomously detect the mark, adjust the posture and move to the best charging area, thereby realizing the full automation of the charging process. By introducing the first preset mark, the second preset mark and the third preset mark, the charging device of the photovoltaic panel cleaning robot can locate the charging area more accurately. The first preset mark guides the photovoltaic panel cleaning robot to move to the first area, while the second preset mark and the third preset mark further refine the position of the photovoltaic panel cleaning robot, so that the robot can move after performing the posture adjustment operation, thereby ensuring accurate docking with the wireless charging transmitter. The multi-level and step-by-step precise guidance method significantly improves the stability of wireless charging.

[0090] In some embodiments of the present invention, the mobile module 403 is further used for: When the posture adjustment operation is completed, moving to the electromagnetic induction area according to the third preset mark; If the fourth preset mark is recognized in the electromagnetic induction area, it is determined that the best charging area in the electromagnetic induction area has been reached, and the movement is stopped.

[0091] In some embodiments of the present invention, the mobile module 403 is further used for: When the posture adjustment operation is completed, according to the third preset mark, move to the electromagnetic induction area and detect whether the wireless charging voltage is in a preset optimal charging range; If the wireless charging voltage is not in the optimal charging range, a position fine-tuning operation is performed according to the optimal charging range and the current charging voltage to move to the optimal charging area.

[0092] In some embodiments of the present invention, the mobile module 403 is further used for: Generate a charging voltage change trend based on the current charging voltage and the preset historical charging voltage; Perform position fine-tuning operations based on the charging voltage change trend and pre-stored historical trajectory.

[0093] In some embodiments of the present invention, the charging device 400 of the photovoltaic panel cleaning robot further includes a cleaning module for: If the power level is higher than the target threshold, wireless charging is stopped and the battery is moved to a preset cleaning area to continue the photovoltaic cleaning operation.

[0094] In some embodiments of the present invention, the charging device 400 of the photovoltaic panel cleaning robot further includes a generating module for: If the current cleaning task is marked with priority data, the target threshold is dynamically generated based on the priority data.

[0095] In some embodiments of the present invention, the second marker is a circular marker, which includes a central large circle as the main reference point, and a number of smaller circular markers are arranged in sequence outward from the central large circle, and the size and arrangement of the small circular markers decrease step by step based on the distance from the central large circle.

[0096] like Figure 5 As shown, it is a schematic diagram of a terminal device provided by an embodiment of the present invention. The terminal device 5 may include: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501, such as a charging program for a photovoltaic panel cleaning robot. When the processor 501 executes the computer program 503, the steps in the charging embodiments of the photovoltaic panel cleaning robot described above are implemented. Alternatively, when the processor 501 executes the computer program 503, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0097] The computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 502 and executed by the processor 501 to complete the present invention. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

[0098] The terminal device may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art will appreciate that Figure 5 It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0099] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0100] The memory 502 may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory 502 may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Further, the memory 502 may also include both an internal storage unit of the terminal device and an external storage device. The memory 502 is used to store computer programs and other programs and data required by the terminal device. The memory 502 may also be used to temporarily store data that has been output or is to be output.

[0101] It should be noted that, for the convenience and brevity of description, the structure of the above-mentioned terminal device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0102] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0103] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the charging method of the photovoltaic panel cleaning robot can be implemented.

[0104] An embodiment of the present invention provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the charging method of the photovoltaic panel cleaning robot when executing the computer program product.

[0105] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0106] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0107] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0110] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0111] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A charging method for a photovoltaic panel cleaning robot, characterized in that: include: When the power level is lower than a preset threshold, a first preset mark is detected, and according to the first preset mark, the first area is moved; If a second preset mark and a third preset mark are recognized in the first area, a posture adjustment operation is performed according to the second preset mark; When the posture adjustment operation is completed, the device moves to the optimal charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area to perform wireless charging.

2. The charging method of the photovoltaic panel cleaning robot according to claim 1, characterized in that: When the posture adjustment operation is completed, the step of moving to the optimal charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area includes: When the posture adjustment operation is completed, moving to the electromagnetic induction area according to the third preset mark; If a fourth preset mark is recognized in the electromagnetic induction area, it is determined that the optimal charging area in the electromagnetic induction area has been reached, and the movement is stopped.

3. The charging method of the photovoltaic panel cleaning robot according to claim 1, characterized in that: When the posture adjustment operation is completed, the step of moving to the optimal charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area includes: When the posture adjustment operation is completed, according to the third preset mark, move to the electromagnetic induction area and detect whether the wireless charging voltage is in a preset optimal charging range; If the wireless charging voltage is not in the optimal charging range, a position fine-tuning operation is performed according to the optimal charging range and the current charging voltage to move to the optimal charging area.

4. The charging method of the photovoltaic panel cleaning robot according to claim 3, characterized in that: If the wireless charging voltage is not in the optimal charging interval, the step of performing a position fine-tuning operation according to the optimal charging interval and the current charging voltage includes: Generate a charging voltage change trend based on the current charging voltage and the preset historical charging voltage; The position fine-tuning operation is performed according to the charging voltage variation trend and the pre-stored historical trajectory.

5. The charging method of the photovoltaic panel cleaning robot according to claim 1, characterized in that: After the step of moving to the optimal charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area when the posture adjustment operation is completed, the method further includes: If the power level is higher than the target threshold, the wireless charging is stopped and the vehicle is moved to a preset cleaning area to continue the photovoltaic cleaning operation.

6. The charging method of the photovoltaic panel cleaning robot according to claim 5, characterized in that: If the power level is higher than the target threshold, the step of stopping the wireless charging and moving to a preset cleaning area to continue the photovoltaic cleaning operation includes: If the current cleaning task is marked with priority data, the target threshold is dynamically generated according to the priority data.

7. The charging method of the photovoltaic panel cleaning robot according to claim 6, characterized in that: The second mark is a circular mark, which includes a central large circle as the main reference point, and a number of smaller circular marks are arranged in sequence outward from the central large circle, and the size and arrangement of the small circular marks decrease step by step based on the distance from the central large circle.

8. A charging device for a photovoltaic panel cleaning robot, characterized in that: include: A detection module, configured to detect a first preset mark when the power level is lower than a preset threshold, and move to a first area according to the first preset mark; A posture adjustment module, configured to perform a posture adjustment operation according to the second preset identifier if a second preset identifier and a third preset identifier are recognized in the first area; The moving module is used to move to the best charging area in the electromagnetic induction area according to the third preset mark and the fourth preset mark in the electromagnetic induction area when the posture adjustment operation is completed, so as to perform wireless charging.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the charging method for the photovoltaic panel cleaning robot as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the charging method of the photovoltaic panel cleaning robot according to any one of claims 1 to 7 are implemented.

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