Operation control method of photovoltaic cleaning robot and photovoltaic field station

Abstract

The invention discloses an operation control method of a photovoltaic cleaning robot and a photovoltaic field station, and belongs to the technical field of photovoltaics. The operation control method of the photovoltaic cleaning robot comprises the steps that under the condition that the photovoltaic cleaning robot needs to span from one of a first photovoltaic array and a second photovoltaic array to the other, at least one of the first photovoltaic array and the second photovoltaic array is controlled to act, the vertical connecting line between the first edge and the second edge is parallel to the lighting surface of at least one of the first photovoltaic array and the second photovoltaic array; controlling the connection bridge to act, so that the connection bridge is connected between the first edge and the second edge; and controlling the photovoltaic cleaning robot to span from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge. According to the embodiment of the invention, the difficulty that the photovoltaic cleaning robot crosses the photovoltaic array can be reduced, and the operation safety of the photovoltaic cleaning robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic technology, and in particular, to an operation control method for a photovoltaic cleaning robot and a photovoltaic power station yard. Background Art

[0002] Currently, in order to increase the power generation efficiency, photovoltaic arrays need to be installed obliquely. In a photovoltaic power station yard, there are intervals between adjacent photovoltaic arrays. Therefore, when using a photovoltaic cleaning robot to clean the light-receiving surface of a photovoltaic array, when the photovoltaic cleaning robot finishes cleaning one photovoltaic array and moves to the next photovoltaic array for cleaning, there will be an interval obstacle. To solve the above interval problem and enable the photovoltaic cleaning robot to cross from the previous photovoltaic array to the next photovoltaic array, a connecting bridge is usually erected between adjacent photovoltaic arrays. However, due to the inclination angle of the photovoltaic arrays, when there is a height difference between the edges of the photovoltaic arrays on both sides of the interval, it will cause difficulties for the photovoltaic cleaning robot to cross the photovoltaic arrays. Summary of the Invention

[0003] The present invention provides an operation control method for a photovoltaic cleaning robot and a photovoltaic power station yard to solve one of the above technical problems.

[0004] In a first aspect, an embodiment of the present invention provides an operation control method for a photovoltaic cleaning robot. The photovoltaic power station yard includes a plurality of photovoltaic arrays. Among two adjacent photovoltaic arrays along a first direction, there are a first photovoltaic array and a second photovoltaic array. The first photovoltaic array includes a first edge close to the second photovoltaic array along the first direction, and the second photovoltaic array includes a second edge close to the first photovoltaic array along the first direction; both the first edge and the second edge extend along a second direction and there is a height difference; the first direction is perpendicular to the second direction;

[0005] The method includes:

[0006] In the case where the photovoltaic cleaning robot needs to cross from one of the first photovoltaic array and the second photovoltaic array to the other, controlling at least one of the first photovoltaic array and the second photovoltaic array to act, so that the vertical connection line between the first edge and the second edge is parallel to the light-receiving surface of at least one of the first photovoltaic array and the second photovoltaic array;

[0007] Controlling the connecting bridge to act so that the connecting bridge is connected between the first edge and the second edge;

[0008] Controlling the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge.

[0009] Optionally, the light-receiving surface of the first photovoltaic array is parallel to the light-receiving surface of the second photovoltaic array, and the first edge is lower than the second edge;

[0010] Controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes:

[0011] Lifting the first photovoltaic array as a whole and / or lowering the second photovoltaic array as a whole, so that the vertical connection line between the first edge and the second edge is parallel to both the light-receiving surface of the first photovoltaic array and the light-receiving surface of the second photovoltaic array.

[0012] Optionally, in the case where the photovoltaic cleaning robot needs to cross from the first photovoltaic array to the second photovoltaic array, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes:

[0013] Lifting the first photovoltaic array as a whole;

[0014] In the case where the photovoltaic cleaning robot needs to cross from the second photovoltaic array to the first photovoltaic array, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes:

[0015] Lowering the second photovoltaic array as a whole.

[0016] Optionally, the method further includes:

[0017] Controlling the cleaning robot to sequentially clean each of the photovoltaic arrays in a column along the positive direction of the first direction; the positive direction of the first direction is the direction from the first photovoltaic array to the second photovoltaic array.

[0018] Optionally, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes:

[0019] Changing the tilt angle of the first photovoltaic array until the light-receiving surface of the first photovoltaic array is parallel to the horizontal plane, changing the tilt angle of the second photovoltaic array until the light-receiving surface of the second photovoltaic array is parallel to the horizontal plane, and controlling the light-receiving surfaces of the first photovoltaic array and the second photovoltaic array to be on the same horizontal plane.

[0020] Optionally, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes:

[0021] Changing the tilt angle of the first photovoltaic array until the light-receiving surface of the first photovoltaic array is parallel to the horizontal plane, and controlling the vertical connection line between the first edge and the second edge to be parallel to the horizontal plane;

[0022] Alternatively, change the tilt angle of the second photovoltaic array until the light-receiving surface of the second photovoltaic array is parallel to the horizontal plane, and control the vertical connection line between the second edge and the first edge to be parallel to the horizontal plane.

[0023] Optionally, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes:

[0024] When the photovoltaic cleaning robot cleans the photovoltaic array where it is located, control the photovoltaic array that the photovoltaic cleaning robot needs to cross to act;

[0025] And / or,

[0026] After the photovoltaic cleaning robot finishes cleaning the photovoltaic array where it is located, control the photovoltaic array where the photovoltaic cleaning robot is located to act.

