Walking method and system of photovoltaic cleaning robot based on grid-free photovoltaic module

Abstract

The invention discloses a walking method and system for a photovoltaic cleaning robot based on a grid-free photovoltaic module, and the method comprises the steps: determining the upward offset and the downward offset of the photovoltaic cleaning robot according to the semaphore of a position sensor when the photovoltaic cleaning robot cleans the grid-free photovoltaic module in the left-right direction; and the deviation control of the photovoltaic cleaning robot in the vertical direction is ensured. Furthermore, dynamic correction of the photovoltaic cleaning robot is triggered based on the upward offset and the downward offset of the photovoltaic cleaning robot, so that linear motion cleaning of the photovoltaic cleaning robot in the left-right direction is dynamically controlled; when the photovoltaic cleaning robot passes through the gap of the grid-free photovoltaic module, a second yaw angle is identified and defined based on the frame of the grid-free photovoltaic module, and linear movement of the photovoltaic cleaning robot is ensured based on dynamic correction of the second yaw angle; and therefore, the accuracy and the stability of dynamic cleaning of the photovoltaic cleaning robot on the grid-free photovoltaic module are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning robots, and in particular to a walking method and system of a photovoltaic cleaning robot based on a gridless photovoltaic component. Background Art

[0002] With the development of science and technology, photovoltaic cleaning robots are gradually applied to people's lives, and dynamically clean grilleless photovoltaic modules. The photovoltaic cleaning robot is on the surface of the grilleless photovoltaic module, and dynamically cleans the surface of the grilleless photovoltaic module through a cleaning module. In the prior art, the surface of the grilleless photovoltaic module has a grille, and the grille is usually used as a moving guide line for the photovoltaic cleaning robot. The photovoltaic cleaning robot moves based on the guidance of the grille. However, many new grilleless photovoltaic modules do not have grilles, which affects the movement of the photovoltaic cleaning robot relative to the grilleless photovoltaic module. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a walking method and system for a photovoltaic cleaning robot based on a grilleless photovoltaic component, which collects the installation inclination angle of the grilleless photovoltaic component, and the photovoltaic cleaning robot moves to the top of the grilleless photovoltaic component along the slope top direction of the installation inclination angle of the grilleless photovoltaic component; when the photovoltaic cleaning robot is at the top of the grilleless photovoltaic component, the first yaw angle of the photovoltaic cleaning robot is determined based on the recognition of the frame of the grilleless photovoltaic component; the turning of the photovoltaic cleaning robot is triggered based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the grilleless photovoltaic component in the left and right directions; when the photovoltaic cleaning robot cleans the grilleless photovoltaic component in the left and right directions, the upward offset and downward offset of the photovoltaic cleaning robot are determined according to the signal amount of the position sensor, the photovoltaic cleaning robot controls the upward offset and downward offset when cleaning in the left and right directions, and performs multiple interactions on the upward offset and downward offset, thereby ensuring the offset control of the photovoltaic cleaning robot in the up and down directions.

[0004] Furthermore, dynamic correction of the photovoltaic cleaning robot is triggered based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions; when the photovoltaic cleaning robot passes through the gap of the grilleless photovoltaic module, the second yaw angle is defined based on the frame recognition of the grilleless photovoltaic module, and the linear movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, thereby realizing dynamic modification and linear movement of the cleaning robot in the left and right directions, and being compatible with the left and right directions and gap scenarios, thereby realizing the control of the linear movement of the cleaning robot, ensuring the linear movement effect of the cleaning robot, and further ensuring the accuracy and stability of the dynamic cleaning of the photovoltaic cleaning robot on the grilleless photovoltaic module.

[0005] The embodiment of the present invention provides a walking method of a photovoltaic cleaning robot based on a gridless photovoltaic module, which is applied to a walking scenario of a photovoltaic cleaning robot based on a gridless photovoltaic module;

[0006] The photovoltaic cleaning robot walking method based on the gridless photovoltaic assembly includes:

[0007] The installation inclination angle of the gridless photovoltaic module is collected, and the photovoltaic cleaning robot moves along the slope top direction of the installation inclination angle of the gridless photovoltaic module to the top of the gridless photovoltaic module;

[0008] When the photovoltaic cleaning robot is at the top of the gridless photovoltaic assembly, determining a first yaw angle of the photovoltaic cleaning robot based on identification of a frame of the gridless photovoltaic assembly;

[0009] The photovoltaic cleaning robot is triggered to turn based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the gridless photovoltaic module in the left and right directions;

[0010] When the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions, the upward offset and downward offset of the photovoltaic cleaning robot are determined according to the signal of the position sensor;

[0011] The photovoltaic cleaning robot is triggered to make a dynamic correction based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the photovoltaic cleaning robot's linear motion cleaning in the left and right directions;

[0012] When the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, the second yaw angle is defined based on the frame recognition of the gridless photovoltaic assembly, and the straight-line movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle.

[0013] Optionally, the collecting of the installation inclination angle of the gridless photovoltaic assembly, and the photovoltaic cleaning robot moving along the slope top direction of the installation inclination angle of the gridless photovoltaic assembly to the top of the gridless photovoltaic assembly, comprises:

[0014] When the photovoltaic cleaning robot is in a photovoltaic module without a grid, the photovoltaic cleaning robot cannot detect the grid;

[0015] Collecting the signal output by the gyroscope, and obtaining multiple directional components based on the analysis of the signal output by the gyroscope;

[0016] The installation inclination angle of the gridless photovoltaic module is obtained according to the calculation of multiple directional components to collect the installation inclination angle of the gridless photovoltaic module;

[0017] The photovoltaic cleaning robot moves to the top of the gridless photovoltaic assembly along the slope top direction of the installation inclination angle of the gridless photovoltaic assembly.

