Cleaning unmanned vehicle, cleaning method, storage medium and electronic equipment

Abstract

The embodiment of the invention provides a cleaning unmanned vehicle, a cleaning method, a storage medium and electronic equipment, the cleaning unmanned vehicle comprises a navigation system, a driving system and a cleaning system, the navigation system is used for carrying out terrain recognition on a target area and determining a target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, and the driving system is used for driving the driving system to drive the cleaning system to rotate; the target area is a to-be-cleaned area of the cleaning unmanned vehicle; the driving system is used for driving the cleaning unmanned vehicle to move to the target area according to the target cleaning route; the cleaning system is used for setting cleaning parameters of a cleaning tool according to the terrain of the target area and cleaning the target area according to the cleaning tool with the set cleaning parameters, and the cleaning system comprises the cleaning tool. According to the method, the problem that the photovoltaic panel is difficult to clean in a complex terrain or dangerous environment by manually cleaning the photovoltaic panel in related technologies can be solved.

Description

Technical Field

[0001] This application relates to the field of unmanned ground vehicles, and more particularly, to a cleaning unmanned vehicle, a cleaning method, a storage medium, and an electronic device. Background Art

[0002] With the increasing demand for renewable energy, photovoltaic power generation has become an important way to obtain energy. However, dust, dirt, etc. on the surface of photovoltaic panels will seriously affect the power generation efficiency. Traditional cleaning methods often require a large amount of manpower, are costly, and are difficult to implement in some terrains with complex or dangerous environments.

[0003] In view of the problem in the related art that it is difficult to clean photovoltaic panels in terrains with complex or dangerous environments through manual cleaning, no effective solution has been proposed yet.

[0004] Therefore, it is necessary to improve the related art to overcome the above-mentioned defects in the related art. Summary of the Invention

[0005] Embodiments of this application provide a cleaning unmanned vehicle, a cleaning method, a storage medium, and an electronic device to at least solve the problem in the related art that it is difficult to clean photovoltaic panels in terrains with complex or dangerous environments through manual cleaning.

[0006] According to an embodiment of this application, a cleaning unmanned vehicle is provided, including: a navigation system, a driving system, and a cleaning system, where: the navigation system is configured to perform terrain recognition on a target area and determine a target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, where the target area is an area that the cleaning unmanned vehicle needs to clean; the driving system is configured to drive the cleaning unmanned vehicle to move to the target area according to the target cleaning route; the cleaning system is configured to set cleaning parameters of a cleaning tool according to the terrain of the target area and clean the target area with the cleaning tool with the set cleaning parameters, where the cleaning system includes: the cleaning tool.

[0007] In an exemplary embodiment, the driving system further includes: a motor, a deformable tire or a crawler, where: the motor is configured to provide power for the cleaning unmanned vehicle; the deformable tire or the crawler is configured to change different shapes according to different terrains in the target cleaning route to drive the cleaning unmanned vehicle to reach the target area.

[0008] In an exemplary embodiment, the navigation system includes an image recognition device and a navigation device, where: the image recognition device is configured to perform image recognition on the target area to determine the environmental features corresponding to the target area, and perform terrain recognition on the target area to determine the terrain of the target area; the navigation device is configured to determine the target cleaning route according to the environmental features and the terrain.

[0009] In an exemplary embodiment, the navigation device is further configured to: identify obstacle information of the target area according to the environmental features; determine a plurality of first cleaning routes according to a path planning algorithm and the terrain, and screen out a plurality of second cleaning routes that do not include the obstacles in the obstacle information from the plurality of first cleaning routes; determine the target cleaning route from the plurality of second cleaning routes, where the target cleaning route is the cleaning route with the shortest path among the plurality of second cleaning routes.

[0010] In an exemplary embodiment, the cleaning tool includes a rotating brush, a water spraying device, and a dust suction device, where: the water spraying device is configured to spray water on the target area; the rotating brush is configured to rotate to a target angle according to the cleaning parameters and sweep the target area after water spraying based on the target angle; the dust suction device is configured to absorb the stains on the target area.

[0011] In an exemplary embodiment, the cleaning unmanned vehicle includes a receiving device, where the receiving device is configured to receive a control instruction sent by a remote control device and determine the operating mode of the cleaning unmanned vehicle according to the control instruction; where the operating mode includes: an automatic cleaning mode and a manual cleaning mode, the manual cleaning mode is used to instruct the target object to control the cleaning unmanned vehicle through the remote control device so that the unmanned vehicle cleans the target area, and the automatic cleaning mode is used to instruct the cleaning unmanned vehicle to clean the target area according to a preset program.

[0012] In an exemplary embodiment, the cleaning unmanned vehicle further includes a safety system, where: the safety system is configured to detect the operating state of the cleaning unmanned vehicle, and in the case of determining that the operating state is an abnormal state, adjust the cleaning unmanned vehicle from the working state to the stopped operating state and issue an alarm through a multiple anti-collision alarm system in the safety system.

[0013] According to another embodiment of the present application, a cleaning method is provided, including: performing terrain recognition on a target area, and determining a target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, where the target area is the area to be cleaned by the cleaning unmanned vehicle; setting cleaning parameters of a cleaning tool according to the terrain of the target area; driving the cleaning unmanned vehicle to move to the target area according to the target cleaning route, and cleaning the target area with the cleaning tool whose cleaning parameters have been set.