[0027] Optionally, if it is necessary to control the photovoltaic array that the photovoltaic cleaning robot needs to cross to act, then when the remaining cleaning time of the photovoltaic array where the photovoltaic cleaning robot is located is equal to a preset time, control the photovoltaic array that the photovoltaic cleaning robot needs to cross to act; wherein, the preset time is greater than or equal to the sum of the action time of the photovoltaic array that the photovoltaic cleaning robot needs to cross and the action time of the connecting bridge.

[0028] Optionally, while controlling the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge, the method further includes:

[0029] Control the photovoltaic cleaning robot to stop cleaning;

[0030] In the case of controlling the photovoltaic array that the photovoltaic cleaning robot needs to cross to act, after controlling the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge, the method further includes:

[0031] Control the photovoltaic array that the photovoltaic cleaning robot crosses to restore to its original state before the action;

[0032] Control the photovoltaic cleaning robot to clean the photovoltaic array it crosses to.

[0033] Optionally, an adsorption device is provided at the bottom of the photovoltaic cleaning robot; the connecting bridge is a flat plate structure; the method further includes:

[0034] When the photovoltaic cleaning robot is located on a photovoltaic array parallel to the horizontal plane or on a connecting bridge parallel to the horizontal plane, control the adsorption device to close;

[0035] When the photovoltaic cleaning robot is located on a photovoltaic array inclined to the horizontal plane or on a connecting bridge inclined to the horizontal plane, control the adsorption device to turn on.

[0036] Optionally, the photovoltaic array is supported on the ground by two liftable support frames arranged at intervals along the first direction; controlling the movement of the photovoltaic array includes:

[0037] Control at least one liftable support frame supporting the photovoltaic array to rise or fall;

[0038] And / or,

[0039] The connecting bridge is arranged on one of the first edge and the second edge, and a position switch is arranged on the other of the first edge and the second edge; after controlling the movement of the connecting bridge, the method further includes:

[0040] Judge whether the connecting bridge connects the first edge and the second edge according to the output signal of the position switch;

[0041] And / or,

[0042] An inclination sensor is arranged on the photovoltaic array; during the process of controlling at least one of the first photovoltaic array and the second photovoltaic array to move, the method further includes:

[0043] Determine the inclination angle of the moving photovoltaic array according to the output signal of the inclination sensor in the moving photovoltaic array.

[0044] Optionally, the method further includes:

[0045] When the power of the battery in the photovoltaic cleaning robot is lower than the preset power, control at least one of the first photovoltaic array and the second photovoltaic array to move so that the vertical connection line between the first edge and the second edge is parallel to the horizontal plane;

[0046] Control the connecting bridge to move to connect the first edge and the second edge;

[0047] Control the photovoltaic cleaning robot to move onto the connecting bridge.

[0048] Optionally, a wireless charging device is arranged in the connecting bridge; the method further includes:

[0049] When the photovoltaic cleaning robot is located on the connecting bridge, control the wireless charging device to charge the battery in the photovoltaic cleaning robot.

[0050] In a second aspect, an embodiment of the present invention further provides a photovoltaic power station. The photovoltaic power station includes:

[0051] Multiple photovoltaic arrays; a first controller is included in the photovoltaic arrays, and the first controller is used to control the operation of the photovoltaic arrays;

[0052] Multiple connection bridges; at least part of the connection bridges are arranged on the photovoltaic arrays; a second controller is included in the connection bridges, and the second controller is used to control the operation of the connection bridges;

[0053] At least one photovoltaic cleaning robot; a third controller is included in the photovoltaic cleaning robot, and the third controller is used to control the operating state of the photovoltaic cleaning robot;

[0054] A server; the server is communicatively connected to each of the first controllers, each of the second controllers, and each of the third controllers; the server is used to execute the operation control method of the photovoltaic cleaning robot provided in any embodiment of the present invention.

[0055] In the operation control method of the photovoltaic cleaning robot provided in the embodiment of the present invention, when the photovoltaic cleaning robot needs to cross between a first photovoltaic array and a second photovoltaic array, first control at least one photovoltaic array to operate, and then control the connection bridge to connect the first edge and the second edge when the vertical connection line between the first edge and the second edge is parallel to the light receiving surface of at least one photovoltaic array. Compared with directly using the connection bridge to connect the first edge and the second edge, it can effectively reduce the undulation degree of the path when the photovoltaic cleaning robot crosses the photovoltaic array, thereby reducing the difficulty for the photovoltaic cleaning robot to cross the photovoltaic array. On this basis, controlling the photovoltaic cleaning robot to cross the interval between adjacent photovoltaic arrays through the connection bridge can effectively improve the operation safety of the photovoltaic cleaning robot.

[0056] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0058] Figure 1 It is a schematic diagram of a photovoltaic power station provided by an embodiment of the present invention;

[0059] Figure 2 It is a schematic diagram of a photovoltaic cleaning robot provided by an embodiment of the present invention;

[0060] Figure 3 It is a schematic diagram of two adjacent photovoltaic arrays in the first direction provided by an embodiment of the present invention;

[0061] Figure 4 It is a flowchart of an operation control method for a photovoltaic cleaning robot provided by an embodiment of the present invention;

[0062] Figure 5 It is a schematic structural diagram after the photovoltaic array and the connection bridge act provided by an embodiment of the present invention;

[0063] Figure 6 It is another schematic structural diagram after the photovoltaic array and the connection bridge act provided by an embodiment of the present invention;

[0064] Figure 7 It is yet another schematic structural diagram after the photovoltaic array and the connection bridge act provided by an embodiment of the present invention;

[0065] Figure 8 It is still another schematic structural diagram after the photovoltaic array and the connection bridge act provided by an embodiment of the present invention. Detailed implementation manners

[0066] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0067] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0068] An embodiment of the present invention provides an operation control method for a photovoltaic cleaning robot, which can effectively reduce the difficulty for the photovoltaic cleaning robot to cross the photovoltaic array. For the convenience of explanation, the layout of the photovoltaic power station will be briefly described below.