[0018] Optionally, when the photovoltaic cleaning robot is at the top of the gridless photovoltaic assembly, determining the first yaw angle of the photovoltaic cleaning robot based on identification of the frame of the gridless photovoltaic assembly includes:

[0019] Real-time monitoring of the position of the photovoltaic cleaning robot relative to the gridless photovoltaic module;

[0020] When the photovoltaic cleaning robot is at the top of the gridless photovoltaic module, the photovoltaic cleaning robot collects the frame of the gridless photovoltaic module;

[0021] The volt-cleaning robot identifies the frame of the gridless photovoltaic module;

[0022] The first yaw angle of the photovoltaic cleaning robot is determined according to the frame of the gridless photovoltaic assembly and the moving direction of the photovoltaic cleaning robot.

[0023] Optionally, the photovoltaic cleaning robot is triggered to turn based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions, including:

[0024] Collecting the first yaw angle of the photovoltaic cleaning robot;

[0025] Associating a first yaw angle of the photovoltaic cleaning robot and a steering logic of the photovoltaic cleaning robot;

[0026] Determining a steering angle of the photovoltaic cleaning robot according to a first yaw angle of the photovoltaic cleaning robot and a steering logic of the photovoltaic cleaning robot;

[0027] triggering the turning of the photovoltaic cleaning robot based on the turning angle of the photovoltaic cleaning robot;

[0028] When the moving direction of the photovoltaic cleaning robot is perpendicular to the extending direction of the frame of the gridless photovoltaic assembly, the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions.

[0029] Optionally, when the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions, determining the upward offset and downward offset of the photovoltaic cleaning robot according to the signal of the position sensor includes:

[0030] Real-time monitoring of the photovoltaic cleaning robot to clean the gridless photovoltaic modules in the left and right directions;

[0031] When the photovoltaic cleaning robot cleans the gridless photovoltaic module in the left and right directions, the position sensor dynamically senses as the photovoltaic cleaning robot cleans left and right;

[0032] The upward offset and downward offset of the photovoltaic cleaning robot are collected according to the dynamic sensing of the position sensor.

[0033] Optionally, the triggering of dynamic correction of the photovoltaic cleaning robot based on the upward offset and downward offset of the photovoltaic cleaning robot to dynamically control the photovoltaic cleaning robot's linear motion cleaning in the left and right directions includes:

[0034] Collect the upward offset and downward offset of the photovoltaic cleaning robot;

[0035] Associating the upward offset, downward offset and preset offset of the photovoltaic cleaning robot;

[0036] Multiple interactions are performed on the upward and downward offsets of the photovoltaic cleaning robot;

[0037] The dynamic correction of the photovoltaic cleaning robot is triggered according to the upward offset and downward offset of the photovoltaic cleaning robot.

[0038] Optionally, the method triggers the dynamic correction of the photovoltaic cleaning robot based on the upward offset and the downward offset of the photovoltaic cleaning robot to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions, and further includes:

[0039] Real-time monitoring of the dynamic correction of the photovoltaic cleaning robot;

[0040] The photovoltaic cleaning robot's linear motion cleaning in the left and right directions is dynamically controlled based on the dynamic correction of the photovoltaic cleaning robot.

[0041] Optionally, when the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, the second yaw angle is defined based on the frame recognition of the gridless photovoltaic assembly, and the straight-line movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, including:

[0042] Real-time monitoring of the movement of the PV cleaning robot relative to the gridless PV modules;

[0043] The camera of the photovoltaic cleaning robot dynamically shoots the gridless photovoltaic module and collects the surface image of the gridless photovoltaic module;

[0044] A gap between two adjacent gridless photovoltaic modules is defined according to the recognition of the surface images of the gridless photovoltaic modules.

[0045] Optionally, when the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, the second yaw angle is defined based on the frame recognition of the gridless photovoltaic assembly, and the straight-line movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, and further includes:

[0046] When the photovoltaic cleaning robot passes through the gap between the gridless photovoltaic modules, the photovoltaic cleaning robot identifies the frame of the gridless photovoltaic modules;

[0047] Defining a second yaw angle based on frame recognition of the gridless photovoltaic module;

[0048] The straight-line movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle.

[0049] In addition, an embodiment of the present invention further provides a walking system of a photovoltaic cleaning robot based on a gridless photovoltaic module, wherein the walking system of the photovoltaic cleaning robot based on a gridless photovoltaic module comprises:

[0050] A collection module is used to collect the installation inclination angle of the gridless photovoltaic assembly, and the photovoltaic cleaning robot moves along the slope top direction of the installation inclination angle of the gridless photovoltaic assembly to the top of the gridless photovoltaic assembly;

[0051] A visual recognition module, used to determine a first yaw angle of the photovoltaic cleaning robot based on recognition of a frame of the gridless photovoltaic assembly when the photovoltaic cleaning robot is at the top of the gridless photovoltaic assembly;

[0052] A steering module, used for triggering the steering of the photovoltaic cleaning robot based on a first yaw angle of the photovoltaic cleaning robot, so that the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions;

[0053] A position sensing module is used to determine the upward offset and downward offset of the photovoltaic cleaning robot according to the signal of the position sensor when the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions;

[0054] A dynamic correction module is used to trigger the dynamic correction of the photovoltaic cleaning robot based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions;

[0055] The linear movement module is used to define a second yaw angle based on the frame recognition of the gridless photovoltaic assembly when the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, and to ensure the linear movement of the photovoltaic cleaning robot based on the dynamic correction of the second yaw angle.