[0014] According to still another embodiment of the present application, a computer-readable storage medium is further provided. A computer program is stored in the computer-readable storage medium, where the computer program is configured to execute the steps in the above method embodiment when running.

[0015] According to still another embodiment of the present application, an electronic device is further provided, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in the above method embodiment.

[0016] According to still another embodiment of the present application, a computer program product is further provided, including a computer program, where the computer program implements the steps in the above method embodiment when executed by a processor.

[0017] A cleaning unmanned vehicle according to an embodiment of the present application includes: a navigation system, a driving system, and a cleaning system. The navigation system is configured to perform terrain recognition on a target area to be cleaned by the cleaning unmanned vehicle, and determine a target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area. The driving system is configured to drive the cleaning unmanned vehicle to move to the target area according to the target cleaning route. The cleaning system is configured to set cleaning parameters of a cleaning tool in the cleaning system according to the terrain of the target area, and clean the target area with the cleaning tool whose cleaning parameters have been set. That is to say, the embodiment of the present application defines a cleaning unmanned vehicle. The cleaning unmanned vehicle can determine the terrain of the target area and the target cleaning route. The navigation system of the cleaning unmanned vehicle can drive the cleaning unmanned vehicle to the target area according to the target cleaning route, and adjust the cleaning parameters of the cleaning tool according to the terrain, and then clean the target area. Through the embodiment of the present application, the problem in the related art that it is difficult to clean a photovoltaic panel manually in a complex or dangerous terrain environment can be solved. Furthermore, the cleaning area can be intelligently cleaned by the cleaning unmanned vehicle, and the target area can be cleaned by the cleaning unmanned vehicle in a complex or dangerous terrain environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 is a schematic diagram of a cleaning unmanned vehicle according to an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a photovoltaic cleaning unmanned vehicle applicable to all terrains according to an optional embodiment of the present application;

[0022] Figure 3 is a hardware structure block diagram of a computer terminal device for a cleaning method according to an embodiment of the present application;

[0023] Figure 4 is a flowchart of a cleaning method according to an embodiment of the present application. Detailed Embodiments

[0024] Hereinafter, the embodiments of the present application will be described in detail with reference to the accompanying drawings and in combination with the embodiments.

[0025] It should be noted that the terms "first", "second", etc. in the specification, claims and the above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence.

[0026] Figure 1 is a schematic diagram of a cleaning unmanned vehicle according to an embodiment of the present application. As Figure 1 shown, the cleaning unmanned vehicle according to the embodiment of the present application includes: a navigation system 12, a drive system 14, and a cleaning system 16, wherein:

[0027] The navigation system 12 is used to identify the terrain of the target area and determine the target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, wherein the target area is the area to be cleaned by the cleaning unmanned vehicle;

[0028] Among them, the above-mentioned target area can be the area corresponding to the photovoltaic panel.

[0029] The drive system 14 is used to drive the cleaning unmanned vehicle to move to the target area according to the target cleaning route;

[0030] The cleaning system 16 is used to set the cleaning parameters of the cleaning tool according to the terrain of the target area, and clean the target area with the cleaning tool with the set cleaning parameters, wherein the cleaning system includes: the cleaning tool.

[0031] The cleaning unmanned vehicle according to the embodiment of the present application includes a navigation system, a driving system, and a cleaning system. Among them, the navigation system is used to identify the terrain of the target area to be cleaned by the cleaning unmanned vehicle, and determine the target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area; the driving system is used to drive the cleaning unmanned vehicle to move to the target area according to the target cleaning route, and the cleaning system is used to set the cleaning parameters of the cleaning tools in the cleaning system according to the terrain of the target area, and clean the target area with the cleaning tools whose cleaning parameters have been set. That is to say, the embodiment of the present application defines a cleaning unmanned vehicle. The cleaning unmanned vehicle can determine the terrain of the target area and the target cleaning route. The navigation system of the cleaning unmanned vehicle can drive the cleaning unmanned vehicle to the target area according to the target cleaning route, and adjust the cleaning parameters of the cleaning tools according to the terrain, and then clean the target area. Through the embodiment of the present application, the problem that it is difficult to clean the photovoltaic panels manually in a complex or dangerous terrain environment in the related art can be solved. Furthermore, the cleaning area can be intelligently cleaned by the cleaning unmanned vehicle, and the target area can be cleaned by the cleaning unmanned vehicle in a complex or dangerous terrain environment.

[0032] Optionally, the driving system of the cleaning unmanned vehicle further includes: a motor, a deformable tire or a crawler, where: the motor is used to provide power for the cleaning unmanned vehicle; the deformable tire or the crawler is used to change different shapes according to different terrains in the target cleaning route to drive the cleaning unmanned vehicle to reach the target area.

[0033] It can be understood that the driving system of the cleaning unmanned aerial vehicle further includes a motor, a deformable tire or a crawler. Among them, the motor is the core power source of the driving system. The motor is responsible for converting electrical energy into mechanical energy to provide power for the movement of the cleaning unmanned vehicle. In the embodiment of the present application, the motor can adopt a high-torque and low-noise design, which can ensure sufficient power output in complex terrains, while maintaining the smoothness and quietness of operation, and reducing the impact on the surrounding environment. The motor also has an intelligent control function, which can automatically adjust the output power according to the driving state of the cleaning unmanned vehicle and the road surface conditions to adapt to different driving needs.