[0069] Figure 1 It is a schematic diagram of a photovoltaic power station provided by an embodiment of the present invention. See Figure 1, a photovoltaic power station may include multiple photovoltaic arrays 10. The light-receiving surface 101 of the photovoltaic array 10 receives light, and the photovoltaic array 10 is used to convert sunlight into electrical energy; specifically, the photovoltaic array 10 may include multiple photovoltaic panels arranged in an array. The photovoltaic cleaning robot 30 can work on the photovoltaic array 10. The photovoltaic cleaning robot 30 is an automated device for cleaning the light-receiving surface 101 of the photovoltaic array 10, and can effectively remove dust, scale, dirt, etc. on the photovoltaic array 10 without or with reduced manual intervention.

[0070] Figure 1 In which, the photovoltaic cleaning robot 30 is exemplarily represented by a dot, and the actual structure of the photovoltaic cleaning robot 30 can be referred to Figure 2 , where the photovoltaic cleaning robot 30 may be composed of multiple components such as a fuselage 31, a cleaning component 32, and a moving component 33. The fuselage 31 may include an accommodation space surrounded by a fuselage shell and a chassis, which is used to accommodate various control and power devices required by the photovoltaic cleaning robot 30. The moving component 33 may include crawler wheels, for example, arranged on the chassis. The crawler wheels, as the moving part, can support the entire photovoltaic cleaning robot 30 and provide power. Exemplarily, the crawler wheels include a driving wheel, a driven wheel, and a crawler sleeved on the driving wheel and the driven wheel. The driving wheel is connected to the driving end of the driving motor, so as to drive the crawler to rotate and drive the photovoltaic cleaning robot to move. The cleaning component 32 mainly includes a housing, a rotary brush, a motor, a blower, and a dustbin. The rotary brush is, for example, partially exposed below the housing, so as to contact the light-receiving surface 101 of the photovoltaic array 10 during the movement of the photovoltaic cleaning robot 30 to clean the light-receiving surface 101; the driving end of the motor is connected to the rotary brush to drive the rotary brush to roll to achieve a better cleaning effect; a garbage inlet may be provided at the bottom of the housing, and the garbage during the cleaning process can be sucked into the dustbin through the blower; the dustbin may be arranged in the housing or in the fuselage, and no specific limitation is made here. In addition, the photovoltaic cleaning robot 30 may further include an adsorption device arranged on the chassis, which specifically may include a suction cup. When the photovoltaic cleaning robot 30 works on an inclined plane, turning on the adsorption device is beneficial to reducing the risk of the photovoltaic cleaning robot 30 falling.

[0071] Exemplarily, multiple photovoltaic arrays 10 may be arranged in an array in the photovoltaic power station. Refer to Figure 1 As shown, each photovoltaic array 10 in the photovoltaic power station may be divided into multiple columns along the first direction X and multiple rows along the second direction Y, and the first direction X is perpendicular to the second direction Y. Among them, the first direction X is the front-back direction determined according to the orientation of the light-receiving surface 101. Two adjacent photovoltaic arrays 10 along the first direction X are two photovoltaic arrays 10 with their light-receiving surfaces 101 arranged front and back.

[0072] Among them, two adjacent photovoltaic arrays 10 along the first direction X include a first photovoltaic array and a second photovoltaic array, and specifically can be referred to Figure 3, the first photovoltaic array 110 includes a first edge L1 close to the second photovoltaic array 120 along the first direction X, and the second photovoltaic array 120 includes a second edge L2 close to the first photovoltaic array 110 along the first direction X. Among them, both the first edge L1 and the second edge L2 extend along the second direction Y and there is a height difference; the first direction X is perpendicular to the second direction Y.

[0073] There is a gap between two adjacent photovoltaic arrays along the first direction X and there is a height difference between the first edge L1 and the second edge L2, which brings certain difficulties for the photovoltaic cleaning robot 30 to cross two adjacent photovoltaic arrays along the first direction X. To solve the above problems, an embodiment of the present invention provides a method for controlling the operation of a photovoltaic cleaning robot, which will be specifically described below.

[0074] Figure 4 is a flowchart of the method for controlling the operation of the photovoltaic cleaning robot provided by the embodiment of the present invention. See Figure 4 , in the case where the photovoltaic cleaning robot needs to cross from one of the first photovoltaic array 110 and the second photovoltaic array 120 to the other, the method includes:

[0075] S110. Control at least one of the first photovoltaic array and the second photovoltaic array to move, so that the vertical connection line between the first edge and the second edge is parallel to the light-receiving surface of at least one of the first photovoltaic array and the second photovoltaic array.

[0076] Among them, the movement of the photovoltaic array includes at least one of overall elevation, overall depression, and changing the tilt angle. The tilt angle of the photovoltaic array specifically may refer to the angle between the light-receiving surface of the photovoltaic array and the horizontal plane.

[0077] S120. Control the connecting bridge to move so that the connecting bridge is connected between the first edge and the second edge.

[0078] Among them, the connecting bridge may be a retractable or flipable movable structure. One end of the connecting bridge is connected to one of the first edge L1 and the second edge L2. When the connecting bridge completes an action (such as flipping or stretching), it can connect the first edge L1 and the second edge L2, so that the photovoltaic cleaning robot can cross the gap between the first photovoltaic array 110 and the second photovoltaic array 120 through the connecting bridge.