[0056] In an embodiment of the present invention, through the method in the embodiment of the present invention, the installation inclination angle of the grilleless photovoltaic component is collected, and the photovoltaic cleaning robot moves along the slope top direction of the installation inclination angle of the grilleless photovoltaic component to the top of the grilleless photovoltaic component; when the photovoltaic cleaning robot is at the top of the grilleless photovoltaic component, the first yaw angle of the photovoltaic cleaning robot is determined based on the recognition of the frame of the grilleless photovoltaic component; the turning of the photovoltaic cleaning robot is triggered based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the grilleless photovoltaic component in the left and right directions; when the photovoltaic cleaning robot cleans the grilleless photovoltaic component in the left and right directions, the upward offset and downward offset of the photovoltaic cleaning robot are determined according to the signal amount of the position sensor, the photovoltaic cleaning robot controls the upward offset and downward offset when cleaning in the left and right directions, and performs multiple interactions on the upward offset and downward offset, thereby ensuring the offset control of the photovoltaic cleaning robot in the up and down directions.

[0057] Furthermore, dynamic correction of the photovoltaic cleaning robot is triggered based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions; when the photovoltaic cleaning robot passes through the gap of the grilleless photovoltaic module, the second yaw angle is defined based on the frame recognition of the grilleless photovoltaic module, and the linear movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, thereby realizing dynamic modification and linear movement of the cleaning robot in the left and right directions, and being compatible with the left and right directions and gap scenarios, thereby realizing the control of the linear movement of the cleaning robot, ensuring the linear movement effect of the cleaning robot, and further ensuring the accuracy and stability of the dynamic cleaning of the photovoltaic cleaning robot on the grilleless photovoltaic module. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 is a schematic flow chart of a walking method of a photovoltaic cleaning robot based on a gridless photovoltaic module in an embodiment of the present invention;

[0060] Figure 2 is a flow chart of S11 in the walking method of the photovoltaic cleaning robot based on the gridless photovoltaic assembly in the embodiment of the present invention;

[0061] Figure 3 is a flow chart of S12 in the walking method of the photovoltaic cleaning robot based on the gridless photovoltaic assembly in the embodiment of the present invention;

[0062] Figure 4 is a flow chart of S13 in the walking method of the photovoltaic cleaning robot based on the gridless photovoltaic assembly in the embodiment of the present invention;

[0063] Figure 5 is a flow chart of S14 in the walking method of the photovoltaic cleaning robot based on the gridless photovoltaic assembly in an embodiment of the present invention;

[0064] Figure 6 is a flow chart of S15 in the walking method of the photovoltaic cleaning robot based on the gridless photovoltaic assembly in the embodiment of the present invention;

[0065] Figure 7 is a flow chart of S16 in the walking method of the photovoltaic cleaning robot based on the gridless photovoltaic assembly in the embodiment of the present invention;

[0066] Figure 8 Schematic diagram of the structure of the walking system of the photovoltaic cleaning robot based on the gridless photovoltaic module in the embodiment of the present invention;

[0067] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] See also Figures 1 to 9 A walking method of a photovoltaic cleaning robot based on a gridless photovoltaic module is applied to a walking scene of a photovoltaic cleaning robot based on a gridless photovoltaic module; the walking method of a photovoltaic cleaning robot based on a gridless photovoltaic module includes:

[0070] Step S11: when the photovoltaic cleaning robot is in a photovoltaic module without a grid, the photovoltaic cleaning robot cannot detect the grid, and the starting position of the photovoltaic cleaning robot relative to the photovoltaic module without a grid is collected;

[0071] Step S12: when the photovoltaic cleaning robot moves along the starting position, collecting the gyroscope signal of the gridless photovoltaic module;

[0072] Step S13: determining the up and down direction of the photovoltaic cleaning robot based on the gyroscope signal of the gridless photovoltaic module and the linear movement logic of the photovoltaic cleaning robot;

[0073] Step S14: the photovoltaic cleaning robot moves along the up-down direction, and triggers the photovoltaic cleaning robot to dynamically clean the gridless photovoltaic assembly;

[0074] Step S15: when the photovoltaic cleaning robot is dynamically cleaning in the left and right directions, the sliding amount of the photovoltaic cleaning robot is collected, and dynamic correction is triggered according to the sliding amount of the photovoltaic cleaning robot to dynamically control the dynamic cleaning of the photovoltaic cleaning robot in the left and right directions;

[0075] Step S16: When the photovoltaic cleaning robot passes through a gap in a gridless photovoltaic module, the yaw angle of the photovoltaic cleaning robot relative to the side of the gap is collected, and the linear movement of the photovoltaic cleaning robot is triggered based on the yaw angle and the dynamic adjustment logic of the photovoltaic cleaning robot.

[0076] In an embodiment of the present invention, through the method in the embodiment of the present invention, the installation inclination angle of the grilleless photovoltaic component is collected, and the photovoltaic cleaning robot moves along the slope top direction of the installation inclination angle of the grilleless photovoltaic component to the top of the grilleless photovoltaic component; when the photovoltaic cleaning robot is at the top of the grilleless photovoltaic component, the first yaw angle of the photovoltaic cleaning robot is determined based on the recognition of the frame of the grilleless photovoltaic component; the turning of the photovoltaic cleaning robot is triggered based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the grilleless photovoltaic component in the left and right directions; when the photovoltaic cleaning robot cleans the grilleless photovoltaic component in the left and right directions, the upward offset and downward offset of the photovoltaic cleaning robot are determined according to the signal amount of the position sensor, the photovoltaic cleaning robot controls the upward offset and downward offset when cleaning in the left and right directions, and performs multiple interactions on the upward offset and downward offset, thereby ensuring the offset control of the photovoltaic cleaning robot in the up and down directions.