[0034] Meanwhile, to cope with different types of terrains, the cleaning unmanned vehicle is equipped with deformable tires or tracks. The deformable tires or tracks allow the tires or tracks to automatically adjust their shapes according to different terrain types, ensuring the stable driving of the cleaning unmanned vehicle on various terrains such as gravel, mud, grass or hard ground. For example, when encountering soft or uneven terrains, the deformable tires can deform into a wider contact surface to increase friction and reduce sinking; on relatively flat hard road surfaces, the deformable tires can deform into a narrower shape to improve driving speed and efficiency. The tracks, on the other hand, provide additional traction and stability under extreme terrain conditions, ensuring that the cleaning unmanned vehicle can cross obstacles and reach the target area.

[0035] In summary, the control system of the cleaning unmanned vehicle can intelligently control the working states of the motor and the tires or tracks according to the target cleaning route information provided by the navigation system. This includes automatically switching the deformation modes of the tires or tracks according to the characteristics of different terrains in the route, and adjusting the output power of the motor. In addition, the control system can also monitor the driving state of the unmanned vehicle in real time, such as speed, acceleration, tilt angle, etc., to ensure the safety and stability of the unmanned vehicle during the cleaning operation.

[0036] Optionally, the navigation system of the cleaning unmanned vehicle includes: an image recognition device and a navigation device, where: the image recognition device is used to perform image recognition on the target area to determine the environmental characteristics corresponding to the target area, and perform terrain recognition on the target area to determine the terrain of the target area; the navigation device is used to determine the target cleaning route according to the environmental characteristics and the terrain.

[0037] It can be understood that the navigation system includes an image recognition device and a navigation device. Among them, the image recognition device can include a high-definition camera and a supporting image processing algorithm. When the cleaning unmanned vehicle starts the cleaning operation, the high-definition camera starts to take real-time pictures of the target area, capturing images of the photovoltaic panels (i.e., the target area) and details of the surrounding environment. The image processing algorithm then analyzes and recognizes these images to determine the position, size, tilt angle of the photovoltaic panels and the stain distribution on the surface, so as to understand the environmental characteristics of the target area. For example, if the image shows a large amount of stains on the upper part of the photovoltaic panel and a small amount of dust on the lower part, the image processing algorithm will recognize that the upper part has a higher degree of pollution and requires more thorough cleaning.

[0038] In addition, the image recognition device can also recognize the terrain of the target area. For example, by analyzing the texture, color contrast and height change of the ground, the cleaning unmanned vehicle can recognize whether the front is flat ground, a slope or a gully. In a complex environment, the cleaning unmanned vehicle can even recognize obstacles such as trees and buildings to ensure driving safety.

[0039] Based on the environmental features and terrain information provided by the image recognition device, the navigation device combines technologies such as GPS positioning and inertial navigation to determine the target cleaning route of the cleaning unmanned vehicle. GPS positioning provides the macroscopic position of the cleaning unmanned vehicle to ensure that the unmanned vehicle can start from the starting point and reach the target area along the target cleaning path. Inertial navigation provides supplementary positioning information in an environment with poor or blocked GPS signals to maintain the positioning accuracy of the cleaning unmanned vehicle.

[0040] When determining the target cleaning route, the navigation device takes into account the size, driving ability, and cleaning efficiency of the cleaning unmanned vehicle. For example, if the target area is on a slope, the navigation device calculates a target cleaning route suitable for the slope terrain and plans how to adjust the posture of the cleaning unmanned vehicle to maintain stability. If there are obstacles near the target area, the navigation device plans a target cleaning path to avoid the obstacles to ensure that the cleaning unmanned vehicle will not be damaged during the cleaning operation.

[0041] For example, when the cleaning unmanned vehicle receives the task of cleaning a photovoltaic panel on a small hill, the image recognition device first identifies the specific position and inclination angle of the photovoltaic panel, and at the same time identifies the terrain of the hill and possible obstacles, such as trees or rocks. Subsequently, based on this information, the navigation device plans a cleaning route that first travels on flat ground, then slowly climbs the slope, and finally reaches under the photovoltaic panel. During the climbing process, the navigation device also adjusts the forward inclination angle of the cleaning unmanned vehicle to maintain the stability of the vehicle body, and at the same time controls the shape of the deformable tires or tracks to increase the climbing ability.

[0042] Optionally, the navigation device of the embodiment of the present application is further configured to identify obstacle information of the target area according to the environmental features; determine a plurality of first cleaning routes according to the path planning algorithm and the terrain, and screen a plurality of second cleaning routes that do not include the obstacles in the obstacle information from the plurality of first cleaning routes; determine the target cleaning route from the plurality of second cleaning routes, where the target cleaning route is the cleaning route with the shortest path among the plurality of second cleaning routes.

[0043] It can be understood that the navigation device can also determine the target cleaning route. Specifically:

[0044] The image recognition device of the cleaning unmanned vehicle can capture the environmental image of the target area through a high-definition camera. Based on these images, the navigation device uses computer vision technology to identify the position, inclination angle, and dirt distribution on the surface of the photovoltaic panel, and at the same time can also identify the obstacle information around the target area. The obstacle information includes the type, size, position, and shape of the obstacle, such as trees, rocks, utility poles, or other equipment.

[0045] According to the terrain of the target area, the navigation device generates multiple first cleaning routes. The multiple first cleaning routes are based on the basic conditions that the cleaning unmanned vehicle can reach the photovoltaic panels and perform cleaning operations, taking into account the physical limitations and cleaning efficiency of the cleaning unmanned vehicle. For example, the navigation device may generate routes passing through flat ground, bypassing small hills, and directly climbing slopes, etc., as candidates for the first cleaning routes.