[0079] Among them, by controlling the vertical connection line between the first edge L1 and the second edge L2 to be parallel to the lighting surface of at least one of the first photovoltaic array 110 and the second photovoltaic array 120, the top surface of the connecting bridge after the action is completed can be located on the same plane as the lighting surface of at least one of the first photovoltaic array 110 and the second photovoltaic array 120. In this way, the difference in the inclination angle between the connecting bridge and the connected photovoltaic array can be effectively reduced, making the path of the photovoltaic cleaning robot crossing the photovoltaic array more stable, reducing the degree of path undulation, thereby reducing the difficulty of climbing the photovoltaic cleaning robot, and avoiding the photovoltaic cleaning robot from rolling over or falling when crossing the photovoltaic array through the connecting bridge.

[0080] S130 , controlling the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge.

[0081] The photovoltaic array, the connecting bridge and the photovoltaic cleaning robot can be equipped with respective control devices, which are all connected to the server for communication. The server can collect and analyze the relevant data collected by each control device, and issue control instructions to each control device to achieve unified deployment of each control device. The operation control method of the photovoltaic cleaning robot can be executed by the server, for example.

[0082] The operation control method of the photovoltaic cleaning robot provided by the embodiment of the present invention, when the photovoltaic cleaning robot needs to cross between the first photovoltaic array and the second photovoltaic array, first controls at least one photovoltaic array to move, and then controls the connecting bridge to connect the first edge and the second edge when the vertical line between the first edge and the second edge is parallel to the lighting surface of at least one photovoltaic array. Compared with directly using the connecting bridge to connect the first edge and the second edge, the undulation of the path when the photovoltaic cleaning robot crosses the photovoltaic array can be effectively reduced, thereby reducing the difficulty of the photovoltaic cleaning robot crossing the photovoltaic array. On this basis, controlling the photovoltaic cleaning robot to cross the interval between adjacent photovoltaic arrays through the connecting bridge can effectively improve the operation safety of the photovoltaic cleaning robot.

[0083] Based on the above embodiments, optionally, there are multiple specific implementation methods for controlling at least one action of the first photovoltaic array and the second photovoltaic array, several of which are exemplified below, but are not intended to limit the present invention.

[0084] In the first embodiment, optionally, the lighting surface of the first photovoltaic array 110 is parallel to the lighting surface of the second photovoltaic array 120, and the first edge L1 is lower than the second edge L2, that is, the first photovoltaic array 110 and the second photovoltaic array 120 are as follows: Figure 3The arrangement shown. In this case, controlling the operation of at least one of the first photovoltaic array and the second photovoltaic array may specifically include: lifting the first photovoltaic array as a whole and / or lowering the second photovoltaic array as a whole, such that the vertical connection line between the first edge and the second edge is parallel to both the light-receiving surface of the first photovoltaic array and the light-receiving surface of the second photovoltaic array.

[0085] After controlling the operation of the connection bridge according to the operation of the photovoltaic array as described above, the resulting structure can be seen in Figure 5 , where the inclination angles of the first photovoltaic array 110, the connection bridge 20, and the second photovoltaic array 120 are all the same, and the light-receiving surface of the first photovoltaic array 110, the top surface of the connection bridge 20, and the light-receiving surface of the second photovoltaic array 120 are all in the same plane. With this setting in this embodiment, the undulations on the path for the photovoltaic cleaning robot to cross the photovoltaic array can be eliminated, enabling the photovoltaic cleaning robot to smoothly drive onto and off the connection bridge 20 and complete a smooth crossing between the first photovoltaic array 110 and the second photovoltaic array 120.

[0086] Based on the above embodiment, optionally, it can be determined which photovoltaic array to specifically control to operate according to the photovoltaic array where the photovoltaic cleaning robot is located. It can be understood that the photovoltaic array where the photovoltaic cleaning robot is located is the photovoltaic array where the robot is currently located before crossing. Specifically, when the photovoltaic cleaning robot needs to cross from the first photovoltaic array 110 to the second photovoltaic array 120, the first photovoltaic array 110 can be lifted as a whole. And when the photovoltaic cleaning robot needs to cross from the second photovoltaic array 120 to the first photovoltaic array 110, the second photovoltaic array 120 can be lowered as a whole.

[0087] With this setting in this embodiment, it is equivalent to controlling the operation of the photovoltaic array where the photovoltaic cleaning robot is located. Therefore, when the photovoltaic cleaning robot moves to the photovoltaic array to which it needs to cross, it can directly start the cleaning work without waiting for the photovoltaic array to which it crosses to return to its original state. It should be noted that the photovoltaic array where the photovoltaic cleaning robot is located can operate during or after the cleaning process of the photovoltaic cleaning robot, preferably after the cleaning is completed, to avoid the operation of the photovoltaic array affecting the cleaning effect of the photovoltaic cleaning robot.

[0088] Based on the above embodiments, optionally, the method further includes: controlling the cleaning robot to sequentially clean each photovoltaic array in a column along the positive direction of the first direction X; the positive direction of the first direction X is the direction from the first photovoltaic array 110 to the second photovoltaic array 120. The positive direction of the first direction X can be specifically seen in Figure 1 the arrow direction of the first direction X in Figure 1Cleaning starts from the leftmost photovoltaic array.

[0089] In the above embodiment, an operation solution for lifting at least one photovoltaic array as a whole without changing the tilt angle is provided, but it is not a limitation to the present invention. In other embodiments, at least one of the first photovoltaic array 110 and the second photovoltaic array 120 can also be controlled to change the tilt angle to be parallel to the horizontal plane, so that the connecting bridge 20 can be parallel to the horizontal plane. Specific descriptions are as follows.