[0077] Furthermore, dynamic correction of the photovoltaic cleaning robot is triggered based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions; when the photovoltaic cleaning robot passes through the gap of the grilleless photovoltaic module, the second yaw angle is defined based on the frame recognition of the grilleless photovoltaic module, and the linear movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, thereby realizing dynamic modification and linear movement of the cleaning robot in the left and right directions, and being compatible with the left and right directions and gap scenarios, thereby realizing the control of the linear movement of the cleaning robot, ensuring the linear movement effect of the cleaning robot, and further ensuring the accuracy and stability of the dynamic cleaning of the photovoltaic cleaning robot on the grilleless photovoltaic module.

[0078] refer to Figure 2, in step S11, when the photovoltaic cleaning robot is in a photovoltaic assembly without a grid, the photovoltaic cleaning robot cannot detect the grid, and the starting position of the photovoltaic cleaning robot relative to the photovoltaic assembly without a grid is collected;

[0079] In the specific implementation process of the present invention, the specific steps may be:

[0080] S111: When the photovoltaic cleaning robot is in a photovoltaic module without a grid, the photovoltaic cleaning robot cannot detect the grid;

[0081] S112: collecting a signal output by the gyroscope, and obtaining a plurality of directional components based on an analysis of the signal output by the gyroscope;

[0082] S113: Obtaining the installation inclination angle of the gridless photovoltaic assembly according to calculation of multiple directional components to collect the installation inclination angle of the gridless photovoltaic assembly;

[0083] S114: The photovoltaic cleaning robot moves to the top of the gridless photovoltaic assembly along the slope top direction of the installation inclination angle of the gridless photovoltaic assembly.

[0084] In an embodiment of the present application, when the photovoltaic cleaning robot is in a gridless photovoltaic assembly, the photovoltaic cleaning robot cannot detect the grid, and the photovoltaic cleaning robot travels on the gridless photovoltaic assembly and dynamically cleans the gridless photovoltaic assembly.

[0085] At this time, the signal output by the gyroscope is collected, and multiple directional components are obtained based on the analysis of the signal output by the gyroscope. The signal output by the gyroscope is introduced and analyzed to obtain multiple directional components, so as to facilitate multiple interactions of the multiple directional components, thereby ensuring the overall control of the multiple directional components and realizing further control of the signal output by the gyroscope.

[0086] Therefore, the installation inclination angle of the grilleless photovoltaic module is obtained according to the calculation of multiple directional components to collect the installation inclination angle of the grilleless photovoltaic module; the calculation of multiple directional components is introduced to ensure the accuracy of the installation inclination angle of the grilleless photovoltaic module, and the photovoltaic cleaning robot moves along the top direction of the slope of the installation inclination angle of the grilleless photovoltaic module to the top of the grilleless photovoltaic module, thereby realizing the directional movement of the photovoltaic cleaning robot and being fully compatible with the installation inclination angle of the grilleless photovoltaic module, thereby realizing the autonomous adaptation of various grilleless photovoltaic modules.

[0087] refer to Figure 3 , in step S12, when the photovoltaic cleaning robot moves along the starting position, the gyroscope signal of the gridless photovoltaic module is collected;

[0088] In the specific implementation process of the present invention, the specific steps may be:

[0089] S121: real-time monitoring of the position of the photovoltaic cleaning robot relative to the gridless photovoltaic module;

[0090] S122: When the photovoltaic cleaning robot is at the top of the photovoltaic module without a grid, the photovoltaic cleaning robot collects the frame of the photovoltaic module without a grid;

[0091] S123: The volt-cleaning robot identifies the frame of the gridless photovoltaic module;

[0092] S124: Determine a first yaw angle of the photovoltaic cleaning robot according to the frame of the gridless photovoltaic assembly and the moving direction of the photovoltaic cleaning robot.

[0093] In an embodiment of the present application, the position of the photovoltaic cleaning robot relative to the grilleless photovoltaic component is monitored in real time, the position of the photovoltaic cleaning robot relative to the grilleless photovoltaic component is introduced, the position of the photovoltaic cleaning robot relative to the grilleless photovoltaic component is controlled, and subsequent processing of the position of the photovoltaic cleaning robot relative to the grilleless photovoltaic component is realized.

[0094] Therefore, when the photovoltaic cleaning robot is at the top of the grilleless photovoltaic module, the photovoltaic cleaning robot collects the border of the grilleless photovoltaic module, realizes the control of the border of the grilleless photovoltaic module, so that the photovoltaic cleaning robot can identify the border of the grilleless photovoltaic module, realizes the dynamic identification of the border of the grilleless photovoltaic module, and ensures the identification accuracy of the border of the grilleless photovoltaic module.

[0095] Furthermore, the border of the grilleless photovoltaic assembly is determined based on the identification of the border of the grilleless photovoltaic assembly; the first yaw angle of the photovoltaic cleaning robot is determined according to the border of the grilleless photovoltaic assembly and the moving direction of the photovoltaic cleaning robot, the border of the grilleless photovoltaic assembly and the moving direction of the photovoltaic cleaning robot are introduced, and the border of the grilleless photovoltaic assembly and the moving direction of the photovoltaic cleaning robot are controlled as a whole, thereby realizing multi-dimensional control of the border of the grilleless photovoltaic assembly and the moving direction of the photovoltaic cleaning robot, and ensuring the accuracy of the first yaw angle of the photovoltaic cleaning robot.