[0046] Based on the generation of the first cleaning routes, the navigation device further analyzes the obstacle information and filters out the routes without obstacles from the first cleaning routes to form multiple second cleaning routes. This can ensure that the cleaning unmanned vehicle will not encounter insurmountable obstacles when performing cleaning tasks.

[0047] The navigation device selects the route with the shortest path as the target cleaning route among the multiple second cleaning routes according to the path planning algorithm. The path planning algorithm comprehensively considers the energy consumption, driving speed, and stability of the cleaning unmanned vehicle to ensure that the selected route is not only the shortest but also the safest and most efficient. This can improve the cleaning efficiency of the cleaning unmanned vehicle, reduce unnecessary driving distance and energy loss.

[0048] For example, assume that the cleaning unmanned vehicle needs to clean a photovoltaic panel area in a large photovoltaic power station, and there is a dense forest of trees and some utility poles as obstacles in this area. First, the image recognition device identifies the position of the photovoltaic panels and the obstacle information of the trees and utility poles through the camera. Next, the navigation device generates multiple first cleaning routes through different paths, including a route directly passing through the tree area and a detour route. During the screening process, the route directly passing through the tree area is excluded because it contains obstacles, and the remaining detour route is used as the second cleaning route. Finally, the navigation device selects the detour route with the shortest path and avoiding all obstacles as the target cleaning route, commands the cleaning unmanned vehicle to drive along this route, avoiding collisions with the trees and utility poles, and at the same time quickly reaching the target photovoltaic panel with the shortest path and efficiently starting the cleaning operation.

[0049] Optionally, the cleaning unmanned vehicle further includes: cleaning tools, including: a rotating brush, a water spraying device, and a dust suction device, where: the water spraying device is used to spray water on the target area; the rotating brush is used to rotate to a target angle according to the cleaning parameters and clean the target area after spraying water based on the target angle; the dust suction device is used to absorb the stains in the target area.

[0050] It is understandable that the cleaning system for the cleaning unmanned vehicle includes a rotating brush, a water spraying device and a dust suction device. These cleaning tools work together to adapt to the installation environments of various photovoltaic panels and achieve efficient and thorough cleaning operations. Specifically: The water spraying device is the pretreatment part of the cleaning system. Its function is to spray water or cleaning agent on the photovoltaic panel before cleaning the dirt on the surface of the photovoltaic panel to soften the dust and stains and make the subsequent cleaning work easier. The water spraying device can adjust the water spraying pressure and water volume according to the environmental conditions and the stain degree of the photovoltaic panel. For example, in dry areas, a large amount of dust may accumulate on the photovoltaic panel. At this time, the water spraying device will increase the water pressure and water volume to ensure that the dust can be fully wetted for subsequent cleaning. The rotating brush is the main tool for cleaning the photovoltaic panel. It can automatically adjust the rotation angle and brushing strength according to cleaning parameters such as the tilt angle of the photovoltaic panel and the stain distribution. The design of the rotating brush takes into account the structure and material of the photovoltaic panel to ensure that it will not cause damage to it during the cleaning process. For example, if the tilt angle of the photovoltaic panel is 30 degrees, the rotating brush will automatically adjust to the same angle and then start brushing with a moderate strength to remove the dirt on the surface of the photovoltaic panel. In some cases, the rotating brush can also adjust the rotation speed of the brush and the hardness of the bristles according to the hardness or viscosity of the stain. The dust suction device is used to remove the dust and stains generated during the cleaning process to ensure that the surface of the photovoltaic panel can reach the best cleanliness after cleaning. The dust suction device usually includes a powerful vacuum pump and a dirt collection container. After the cleaning is completed, the dust suction device will start to suck away the remaining dust and water to prevent them from adhering to the photovoltaic panel again and affecting the power generation efficiency.

[0051] For example, when the rotating brush finishes brushing the photovoltaic panel, the dust suction device will automatically start to suck away the mud and dust generated during the brushing process, collect them in the dirt collection container to avoid secondary pollution, and at the same time ensure the cleanliness and dryness of the surface of the photovoltaic panel.

[0052] Suppose the task of the cleaning unmanned vehicle is to clean a photovoltaic panel located in a hilly area. These photovoltaic panels have different tilt angles and their surfaces are covered with dust. After receiving the cleaning task, the cleaning unmanned vehicle first determines the position, tilt angle of the photovoltaic panel and the distribution of the stains through the image recognition device. Subsequently, the cleaning system sets the cleaning parameters according to this information. The water spraying device adjusts the water spraying pressure and water volume according to the tilt angle of the photovoltaic panel and the viscosity of the stain, and first sprays water on the photovoltaic panel to soften the dust. The rotating brush adjusts its rotation angle according to the tilt angle of the photovoltaic panel to adapt to the surface of the photovoltaic panel. Then, it starts to clean the water-sprayed photovoltaic panel according to the set brushing strength to thoroughly remove the dust. The dust suction device starts after the rotating brush finishes cleaning to suck away the dust and water generated during the cleaning process and collect them in the dirt collection container to ensure the cleanliness and dryness of the surface of the photovoltaic panel.