[0090] In the second embodiment, optionally, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: changing the tilt angle of the first photovoltaic array 110 until the light-receiving surface of the first photovoltaic array 110 is parallel to the horizontal plane, changing the tilt angle of the second photovoltaic array 120 until the light-receiving surface of the second photovoltaic array 120 is parallel to the horizontal plane, and controlling the light-receiving surfaces of the first photovoltaic array and the second photovoltaic array to be on the same horizontal plane. That is, controlling both photovoltaic arrays to lie flat so that the two photovoltaic arrays are on the same horizontal plane. Among them, the actions of the two photovoltaic arrays can be carried out successively or simultaneously, which is not limited here.

[0091] After controlling the connecting bridge 20 to act according to the actions of the above photovoltaic arrays, the obtained structure can be seen in Figure 6 , where the first photovoltaic array 110, the connecting bridge 20, and the second photovoltaic array 120 are all horizontal. In this embodiment, the photovoltaic cleaning robot can be transferred to the photovoltaic array that needs to be crossed through the horizontal connecting bridge 20, which can effectively improve the operation safety.

[0092] In the third embodiment, optionally, when the photovoltaic cleaning robot needs to cross a photovoltaic array, one of the photovoltaic array where the photovoltaic cleaning robot is located and the photovoltaic array to be crossed can be controlled to change the tilt angle to be parallel to the horizontal plane, and the first edge L1 and the second edge L2 are controlled to be aligned so that the connecting bridge is parallel to the horizontal plane. In this way, the photovoltaic cleaning robot can be smoothly transferred when driving into (or out of) the connecting bridge 20, and the slope when driving out of (or into) the connecting bridge 20 can be reduced, thereby reducing the crossing difficulty. At the same time, only one photovoltaic array can be controlled to act, reducing the control complexity.

[0093] Specifically, controlling at least one of the first photovoltaic array and the second photovoltaic array to act may include: changing the tilt angle of the first photovoltaic array 110 until the light-receiving surface of the first photovoltaic array 110 is parallel to the horizontal plane, and controlling the vertical connection line between the first edge L1 and the second edge L2 to be parallel to the horizontal plane. This action plan may specifically be to change the tilt angle of the first photovoltaic array 110 and raise the first photovoltaic array 110 at the same time, so that the light-receiving surface of the first photovoltaic array 110 is aligned with the highest point of the second photovoltaic array 120 and located on the same horizontal plane. After the above actions of the photovoltaic array, control the connection bridge 20 to act, and the resulting structure can be seen in Figure 7 , where both the first photovoltaic array 110 and the connection bridge 20 are horizontal, and the second photovoltaic array 120 remains unchanged (i.e., the tilt angle is not changed, and it is not lifted or lowered).

[0094] Alternatively, controlling at least one of the first photovoltaic array and the second photovoltaic array to act may include: changing the tilt angle of the second photovoltaic array 120 until the light-receiving surface of the second photovoltaic array 120 is parallel to the horizontal plane, and controlling the vertical connection line between the second edge L2 and the first edge L1 to be parallel to the horizontal plane. This action plan may specifically be to change the tilt angle of the second photovoltaic array 120 and lower the second photovoltaic array 120 at the same time, so that the light-receiving surface of the second photovoltaic array 120 is aligned with the lowest point of the first photovoltaic array 110 and located on the same horizontal plane. After the above actions of the photovoltaic array, control the connection bridge 20 to act, and the resulting structure can be seen in Figure 8 , where both the second photovoltaic array 120 and the connection bridge 20 are horizontal, and the first photovoltaic array 110 remains unchanged.

[0095] Based on the above embodiments, optionally, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: when the photovoltaic cleaning robot cleans the photovoltaic array where it is located, controlling the photovoltaic array that the photovoltaic cleaning robot needs to cross to act. In this way, it is equivalent to controlling the action of the photovoltaic array that needs to be crossed in advance, reducing the waiting time of the photovoltaic cleaning robot after completing the cleaning and improving the cleaning efficiency.

[0096] And / or, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: after the photovoltaic cleaning robot completes cleaning the photovoltaic array where it is located, controlling the photovoltaic array where the photovoltaic cleaning robot is located to act. In this way, it is possible to avoid the action of the photovoltaic array from affecting the cleaning effect of the photovoltaic cleaning robot and avoid the photovoltaic cleaning robot from falling due to the action of the photovoltaic array.

[0097] Based on the above embodiments, optionally, if it is necessary to control the action of the photovoltaic array that the photovoltaic cleaning robot needs to cross to, then when the remaining cleaning time of the photovoltaic array where the photovoltaic cleaning robot is located is equal to the preset time, control the action of the photovoltaic array that the photovoltaic cleaning robot needs to cross to.

[0098] Among them, the preset duration is greater than or equal to the sum of the action duration of the photovoltaic array that the photovoltaic cleaning robot needs to cross to and the action duration of the connecting bridge. Such a setting can complete the erection of the connecting bridge 20 before or at the same time as the photovoltaic cleaning robot finishes cleaning, so that the photovoltaic cleaning robot can immediately transfer to another photovoltaic array through the connecting bridge 20 after finishing cleaning, completely eliminating the waiting time, increasing the working time of the photovoltaic cleaning robot, and improving the cleaning efficiency.

[0099] Based on the above embodiments, optionally, while controlling the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge, the method further includes: controlling the cleaning component of the photovoltaic cleaning robot to stop working. This can avoid unnecessary energy loss of the photovoltaic cleaning robot and improve its endurance time.