[0096] refer to Figure 4 , in step S13, in the floor cleaning space, the up and down directions of the photovoltaic cleaning robot are determined based on the gyroscope signal of the gridless photovoltaic module and the linear movement logic of the photovoltaic cleaning robot;

[0097] In the specific implementation process of the present invention, the specific steps may be:

[0098] S131: collecting the first yaw angle of the photovoltaic cleaning robot;

[0099] S132: Associating the first yaw angle of the photovoltaic cleaning robot and the steering logic of the photovoltaic cleaning robot;

[0100] S133: determining a steering angle of the photovoltaic cleaning robot according to a first yaw angle of the photovoltaic cleaning robot and a steering logic of the photovoltaic cleaning robot;

[0101] S134: triggering the photovoltaic cleaning robot to turn based on the turning angle of the photovoltaic cleaning robot;

[0102] S135: When the moving direction of the photovoltaic cleaning robot is perpendicular to the extending direction of the frame of the gridless photovoltaic assembly, the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions.

[0103] In an embodiment of the present application, the first yaw angle of the photovoltaic cleaning robot is collected, the first yaw angle of the photovoltaic cleaning robot is introduced, and the first yaw angle of the photovoltaic cleaning robot and the steering logic of the photovoltaic cleaning robot are collected, thereby linking the first yaw angle of the photovoltaic cleaning robot and the steering logic of the photovoltaic cleaning robot, thereby realizing multiple interactions of the first yaw angle of the photovoltaic cleaning robot and the steering logic of the photovoltaic cleaning robot.

[0104] Therefore, the steering angle of the photovoltaic cleaning robot is determined according to the first yaw angle of the photovoltaic cleaning robot and the steering logic of the photovoltaic cleaning robot, the first yaw angle of the photovoltaic cleaning robot and the steering logic of the photovoltaic cleaning robot are introduced, and multiple interactions are performed on the first yaw angle of the photovoltaic cleaning robot and the steering logic of the photovoltaic cleaning robot, thereby ensuring multi-dimensional control of the first yaw angle of the photovoltaic cleaning robot and the steering logic of the photovoltaic cleaning robot and ensuring the accuracy of the steering angle of the photovoltaic cleaning robot.

[0105] Furthermore, the turning of the photovoltaic cleaning robot is triggered based on the turning angle of the photovoltaic cleaning robot; when the moving direction of the photovoltaic cleaning robot is perpendicular to the extension direction of the frame of the grilleless photovoltaic module, the photovoltaic cleaning robot cleans the grilleless photovoltaic module in the left and right directions, thereby ensuring the cleaning of the photovoltaic cleaning robot in the left and right directions and realizing refined control of the cleaning of the photovoltaic cleaning robot in the left and right directions.

[0106] refer to Figure 5 , S14: the photovoltaic cleaning robot moves along the up-down direction, and triggers the photovoltaic cleaning robot to dynamically clean the gridless photovoltaic assembly;

[0107] In the specific implementation process of the present invention, the specific steps may be:

[0108] S141: Real-time monitoring of the photovoltaic cleaning robot to clean the gridless photovoltaic modules in the left and right directions;

[0109] S142: When the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions, the position sensor dynamically senses as the photovoltaic cleaning robot cleans in the left and right directions;

[0110] S143: Collecting the upward offset and downward offset of the photovoltaic cleaning robot according to the dynamic sensing of the position sensor.

[0111] During the specific implementation of the present invention, the installation inclination angle of the grilleless photovoltaic assembly is collected, and the photovoltaic cleaning robot moves along the top direction of the installation inclination angle of the grilleless photovoltaic assembly to the top of the grilleless photovoltaic assembly; when the photovoltaic cleaning robot is at the top of the grilleless photovoltaic assembly, the first yaw angle of the photovoltaic cleaning robot is determined based on the recognition of the frame of the grilleless photovoltaic assembly; the turning of the photovoltaic cleaning robot is triggered based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the grilleless photovoltaic assembly in the left and right directions; when the photovoltaic cleaning robot cleans the grilleless photovoltaic assembly in the left and right directions, the upward offset and downward offset of the photovoltaic cleaning robot are determined according to the signal amount of the position sensor, the photovoltaic cleaning robot controls the upward offset and downward offset when cleaning in the left and right directions, and performs multiple interactions on the upward offset and downward offset, thereby ensuring the offset control of the photovoltaic cleaning robot in the up and down directions.

[0112] At this time, the photovoltaic cleaning robot's cleaning of the grilleless photovoltaic components in the left and right directions is monitored in real time, and the photovoltaic cleaning robot's cleaning of the grilleless photovoltaic components in the left and right directions is controlled. At the same time, when the photovoltaic cleaning robot cleans the grilleless photovoltaic components in the left and right directions, the position sensor dynamically senses as the photovoltaic cleaning robot cleans in the left and right directions, thereby realizing the dynamic sensing of the position sensor and controlling the offset of the photovoltaic cleaning robot in the left and right directions in real time, which offset includes natural offset.

[0113] Furthermore, the upward offset and downward offset of the photovoltaic cleaning robot are collected based on the dynamic sensing of the position sensor, realizing the dynamic sensing of the position sensor, ensuring the accuracy of the upward offset and downward offset of the photovoltaic cleaning robot, realizing the overall control of the upward offset and downward offset of the photovoltaic cleaning robot, and performing multiple interactions on the upward offset and downward offset, thereby ensuring the offset control of the photovoltaic cleaning robot in the up and down directions.

[0114] refer to Figure 6 , S15: when the photovoltaic cleaning robot is dynamically cleaning in the left and right directions, the sliding amount of the photovoltaic cleaning robot is collected, and dynamic correction is triggered according to the sliding amount of the photovoltaic cleaning robot to dynamically control the dynamic cleaning of the photovoltaic cleaning robot in the left and right directions;

[0115] In the specific implementation process of the present invention, the specific steps may be:

[0116] S151: collecting the upward offset and downward offset of the photovoltaic cleaning robot;

[0117] S152: Associating the upward offset, downward offset, and preset offset of the photovoltaic cleaning robot;

[0118] S153: multiple interactions are performed on the upward offset and downward offset of the photovoltaic cleaning robot;

[0119] S154: triggering dynamic correction of the photovoltaic cleaning robot according to the upward offset and downward offset of the photovoltaic cleaning robot;

[0120] S155: Real-time monitoring of dynamic correction of photovoltaic cleaning robots;

[0121] S156: Dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions according to the dynamic correction of the photovoltaic cleaning robot.