[0053] Optionally, the cleaning unmanned vehicle further includes: a receiving device, where the receiving device is configured to receive a control instruction sent by a remote control device and determine an operation mode of the cleaning unmanned vehicle according to the control instruction; where the operation mode includes: an automatic cleaning mode and a manual cleaning mode, and the manual cleaning mode is used to instruct the target object to control the cleaning unmanned vehicle through the remote control device so that the unmanned vehicle cleans the target area, and the automatic cleaning mode is used to instruct the cleaning unmanned vehicle to clean the target area according to a preset program.

[0054] It can be understood that the receiving device of the cleaning unmanned vehicle is a key component for realizing the switching between the automatic cleaning mode and the manual cleaning mode of the cleaning unmanned vehicle, ensuring the flexibility and safety of the cleaning operation. Specifically: The receiving device usually includes a wireless communication module that can receive control instructions sent by the remote control device. The control instructions may include instruction types, parameter settings, and other operation commands. The wireless communication module can ensure stable and fast signal transmission between the cleaning unmanned vehicle and the remote control device, and can maintain good communication quality even in complex terrains or blocked environments.

[0055] The receiving device can parse the received control instructions and determine the operation mode of the cleaning unmanned vehicle according to the mode type in the instructions. If the control instruction indicates entering the automatic cleaning mode, the cleaning unmanned vehicle will follow the preset program and route to automatically perform the cleaning operation of the photovoltaic panels. If the control instruction indicates entering the manual cleaning mode, the cleaning unmanned vehicle will stop the execution of the automatic program and instead receive operation commands from the remote control device through wireless communication, and the operator will directly control the movement and cleaning process of the unmanned vehicle.

[0056] In the automatic cleaning mode, the cleaning unmanned vehicle automatically travels to the target cleaning area according to the planning of the navigation system. After arriving at the target area, the control system of the cleaning unmanned vehicle will control the operation of the water spraying device, the rotating brush, and the dust suction device according to the environmental characteristics and cleaning parameters of the photovoltaic panels provided by the image recognition device to complete the cleaning of the photovoltaic panels. The entire process does not require manual intervention, greatly improving the cleaning efficiency and reducing the labor cost.

[0057] For example, when the cleaning unmanned vehicle receives an instruction for the automatic cleaning mode, it will automatically start, and according to the preset route planning, reach the designated position of the photovoltaic power station along the shortest path. After arriving, the cleaning unmanned vehicle automatically identifies the position and inclination angle of the photovoltaic panels, adjusts the angles and parameters of the cleaning tools, and starts the cleaning process. After the cleaning is completed, the cleaning unmanned vehicle will automatically return to the starting position and wait for the next cleaning task.

[0058] When more precise control of the cleaning unmanned vehicle is required under specific conditions, the manual cleaning mode can be used. The operator sends operation commands through a remote control device to directly control the driving direction, speed of the cleaning unmanned vehicle, and the parameters of the cleaning tools to adapt to complex environments or specific cleaning requirements.

[0059] For example, when there are obstacles such as weeds or small animals around the photovoltaic panels that need to be avoided, the operator can select the manual cleaning mode and control the cleaning unmanned vehicle to move slowly through the remote control device, carefully avoiding obstacles to ensure the safety of the cleaning operation. In some narrow spaces, such as the small intervals between photovoltaic panels, the operator can also manually control the cleaning unmanned vehicle and adjust its driving angle and the moving path of the cleaning tools to achieve the best cleaning effect.

[0060] The cleaning unmanned vehicle of this application can not only achieve efficient automated cleaning, but also switch to the manual mode in special cases for direct control by the operator, improving the flexibility and adaptability of the cleaning operation and ensuring the cleaning quality and safety in complex environments.

[0061] Optionally, the cleaning unmanned vehicle further includes: a safety system, wherein: the safety system is used to detect the operating state of the cleaning unmanned vehicle, and in the case of determining that the operating state is an abnormal state, adjust the cleaning unmanned vehicle from the working state to the stopped operating state and issue an alarm through the multiple anti-collision alarm system in the safety system.

[0062] It can be understood that the receiving device of the cleaning unmanned vehicle is a key component for realizing the switching between the automatic cleaning mode and the manual cleaning mode of the cleaning unmanned vehicle, ensuring the flexibility and safety of the cleaning operation. Specifically:

[0063] The receiving device usually includes a wireless communication module, which can receive control instructions sent from the remote control device. The control instructions may include instruction types, parameter settings, and other operation commands. The wireless communication module can ensure stable and fast signal transmission between the cleaning unmanned vehicle and the remote control device, and can maintain good communication quality even in complex terrains or environments with obstructions.

[0064] The receiving device can analyze the received control instructions and determine the operating mode of the cleaning unmanned vehicle according to the mode type in the instructions. If the instruction indicates entering the automatic cleaning mode, the cleaning unmanned vehicle will follow the preset program and route to automatically perform the cleaning operation of the photovoltaic panels. If the instruction indicates entering the manual cleaning mode, the cleaning unmanned vehicle will stop the execution of the automatic program and instead receive operation commands from the remote control device through wireless communication, and the operator will directly control the movement and cleaning process of the unmanned vehicle.

[0065] In the automatic cleaning mode, the cleaning unmanned vehicle automatically travels to the target cleaning area according to the plan of the navigation system. After arrival, the control system of the cleaning unmanned vehicle controls the operation of the water spraying device, the rotating brush and the dust suction device according to the environmental characteristics of the photovoltaic panel and the cleaning parameters provided by the image recognition device, and completes the cleaning of the photovoltaic panel. The whole process requires no manual intervention, greatly improving the cleaning efficiency and reducing the labor cost.