[0100] Based on the above embodiments, optionally, in the case of controlling the action of the photovoltaic array that the photovoltaic cleaning robot needs to cross to, after controlling the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge, the method further includes: controlling the photovoltaic array that the photovoltaic cleaning robot crosses to to return to its original state before the action; controlling the photovoltaic cleaning robot to clean the photovoltaic array that it crosses to. Since the photovoltaic array has an optimal tilt angle, when the photovoltaic cleaning robot has transferred to the photovoltaic array that it needs to cross to, controlling the photovoltaic array that the photovoltaic cleaning robot crosses to to return to its original state can ensure its optimal power generation efficiency.

[0101] Based on the above embodiments, optionally, an adsorption device is provided at the bottom of the photovoltaic cleaning robot; the connecting bridge is a flat structure. The method further includes:

[0102] When the photovoltaic cleaning robot is located on a photovoltaic array parallel to the horizontal plane or on a connecting bridge parallel to the horizontal plane, control the adsorption device to close.

[0103] When the photovoltaic cleaning robot is located on a photovoltaic array inclined to the horizontal plane or on a connecting bridge inclined to the horizontal plane, control the adsorption device to open.

[0104] Among them, on an inclined surface, it is necessary to turn on the adsorption device to provide a gripping force so that the photovoltaic cleaning robot can be stable or walk smoothly on the inclined surface without falling; while on a horizontal surface, the photovoltaic cleaning robot itself can stay or walk smoothly, so the adsorption device can be controlled to close to reduce power consumption. Therefore, such a setting in this embodiment can take into account the running safety and low power consumption of the photovoltaic cleaning robot. Exemplarily, the adsorption device may specifically include suction cups. It can be understood that in each embodiment of the present invention, the photovoltaic array and the connecting bridge can both be regarded as ideal planes, ignoring their thickness.

[0105] In a specific embodiment, when the photovoltaic cleaning robot needs to be transferred from the second photovoltaic array 120 to the first photovoltaic array 110, it can adopt either the Figure 5 method shown, or the Figure 6 method shown. After being transferred to the first photovoltaic array 110, the photovoltaic cleaning robot can first turn on the suction cup to adsorb on the first photovoltaic array 110, and then start the cleaning work after the first photovoltaic array 110 returns to its original state. When adopting the Figure 6 method shown, after the photovoltaic array is laid flat, the suction cup of the photovoltaic cleaning robot can be turned off. After crossing to another photovoltaic array, the suction cup can be turned on first, and then the photovoltaic array that has been crossed can be controlled to return to its original state, which can save energy and increase the battery life of the photovoltaic cleaning robot.

[0106] Based on the above embodiments, optionally, when the photovoltaic cleaning robot needs to be transferred from the first photovoltaic array 110 to the second photovoltaic array 120, it can preferably adopt the Figure 8 form shown, so that the second photovoltaic array 120 can be controlled to act when cleaning the first photovoltaic array 110, without affecting the normal cleaning of the photovoltaic cleaning robot; when the photovoltaic cleaning robot is transferred to the second photovoltaic array 120, the suction cup can be turned on first without working, and wait for the second photovoltaic array 120 to adjust the angle in place and return to its original state before starting the cleaning work. When the photovoltaic cleaning robot needs to be transferred from the second photovoltaic array 120 to the first photovoltaic array 110, it can preferably adopt the Figure 5 form shown, and the specific process will not be elaborated here.

[0107] Based on the above embodiments, optionally, referring to Figure 1 , the photovoltaic array 10 can be supported on the ground by two liftable support frames 40 arranged at intervals along the first direction X. Correspondingly, controlling the movement of the photovoltaic array can include: controlling at least one liftable support frame 40 supporting the photovoltaic array 10 to rise or fall. Exemplarily, when the entire photovoltaic array 10 needs to be lifted or lowered, the two liftable support frames 40 can be controlled to rise or fall by the same height simultaneously; when the tilt angle of the photovoltaic array 10 needs to be changed, one of the liftable support frames 40 can be controlled to remain stationary, and the other liftable support frame 40 can be controlled to rise or fall, or the two liftable support frames 40 can be controlled to act in opposite directions, or the two liftable support frames 40 can be controlled to change by different heights in the same direction.

[0108] Based on the above embodiments, optionally, the number of connection bridges 20 on the same photovoltaic array may be one or more. When there are multiple connection bridges 20, the adjacent connection bridges 20 may be arranged adjacent to each other or at intervals. The specific number and arrangement of the connection bridges 20 can be determined according to the actual situation, as long as it is ensured that when the connection bridge 20 is connected between the first edge L1 and the second edge L2, it can bear and allow the photovoltaic cleaning robot to pass over it.

[0109] Specifically, for any connection bridge 20, the connection bridge 20 can be arranged on one of the first edge L1 and the second edge L2, and a position switch can be arranged on the other of the first edge L1 and the second edge L2. After the connection bridge 20 moves, when the connection bridge 20 touches the position switch, it means that the connection bridge 20 has moved in place and successfully connects the first edge L1 and the second edge L2.

[0110] Correspondingly, after controlling the movement of the connection bridge, the method further includes: judging whether the connection bridge 20 connects the first edge L1 and the second edge L2 according to the output signal of the position switch. After confirming that the connection bridge 20 has moved in place, then control the movement of the photovoltaic cleaning robot.

[0111] Based on the above embodiments, optionally, an inclination sensor is arranged on the photovoltaic array 10 for detecting the inclination angle of the photovoltaic array 10. Correspondingly, during the process of controlling at least one of the first photovoltaic array and the second photovoltaic array to move, the method further includes: determining the inclination angle of the moving photovoltaic array according to the output signal of the inclination sensor in the moving photovoltaic array.