[0122] In the specific implementation process of the present invention, the upward offset and downward offset of the photovoltaic cleaning robot are collected, and the upward offset and downward offset of the photovoltaic cleaning robot are introduced to achieve further control of the upward offset and downward offset of the photovoltaic cleaning robot.

[0123] Furthermore, the upward offset, downward offset and preset offset of the photovoltaic cleaning robot are associated; multiple interactions are performed on the upward offset and downward offset of the photovoltaic cleaning robot, thereby realizing multiple interactions of the upward offset and downward offset; the dynamic correction of the photovoltaic cleaning robot is triggered according to the upward offset and downward offset of the photovoltaic cleaning robot, thereby realizing the dynamic correction of the photovoltaic cleaning robot, ensuring the normal cleaning of the photovoltaic cleaning robot, and further ensuring the linear movement of the photovoltaic cleaning robot.

[0124] Therefore, the dynamic correction of the photovoltaic cleaning robot is monitored in real time; the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions is dynamically controlled according to the dynamic correction of the photovoltaic cleaning robot, thereby ensuring the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions and realizing the linear motion and dynamic cleaning of the photovoltaic cleaning robot in the left and right directions.

[0125] refer to Figure 7 , S16: when the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, the yaw angle of the photovoltaic cleaning robot relative to the side of the gap is collected, and the straight-line movement of the photovoltaic cleaning robot is triggered based on the yaw angle and the dynamic adjustment logic of the photovoltaic cleaning robot;

[0126] In the specific implementation process of the present invention, the specific steps may be:

[0127] S161: Real-time monitoring of the movement of the photovoltaic cleaning robot relative to the gridless photovoltaic module;

[0128] S162: The camera of the photovoltaic cleaning robot dynamically photographs the gridless photovoltaic module and collects a surface image of the gridless photovoltaic module;

[0129] S163: defining a gap between two adjacent gridless photovoltaic modules according to the recognition of the surface image of the gridless photovoltaic module;

[0130] S164: When the photovoltaic cleaning robot passes through a gap between the photovoltaic modules without grilles, the photovoltaic cleaning robot identifies the frame of the photovoltaic modules without grilles;

[0131] S165: defining a second yaw angle based on frame recognition of the gridless photovoltaic module;

[0132] S166: Ensuring the straight-line movement of the photovoltaic cleaning robot based on the dynamic correction of the second yaw angle.

[0133] During the specific implementation of the present invention, the dynamic correction of the photovoltaic cleaning robot is triggered based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions; when the photovoltaic cleaning robot passes through the gap of the grilleless photovoltaic module, the second yaw angle is defined based on the frame recognition of the grilleless photovoltaic module, and the linear movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, thereby realizing the dynamic modification and linear movement of the cleaning robot in the left and right directions, and being compatible with the left and right directions and gap scenarios, thereby realizing the control of the linear movement of the cleaning robot, ensuring the linear movement effect of the cleaning robot, and further ensuring the accuracy and stability of the dynamic cleaning of the photovoltaic cleaning robot on the grilleless photovoltaic module.

[0134] At this time, the movement of the photovoltaic cleaning robot relative to the grilleless photovoltaic module is monitored in real time, and the movement of the photovoltaic cleaning robot relative to the grilleless photovoltaic module is controlled. At the same time, the camera of the photovoltaic cleaning robot dynamically shoots the grilleless photovoltaic module and collects the surface image of the grilleless photovoltaic module. The surface image of the grilleless photovoltaic module is introduced, and the surface image of the grilleless photovoltaic module is further controlled to ensure the recognition of the surface image of the grilleless photovoltaic module.

[0135] Furthermore, the gap between two adjacent grilleless photovoltaic components is defined based on the recognition of the surface image of the grilleless photovoltaic components, thereby realizing the recognition of the surface image of the grilleless photovoltaic components, ensuring the accuracy of the gap between two adjacent grilleless photovoltaic components, and realizing precise control of the gap between two adjacent grilleless photovoltaic components.

[0136] Therefore, when the photovoltaic cleaning robot passes through the gap of the grilleless photovoltaic module, the photovoltaic cleaning robot identifies the frame of the grilleless photovoltaic module; defines the second yaw angle based on the frame identification of the grilleless photovoltaic module; ensures the linear movement of the photovoltaic cleaning robot based on the dynamic correction of the second yaw angle, realizes the dynamic modification and linear movement of the cleaning robot in the left and right directions, and is compatible with the left and right directions and gap scenarios, thereby realizing the control of the linear movement of the cleaning robot, ensuring the linear movement effect of the cleaning robot, and further ensuring the accuracy and stability of the dynamic cleaning of the photovoltaic cleaning robot on the grilleless photovoltaic module.