[0066] For example, when the cleaning unmanned vehicle receives the instruction of the automatic cleaning mode, it will automatically start and reach the designated position of the photovoltaic power station along the shortest path according to the preset route plan. After arrival, the cleaning unmanned vehicle automatically identifies the position and tilt angle of the photovoltaic panel, adjusts the angle and parameters of the cleaning tool, and starts the cleaning process. After the cleaning is completed, the cleaning unmanned vehicle will automatically return to the starting position and wait for the next cleaning task.

[0067] When more precise control of the cleaning unmanned vehicle is required under specific conditions, the manual cleaning mode can be used. The operator sends operation commands through the remote control device to directly control the driving direction, speed of the cleaning unmanned vehicle and the parameters of the cleaning tool to adapt to complex environments or specific cleaning requirements.

[0068] For example, when there are obstacles such as weeds or small animals around the photovoltaic panel that need to be avoided, the operator can select the manual cleaning mode and control the cleaning unmanned vehicle to move slowly through the remote control device to carefully avoid the obstacles and ensure the safety of the cleaning operation. In some narrow spaces, such as small intervals between photovoltaic panels, the operator can also manually control the cleaning unmanned vehicle and adjust its driving angle and the moving path of the cleaning tool to achieve the best cleaning effect.

[0069] The cleaning unmanned vehicle of the embodiment of the present application can not only achieve efficient automatic cleaning, but also switch to the manual mode under special circumstances and be directly controlled by the operator, improving the flexibility and adaptability of the cleaning operation and ensuring the cleaning quality and safety in complex environments.

[0070] To better understand the process of the above cleaning unmanned vehicle achieving cleaning, the following further describes the implementation method flow of the above cleaning unmanned vehicle in combination with optional embodiments, but it is not used to limit the technical solutions of the embodiments of the present application.

[0071] An optional embodiment of the present application discloses a photovoltaic cleaning unmanned vehicle applicable to all terrains. This unmanned vehicle integrates advanced drive systems, control systems, navigation systems, and cleaning systems, and can automatically complete the cleaning operation of photovoltaic panels under different terrain conditions, improving the cleaning efficiency and power generation efficiency of photovoltaic panels, and having broad application prospects. The purpose of the optional embodiment of the present application is to provide a photovoltaic cleaning unmanned vehicle applicable to all terrains, which can automatically navigate to the location of the photovoltaic panel, adjust the cleaning device according to the terrain, effectively remove the dirt on the photovoltaic panel, and improve the photovoltaic power generation efficiency.

[0072] Specifically, Figure 2 is a schematic diagram of a photovoltaic cleaning unmanned vehicle applicable to all terrains according to an optional embodiment of the present application, as Figure 2 shown:

[0073] The body of the photovoltaic cleaning unmanned vehicle is made of lightweight and high-strength materials, with good impact resistance and corrosion resistance. The body is designed to be streamlined to reduce wind resistance and improve operating efficiency. A waterproof and dustproof transparent cover is provided above the vehicle body to protect the internal electronic devices from the external environment.

[0074] The photovoltaic cleaning unmanned vehicle includes: a water tank 24, a drive system 26, a control system 25, a navigation system ( Figure 2 not shown in the figure), a cleaning system 22 (including Figure 2 the cleaning device 21 and the dust collection / water spraying device 23 in the figure), and a power supply system 27. Moreover, the roof of the photovoltaic cleaning unmanned vehicle further includes: a roof photovoltaic power generation system, where:

[0075] Drive system: The drive system includes four groups of independently controllable drive units. Each group of drive units contains a motor and a deformable tire or crawler adapted to different terrains. Through the high-torque and low-noise design of the motor, the power output and smooth operation of the unmanned vehicle on complex terrains are ensured.

[0076] Control system: It includes a central processing unit, sensors, actuators, and communication modules, and is used to receive instructions, process information, and control the operation of the unmanned vehicle. That is, the control system is based on an advanced embedded microprocessor, equipped with multi-axis attitude sensors, ultrasonic distance sensors, and pressure sensors to monitor the operating state of the unmanned vehicle in real time. The actuator is responsible for responding to the control signal and precisely controlling the drive system.

[0077] Navigation system: The navigation system integrates GPS, an inertial navigation module, and a high-definition camera. The high-definition camera cooperates with image processing technology to identify environmental features, and fuses with GPS and inertial navigation data to ensure that the unmanned vehicle accurately reaches the specified location.

[0078] Cleaning System: The cleaning system consists of a set of highly efficient rotating brushes, a water spraying device, and a dust suction device. The angle of the rotating brushes is adjustable to adapt to photovoltaic panels with different tilting angles; the water spraying device is used to soften stubborn stains, while the dust suction device is used to suck up dust and debris.

[0079] Power Supply System: The power supply system is composed of a high-density lithium battery pack, which has the ability to supply power for a long time. And a solar charging panel is provided, which can supplement electrical energy during daytime operation and increase the continuous operation time of the unmanned vehicle.

[0080] The operation modes of the photovoltaic cleaning unmanned vehicle are as follows: The photovoltaic cleaning unmanned vehicle is equipped with two operation modes, automatic and manual. In the automatic mode, the unmanned vehicle completes the cleaning work of the photovoltaic panels according to the preset program; in the manual mode, the operator can precisely control the unmanned vehicle through a wireless remote control.