[0112] In addition, a distance sensor can also be arranged on the back of the photovoltaic array 10 for detecting the height of the photovoltaic array 10 from the ground, and / or a displacement sensor can also be arranged on the liftable support frame 40 for detecting the moving distance of the liftable support frame 40. According to the output signals of the above sensors, the lifting condition of the photovoltaic array 10 can be determined.

[0113] Based on the above embodiments, optionally, the method further includes: when the power of the battery in the photovoltaic cleaning robot is lower than the preset power, perform the following steps:

[0114] 1) Control at least one of the first photovoltaic array and the second photovoltaic array to move so that the vertical connection line between the first edge and the second edge is parallel to the horizontal plane.

[0115] Among them, in this step, any method shown in Figures 6 to 8 can be adopted to achieve by controlling at least one photovoltaic array to change the inclination angle; or, it can also be by controlling at least one photovoltaic array to lift, so that the vertical connection line between the first edge L1 and the second edge L2 is parallel to the horizontal plane.

[0116] 2) Control the connecting bridge to act to connect the first edge and the second edge.

[0117] Wherein, after the connecting bridge completes the action, it presents a state parallel to the horizontal plane.

[0118] 3) Control the photovoltaic cleaning robot to move onto the connecting bridge.

[0119] With this setting in this embodiment, it is equivalent to moving the photovoltaic cleaning robot onto the horizontally placed connecting bridge and waiting for recovery when it is detected that the battery power of the photovoltaic cleaning robot is low. This can not only prevent the photovoltaic cleaning robot from affecting the lighting effect and enabling the two photovoltaic arrays to continue generating electricity normally, but also prevent the photovoltaic cleaning robot from falling.

[0120] Based on the above embodiments, optionally, a wireless charging device may be provided in the connecting bridge; the method further includes: when the photovoltaic cleaning robot is on the connecting bridge, controlling the wireless charging device to charge the battery in the photovoltaic cleaning robot. This can effectively improve the battery life of the photovoltaic cleaning robot.

[0121] Specifically, a battery and a wireless receiving device may be provided in the photovoltaic cleaning robot, and the wireless charging device can charge the battery through the wireless receiving device. Preferably, the wireless charging device can be turned on when the connecting bridge is horizontally placed, so as to prevent the photovoltaic cleaning robot from falling.

[0122] An embodiment of the present invention also provides a photovoltaic power station, which can control the operating state of the photovoltaic cleaning robot by using the operating control method of the photovoltaic cleaning robot provided in any embodiment of the present invention, and has corresponding beneficial effects.

[0123] Specifically, the photovoltaic power station includes: a plurality of photovoltaic arrays, a plurality of connecting bridges, at least one photovoltaic cleaning robot, and a server. Among them, the photovoltaic array includes a first controller, and the first controller is used to control the action of the photovoltaic array; the first controller can also collect the action state of the photovoltaic array, such as collecting information such as the tilt angle of the photovoltaic array. Connecting bridges are provided on at least part of the photovoltaic arrays, so that any two adjacent photovoltaic arrays along the first direction can be connected through the connecting bridges. The connecting bridge includes a second controller, and the second controller is used to control the action of the connecting bridge; the second controller can also collect the action state of the connecting bridge, such as determining the action degree of the connecting bridge and whether the action is in place. The photovoltaic cleaning robot includes a third controller, and the third controller is used to control the operating state of the photovoltaic cleaning robot, such as controlling whether the moving parts and cleaning parts of the photovoltaic cleaning robot are enabled and the working state after being enabled, etc. The server is communicatively connected to each first controller, each second controller, and each third controller respectively; the server is used to execute the operating control method of the photovoltaic cleaning robot provided in any embodiment of the present invention.

[0124] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0125] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for controlling the operation of a photovoltaic cleaning robot, characterized in that, The photovoltaic power station includes multiple photovoltaic arrays. Among two adjacent photovoltaic arrays along the first direction, there are a first photovoltaic array and a second photovoltaic array. The first photovoltaic array includes a first edge close to the second photovoltaic array along the first direction, and the second photovoltaic array includes a second edge close to the first photovoltaic array along the first direction. Both the first edge and the second edge extend along the second direction and have a height difference. The first direction is perpendicular to the second direction. The method includes: When the photovoltaic cleaning robot needs to cross from one of the first photovoltaic array and the second photovoltaic array to the other, control at least one of the first photovoltaic array and the second photovoltaic array to act, so that the vertical connection line between the first edge and the second edge is parallel to the light-receiving surface of at least one of the first photovoltaic array and the second photovoltaic array. Control the connecting bridge to act so that the connecting bridge is connected between the first edge and the second edge. Control the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge.

2. The operating control method of the photovoltaic cleaning robot according to claim 1, characterized in that, The light-receiving surface of the first photovoltaic array is parallel to the light-receiving surface of the second photovoltaic array, and the first edge is lower than the second edge. Controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: Lift the first photovoltaic array as a whole and / or lower the second photovoltaic array as a whole, so that the vertical connection line between the first edge and the second edge is parallel to the light-receiving surfaces of both the first photovoltaic array and the second photovoltaic array.

3. The operation control method of the photovoltaic cleaning robot according to claim 2, wherein When the photovoltaic cleaning robot needs to cross from the first photovoltaic array to the second photovoltaic array, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: Lift the first photovoltaic array as a whole. When the photovoltaic cleaning robot needs to cross from the second photovoltaic array to the first photovoltaic array, controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: Lower the second photovoltaic array as a whole.