[0137] In an embodiment of the present invention, through the method in the embodiment of the present invention, the installation inclination angle of the grilleless photovoltaic component is collected, and the photovoltaic cleaning robot moves along the slope top direction of the installation inclination angle of the grilleless photovoltaic component to the top of the grilleless photovoltaic component; when the photovoltaic cleaning robot is at the top of the grilleless photovoltaic component, the first yaw angle of the photovoltaic cleaning robot is determined based on the recognition of the frame of the grilleless photovoltaic component; the turning of the photovoltaic cleaning robot is triggered based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the grilleless photovoltaic component in the left and right directions; when the photovoltaic cleaning robot cleans the grilleless photovoltaic component in the left and right directions, the upward offset and downward offset of the photovoltaic cleaning robot are determined according to the signal amount of the position sensor, the photovoltaic cleaning robot controls the upward offset and downward offset when cleaning in the left and right directions, and performs multiple interactions on the upward offset and downward offset, thereby ensuring the offset control of the photovoltaic cleaning robot in the up and down directions.

[0138] Furthermore, dynamic correction of the photovoltaic cleaning robot is triggered based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions; when the photovoltaic cleaning robot passes through the gap of the grilleless photovoltaic module, the second yaw angle is defined based on the frame recognition of the grilleless photovoltaic module, and the linear movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, thereby realizing dynamic modification and linear movement of the cleaning robot in the left and right directions, and being compatible with the left and right directions and gap scenarios, thereby realizing the control of the linear movement of the cleaning robot, ensuring the linear movement effect of the cleaning robot, and further ensuring the accuracy and stability of the dynamic cleaning of the photovoltaic cleaning robot on the grilleless photovoltaic module.

[0139] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of the walking system of the photovoltaic cleaning robot based on the gridless photovoltaic module in an embodiment of the present invention.

[0140] like Figure 8As shown, a photovoltaic cleaning robot walking system based on a gridless photovoltaic module, the photovoltaic cleaning robot walking system based on a gridless photovoltaic module includes:

[0141] The collecting module 21 is used to collect the installation inclination angle of the gridless photovoltaic assembly, and the photovoltaic cleaning robot moves along the slope top direction of the installation inclination angle of the gridless photovoltaic assembly to the top of the gridless photovoltaic assembly;

[0142] A visual recognition module 22, used to determine a first yaw angle of the photovoltaic cleaning robot based on recognition of a frame of the gridless photovoltaic assembly when the photovoltaic cleaning robot is at the top of the gridless photovoltaic assembly;

[0143] A steering module 23, used for triggering the steering of the photovoltaic cleaning robot based on a first yaw angle of the photovoltaic cleaning robot, so that the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions;

[0144] The position sensing module 24 is used to determine the upward offset and downward offset of the photovoltaic cleaning robot according to the signal of the position sensor when the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions;

[0145] A dynamic correction module 25 is used to trigger the dynamic correction of the photovoltaic cleaning robot based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions;

[0146] The linear movement module 26 is used to define a second yaw angle based on the frame recognition of the gridless photovoltaic assembly when the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, and to ensure the linear movement of the photovoltaic cleaning robot based on the dynamic correction of the second yaw angle.

[0147] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0148] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0149] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0150] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0151] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0152] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0153] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0154] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0155] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0156] In addition, the walking method and system of the photovoltaic cleaning robot based on the gridless photovoltaic module provided in the embodiment of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A walking method of a photovoltaic cleaning robot based on a gridless photovoltaic module, characterized in that: Applied to the walking scene of photovoltaic cleaning robots based on gridless photovoltaic modules; The photovoltaic cleaning robot walking method based on the gridless photovoltaic assembly includes: The installation inclination angle of the gridless photovoltaic module is collected, and the photovoltaic cleaning robot moves along the slope top direction of the installation inclination angle of the gridless photovoltaic module to the top of the gridless photovoltaic module; When the photovoltaic cleaning robot is at the top of the gridless photovoltaic assembly, determining a first yaw angle of the photovoltaic cleaning robot based on identification of a frame of the gridless photovoltaic assembly; The photovoltaic cleaning robot is triggered to turn based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the gridless photovoltaic module in the left and right directions; When the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions, the upward offset and downward offset of the photovoltaic cleaning robot are determined according to the signal of the position sensor; The photovoltaic cleaning robot is triggered to make a dynamic correction based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the photovoltaic cleaning robot's linear motion cleaning in the left and right directions; When the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, the second yaw angle is defined based on the frame recognition of the gridless photovoltaic assembly, and the straight-line movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle.

2. The walking method of the photovoltaic cleaning robot based on the gridless photovoltaic module according to claim 1 is characterized in that: The collecting of the installation inclination angle of the gridless photovoltaic assembly, and the photovoltaic cleaning robot moving along the slope top direction of the installation inclination angle of the gridless photovoltaic assembly to the top of the gridless photovoltaic assembly, comprises: When the photovoltaic cleaning robot is in a photovoltaic module without a grid, the photovoltaic cleaning robot cannot detect the grid; Collecting the signal output by the gyroscope, and obtaining multiple directional components based on the analysis of the signal output by the gyroscope; The installation inclination angle of the gridless photovoltaic module is obtained according to the calculation of multiple directional components to collect the installation inclination angle of the gridless photovoltaic module; The photovoltaic cleaning robot moves to the top of the gridless photovoltaic assembly along the slope top direction of the installation inclination angle of the gridless photovoltaic assembly.

3. The walking method of the photovoltaic cleaning robot based on the gridless photovoltaic module according to claim 2 is characterized in that: The method of determining the first yaw angle of the photovoltaic cleaning robot based on the recognition of the frame of the gridless photovoltaic assembly when the photovoltaic cleaning robot is at the top of the gridless photovoltaic assembly comprises: Real-time monitoring of the position of the photovoltaic cleaning robot relative to the gridless photovoltaic module; When the photovoltaic cleaning robot is at the top of the gridless photovoltaic module, the photovoltaic cleaning robot collects the frame of the gridless photovoltaic module; The volt-cleaning robot identifies the frame of the gridless photovoltaic module; The first yaw angle of the photovoltaic cleaning robot is determined according to the frame of the gridless photovoltaic assembly and the moving direction of the photovoltaic cleaning robot.