[0081] The photovoltaic cleaning unmanned vehicle also includes the following safety mechanisms: The photovoltaic cleaning unmanned vehicle is equipped with an emergency stop button and a multiple anti-collision alarm system to ensure that it can immediately stop running in case of abnormal situations and avoid causing damage.

[0082] The optional embodiments of this application achieve fully automated cleaning, reduce labor requirements and cleaning costs; adapt to various terrains, improve the cleaning range and efficiency of photovoltaic panels; at the same time, ensure high-precision positioning and path planning through a multi-modal navigation system; and adapt to photovoltaic panels with different installation angles through adjustable cleaning devices; and the power supply system guarantees the long-time operation ability of the unmanned vehicle.

[0083] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of this application.

[0084] In the embodiments of this application, the method embodiments provided can be executed in a computer terminal device or a similar computing device. Taking running on a computer terminal device as an example, Figure 3 is the hardware structure block diagram of a computer terminal device for a cleaning method according to an embodiment of this application. As Figure 3 shown, the computer terminal device may include one or more ([ Figure 3Only one processor 302 is shown (the processor 302 may include, but is not limited to, a processing device such as a microprocessor MCU or a field programmable gate array FPGA), and a memory 304 for storing data. Among them, the above computer terminal device may further include a transmission device 306 for communication functions and an input / output device 308. Those of ordinary skill in the art can understand that Figure 3 The structure shown is only schematic and does not limit the structure of the above computer terminal device. For example, the computer terminal device may further include more or fewer components than Figure 2 shown in, or have a different configuration from Figure 3 shown.

[0085] The memory 304 can be used to store computer programs. For example, software programs and modules of application software, such as the computer program corresponding to the cleaning method in the embodiments of the present application. The processor 302 executes various functional applications and data processing by running the computer programs stored in the memory 304, that is, implements the above method. The memory 304 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 304 may further include a memory remotely disposed relative to the processor 302, and these remote memories may be connected to the computer terminal device through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0086] The transmission device 306 is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of the computer terminal device. In one instance, the transmission device 306 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device 306 may be a radio frequency (Radio Frequency, abbreviated as RF) module, which is used to communicate with the Internet wirelessly.

[0087] In this embodiment, a cleaning method is provided. Figure 4 is a flowchart of the cleaning method according to the embodiments of the present application, as Figure 4 shown, and the process includes the following steps:

[0088] Step S402, perform terrain recognition on the target area, and determine the target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, where the target area is the area to be cleaned by the cleaning unmanned vehicle;

[0089] Step S404: Set the cleaning parameters of the cleaning tool according to the terrain of the target area;

[0090] Step S406: Drive the cleaning unmanned vehicle to the target area according to the target cleaning route, and clean the target area with the cleaning tool whose cleaning parameters have been set.

[0091] Through the above steps, the terrain of the target area and the target cleaning route can be determined. Furthermore, the cleaning unmanned vehicle can be driven to the target area according to the target cleaning route, and the cleaning parameters of the cleaning tool can be adjusted according to the terrain, so as to clean the target area. Through the embodiments of the present application, the problem in the related art that it is difficult to clean the photovoltaic panels manually in a complex or dangerous terrain environment can be solved. Furthermore, the cleaning area can be intelligently cleaned by the cleaning unmanned vehicle, and the target area can be cleaned by the cleaning unmanned vehicle in a complex or dangerous terrain environment.

[0092] In an exemplary embodiment, the method further includes: identifying the obstacle information of the target area according to the environmental characteristics; determining a plurality of first cleaning routes according to the path planning algorithm and the terrain, and screening a plurality of second cleaning routes that do not include the obstacles in the obstacle information from the plurality of first cleaning routes; determining the target cleaning route from the plurality of second cleaning routes, where the target cleaning route is the cleaning route with the shortest path among the plurality of second cleaning routes.

[0093] In an exemplary embodiment, the method further includes: receiving a control instruction sent by a remote control device, and determining the operation mode of the cleaning unmanned vehicle according to the control instruction; where the operation mode includes: an automatic cleaning mode and a manual cleaning mode, and the manual cleaning mode is used to instruct the target object to control the cleaning unmanned vehicle through the remote control device so that the unmanned vehicle cleans the target area, and the automatic cleaning mode is used to instruct the cleaning unmanned vehicle to clean the target area according to a preset program.

[0094] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored, and the computer program is set to execute the steps in the above method embodiment when running.

[0095] Optionally, in this embodiment, the above storage medium may be set to store program codes for executing the following steps:

[0096] S1: Perform terrain recognition on the target area, and determine the target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, where the target area is the area to be cleaned by the cleaning unmanned vehicle;

[0097] S2. Set the cleaning parameters of the cleaning tool according to the terrain of the target area;

[0098] S3. Drive the cleaning unmanned vehicle to the target area according to the target cleaning route, and clean the target area with the cleaning tool whose cleaning parameters have been set.

[0099] In an exemplary embodiment, the above computer-readable storage medium may include, but is not limited to: various media such as USB flash drives, read-only memories (ROM for short), random access memories (RAM for short), mobile hard disks, magnetic disks, or optical discs that can store computer programs.

[0100] An embodiment of the present application also provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0101] In an exemplary embodiment, the above electronic device may further include a transmission device and an input / output device. Among them, the transmission device is connected to the above processor, and the input / output device is connected to the above processor.