4. The operation control method of the photovoltaic cleaning robot according to claim 3, characterized in that The method further includes: Control the cleaning robot to sequentially clean each of the photovoltaic arrays in a column along the positive direction of the first direction. The positive direction of the first direction is the direction from the first photovoltaic array to the second photovoltaic array.

5. The operation control method of the photovoltaic cleaning robot according to claim 1, wherein Controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: Change the tilt angle of the first photovoltaic array until the light-receiving surface of the first photovoltaic array is parallel to the horizontal plane, change the tilt angle of the second photovoltaic array until the light-receiving surface of the second photovoltaic array is parallel to the horizontal plane, and control the light-receiving surfaces of the first photovoltaic array and the second photovoltaic array to be on the same horizontal plane.

6. The operation control method of the photovoltaic cleaning robot according to claim 1, wherein, Controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: Change the tilt angle of the first photovoltaic array until the light-receiving surface of the first photovoltaic array is parallel to the horizontal plane, and control the vertical connection line between the first edge and the second edge to be parallel to the horizontal plane. Alternatively, change the tilt angle of the second photovoltaic array until the light-receiving surface of the second photovoltaic array is parallel to the horizontal plane, and control the vertical connection line between the second edge and the first edge to be parallel to the horizontal plane.

7. The operation control method of the photovoltaic cleaning robot according to claim 1, wherein, Controlling at least one of the first photovoltaic array and the second photovoltaic array to act includes: When the photovoltaic cleaning robot cleans the photovoltaic array where it is located, controlling the photovoltaic array that the photovoltaic cleaning robot needs to cross to act; and / or, After the photovoltaic cleaning robot finishes cleaning the photovoltaic array where it is located, controlling the photovoltaic array where the photovoltaic cleaning robot is located to act.

8. The operating control method of the photovoltaic cleaning robot according to claim 1, wherein If it is necessary to control the photovoltaic array that the photovoltaic cleaning robot needs to cross to act, then when the remaining cleaning time of the photovoltaic array where the photovoltaic cleaning robot is located is equal to a preset time, control the photovoltaic array that the photovoltaic cleaning robot needs to cross to act; wherein, the preset time is greater than or equal to the sum of the action time of the photovoltaic array that the photovoltaic cleaning robot needs to cross and the action time of the connecting bridge.

9. The operating control method of the photovoltaic cleaning robot according to claim 1, characterized in that While controlling the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge, the method further includes: Controlling the cleaning component of the photovoltaic cleaning robot to stop working; In the case of controlling the photovoltaic array that the photovoltaic cleaning robot needs to cross to act, after controlling the photovoltaic cleaning robot to cross from one of the first photovoltaic array and the second photovoltaic array to the other through the connecting bridge, the method further includes: Controlling the photovoltaic array that the photovoltaic cleaning robot crosses to restore to its original state before the action; Controlling the photovoltaic cleaning robot to clean the photovoltaic array it crosses to.

10. The operation control method of the photovoltaic cleaning robot according to any one of claims 1-9, characterized in that An adsorption device is provided at the bottom of the photovoltaic cleaning robot; the connecting bridge is a flat structure; the method further includes: When the photovoltaic cleaning robot is located on a photovoltaic array parallel to the horizontal plane or on a connecting bridge parallel to the horizontal plane, controlling the adsorption device to close; When the photovoltaic cleaning robot is located on a photovoltaic array inclined to the horizontal plane or on a connecting bridge inclined to the horizontal plane, controlling the adsorption device to open.

11. The operating control method of the photovoltaic cleaning robot according to claim 1, characterized in that, The photovoltaic array is supported on the ground by two liftable support frames arranged at intervals along the first direction; controlling the photovoltaic array to act includes: Controlling at least one of the liftable support frames supporting the photovoltaic array to rise or fall; and / or, The connecting bridge is arranged on one of the first edge and the second edge, and a position switch is arranged on the other of the first edge and the second edge; after controlling the connecting bridge to act, the method further includes: Judging whether the connecting bridge connects the first edge and the second edge according to the output signal of the position switch; and / or, An inclination sensor is arranged on the photovoltaic array; during the process of controlling at least one of the first photovoltaic array and the second photovoltaic array to act, the method further includes: Determining the tilt angle of the photovoltaic array that acts according to the output signal of the inclination sensor in the acting photovoltaic array.

12. The operation control method of the photovoltaic cleaning robot according to claim 1, characterized in that, The method further includes: When the power of the battery in the photovoltaic cleaning robot is lower than the preset power, control at least one of the first photovoltaic array and the second photovoltaic array to act, so that the vertical connection line between the first edge and the second edge is parallel to the horizontal plane; Control the connection bridge to act to connect the first edge and the second edge; Control the photovoltaic cleaning robot to move onto the connection bridge.

13. The operation control method of the photovoltaic cleaning robot according to claim 1 or 12, characterized in that, A wireless charging device is provided in the connection bridge; the method further includes: When the photovoltaic cleaning robot is located on the connection bridge, control the wireless charging device to charge the battery in the photovoltaic cleaning robot.

14. A photovoltaic power station, characterized in that, The photovoltaic power station includes: Multiple photovoltaic arrays; the photovoltaic array includes a first controller for controlling the action of the photovoltaic array; Multiple connection bridges; at least part of the photovoltaic arrays are provided with the connection bridges; the connection bridge includes a second controller for controlling the action of the connection bridge; At least one photovoltaic cleaning robot; the photovoltaic cleaning robot includes a third controller for controlling the operating state of the photovoltaic cleaning robot; A server; the server is respectively communicatively connected to each of the first controllers, each of the second controllers, and each of the third controllers; the server is used to execute the operating control method of the photovoltaic cleaning robot according to any one of claims 1-13.

Images