4. The walking method of the photovoltaic cleaning robot based on the gridless photovoltaic module according to claim 3 is characterized in that: The photovoltaic cleaning robot is triggered to turn based on the first yaw angle of the photovoltaic cleaning robot, and the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions, including: Collecting the first yaw angle of the photovoltaic cleaning robot; Associating a first yaw angle of the photovoltaic cleaning robot and a steering logic of the photovoltaic cleaning robot; Determining a steering angle of the photovoltaic cleaning robot according to a first yaw angle of the photovoltaic cleaning robot and a steering logic of the photovoltaic cleaning robot; triggering the turning of the photovoltaic cleaning robot based on the turning angle of the photovoltaic cleaning robot; When the moving direction of the photovoltaic cleaning robot is perpendicular to the extending direction of the frame of the gridless photovoltaic assembly, the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions.

5. The walking method of the photovoltaic cleaning robot based on the gridless photovoltaic module according to claim 4 is characterized in that: When the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions, determining the upward offset and the downward offset of the photovoltaic cleaning robot according to the signal of the position sensor includes: Real-time monitoring of the photovoltaic cleaning robot to clean the gridless photovoltaic modules in the left and right directions; When the photovoltaic cleaning robot cleans the gridless photovoltaic module in the left and right directions, the position sensor dynamically senses as the photovoltaic cleaning robot cleans left and right; The upward offset and downward offset of the photovoltaic cleaning robot are collected according to the dynamic sensing of the position sensor.

6. The walking method of the photovoltaic cleaning robot based on the gridless photovoltaic module according to claim 5 is characterized in that: The method triggers the dynamic correction of the photovoltaic cleaning robot based on the upward offset and the downward offset of the photovoltaic cleaning robot to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions, including: Collect the upward offset and downward offset of the photovoltaic cleaning robot; Associating the upward offset, downward offset and preset offset of the photovoltaic cleaning robot; Multiple interactions are performed on the upward and downward offsets of the photovoltaic cleaning robot; The dynamic correction of the photovoltaic cleaning robot is triggered according to the upward offset and downward offset of the photovoltaic cleaning robot.

7. The walking method of the photovoltaic cleaning robot based on the gridless photovoltaic module according to claim 6, characterized in that: The method triggers the dynamic correction of the photovoltaic cleaning robot based on the upward offset and the downward offset of the photovoltaic cleaning robot to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions, and further includes: Real-time monitoring of the dynamic correction of the photovoltaic cleaning robot; The photovoltaic cleaning robot's linear motion cleaning in the left and right directions is dynamically controlled based on the dynamic correction of the photovoltaic cleaning robot.

8. The walking method of the photovoltaic cleaning robot based on the gridless photovoltaic module according to claim 7, characterized in that: When the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, the second yaw angle is defined based on the frame recognition of the gridless photovoltaic assembly, and the straight-line movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, including: Real-time monitoring of the movement of the PV cleaning robot relative to the gridless PV modules; The camera of the photovoltaic cleaning robot dynamically shoots the gridless photovoltaic module and collects the surface image of the gridless photovoltaic module; A gap between two adjacent gridless photovoltaic modules is defined according to the recognition of the surface images of the gridless photovoltaic modules.

9. The walking method of the photovoltaic cleaning robot based on the gridless photovoltaic module according to claim 8, characterized in that: When the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, the second yaw angle is defined based on the frame recognition of the gridless photovoltaic assembly, and the straight-line movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle, and further includes: When the photovoltaic cleaning robot passes through the gap between the gridless photovoltaic modules, the photovoltaic cleaning robot identifies the frame of the gridless photovoltaic modules; Defining a second yaw angle based on frame recognition of the gridless photovoltaic module; The straight-line movement of the photovoltaic cleaning robot is ensured based on the dynamic correction of the second yaw angle.

10. A photovoltaic cleaning robot walking system based on a gridless photovoltaic module, characterized in that: The walking system of the photovoltaic cleaning robot based on the gridless photovoltaic assembly is applied to the walking method of the photovoltaic cleaning robot based on the gridless photovoltaic assembly as claimed in any one of claims 1 to 9, and the walking system of the photovoltaic cleaning robot based on the gridless photovoltaic assembly includes: A collection module is used to collect the installation inclination angle of the gridless photovoltaic assembly, and the photovoltaic cleaning robot moves along the slope top direction of the installation inclination angle of the gridless photovoltaic assembly to the top of the gridless photovoltaic assembly; A visual recognition module, used to determine a first yaw angle of the photovoltaic cleaning robot based on recognition of a frame of the gridless photovoltaic assembly when the photovoltaic cleaning robot is at the top of the gridless photovoltaic assembly; A steering module, used to trigger the steering of the photovoltaic cleaning robot based on a first yaw angle of the photovoltaic cleaning robot, so that the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions; A position sensing module is used to determine the upward offset and downward offset of the photovoltaic cleaning robot according to the signal of the position sensor when the photovoltaic cleaning robot cleans the gridless photovoltaic assembly in the left and right directions; A dynamic correction module is used to trigger the dynamic correction of the photovoltaic cleaning robot based on the upward offset and downward offset of the photovoltaic cleaning robot, so as to dynamically control the linear motion cleaning of the photovoltaic cleaning robot in the left and right directions; The linear movement module is used to define a second yaw angle based on the frame recognition of the gridless photovoltaic assembly when the photovoltaic cleaning robot passes through the gap of the gridless photovoltaic assembly, and to ensure the linear movement of the photovoltaic cleaning robot based on the dynamic correction of the second yaw angle.

Images