[0102] Optionally, in this embodiment, the above processor may be configured to execute the following steps through a computer program:

[0103] S1. Perform terrain recognition on the target area, and determine the target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, where the target area is the area to be cleaned by the cleaning unmanned vehicle;

[0104] S2. Set the cleaning parameters of the cleaning tool according to the terrain of the target area;

[0105] S3. Drive the cleaning unmanned vehicle to the target area according to the target cleaning route, and clean the target area with the cleaning tool whose cleaning parameters have been set.

[0106] An embodiment of the present application also provides a computer program product. The above computer program product includes a computer program, and the steps in any one of the above method embodiments are implemented when the computer program is executed by a processor.

[0107] An embodiment of the present application also provides another computer program product, including a non-volatile computer-readable storage medium. The non-volatile computer-readable storage medium stores a computer program, and the steps in any one of the above method embodiments are implemented when the computer program is executed by a processor.

[0108] An embodiment of the present application further provides a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in any of the above method embodiments.

[0109] Optionally, in this embodiment, the above processor may be configured to execute the following steps through a computer program:

[0110] S1. Perform terrain recognition on a target area, and determine a target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, where the target area is an area to be cleaned by the cleaning unmanned vehicle;

[0111] S2. Set cleaning parameters of a cleaning tool according to the terrain of the target area;

[0112] S3. Drive the cleaning unmanned vehicle to move to the target area according to the target cleaning route, and clean the target area with the cleaning tool with the set cleaning parameters.

[0113] Specific examples in this embodiment may refer to the examples described in the above embodiments and exemplary embodiments, and will not be repeated here.

[0114] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. They can be implemented by program codes executable by the computing device, so that they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order than here, or they can be separately made into individual integrated circuit modules, or multiple modules or steps among them can be made into a single integrated circuit module to implement. In this way, the present application is not limited to any specific combination of hardware and software.

[0115] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning unmanned vehicle, characterized in that: include: Navigation system, drive system and cleaning system, including: The navigation system is used to identify the terrain of a target area and determine a target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, wherein the target area is an area to be cleaned by the cleaning unmanned vehicle; The driving system is used to drive the cleaning unmanned vehicle to move to the target area according to the target cleaning route; The cleaning system is used to set cleaning parameters of a cleaning tool according to the topography of the target area, and to clean the target area using the cleaning tool with the set cleaning parameters, wherein the cleaning system includes: the cleaning tool.

2. The unmanned cleaning vehicle according to claim 1, characterized in that: The drive system further includes: a motor, a deformable tire or a crawler track, wherein: The motor is used to provide power for the unmanned cleaning vehicle; The deformable tire or track is used to change into different shapes according to different terrains in the target cleaning route, so as to drive the cleaning unmanned vehicle to reach the target area.

3. The unmanned cleaning vehicle according to claim 1, characterized in that: The navigation system comprises: an image recognition device and a navigation device, wherein: The image recognition device is used to perform image recognition on the target area to determine the environmental features corresponding to the target area, and perform terrain recognition on the target area to determine the terrain of the target area; The navigation device is used to determine the target cleaning route according to the environmental characteristics and the terrain.

4. The unmanned cleaning vehicle according to claim 3, characterized in that: The navigation device is also used for: Identify obstacle information in the target area according to the environmental characteristics; Determine a plurality of first cleaning routes according to a path planning algorithm and the terrain, and select a plurality of second cleaning routes that do not contain obstacles in the obstacle information from the plurality of first cleaning routes according to the obstacle information; The target cleaning route is determined among the plurality of second cleaning routes, wherein the target cleaning route is a cleaning route with the shortest path among the plurality of second cleaning routes.

5. The unmanned cleaning vehicle according to claim 1, characterized in that: The cleaning tool comprises: a rotating brush, a water spraying device and a dust collecting device, wherein: The water spraying device is used to spray water to the target area; The rotating brush is used to rotate to a target angle according to the cleaning parameters, and clean the target area after the water is sprayed based on the target angle; The dust suction device is used to absorb the stains in the target area.

6. The unmanned cleaning vehicle according to claim 1, characterized in that: The cleaning unmanned vehicle comprises: a receiving device, wherein: The receiving device is used to receive the control instructions sent by the remote control device, and determine the operation mode of the cleaning unmanned vehicle according to the control instructions; wherein the operation modes include: automatic cleaning mode and manual cleaning mode, the manual cleaning mode is used to instruct the target object to control the cleaning unmanned vehicle through the remote control device so that the unmanned vehicle cleans the target area, and the automatic cleaning mode is used to instruct the cleaning unmanned vehicle to clean the target area according to a preset program.

7. The unmanned cleaning vehicle according to claim 1, characterized in that: Also includes: Safety systems, including: The safety system is used to detect the operating state of the cleaning unmanned vehicle. When it is determined that the operating state is an abnormal state, the cleaning unmanned vehicle is adjusted from a working state to a stopped state, and an alarm is issued through the multiple anti-collision alarm system in the safety system.

8. A cleaning method, characterized in that: include: Performing terrain recognition on a target area, and determining a target cleaning route of the cleaning unmanned vehicle according to the terrain of the target area, wherein the target area is an area to be cleaned by the cleaning unmanned vehicle; Setting cleaning parameters of the cleaning tool according to the topography of the target area; The cleaning unmanned vehicle is driven to move to the target area according to the target cleaning route, and the target area is cleaned according to the cleaning tool with set cleaning parameters.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method described in claim 8 when executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method of claim 8 through the computer program.

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