Control method, device and system of photovoltaic cleaning robot and photovoltaic cleaning system

Abstract

The invention discloses a photovoltaic cleaning robot control method, device and system and a photovoltaic cleaning system. The method comprises the following steps: acquiring wind speed data which is acquired and determined by a current outdoor environment; and adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold value, including: when the wind speed data is greater than or equal to the preset first wind speed threshold value, controlling the photovoltaic cleaning robot to stop working, and controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy. The photovoltaic cleaning robot has the technical effect that the safety of the photovoltaic cleaning robot under the atrocious weather condition is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of photovoltaic cleaning, and in particular, to a control method, device, system of a photovoltaic cleaning robot, and a photovoltaic cleaning system. Background Art

[0002] With the development of new energy technologies, the scale of the photovoltaic industry has been continuously expanding. In order to obtain more abundant solar energy, photovoltaic components such as photovoltaic panels are often installed in outdoor areas with sufficient light intensity and long light hours. Therefore, photovoltaic components often need to rely on photovoltaic cleaning robots for cleaning and maintenance. However, in the outdoor environment, photovoltaic cleaning robots often encounter strong wind weather during operation, and their protection ability against strong wind weather is extremely limited. When encountering strong wind, if the photovoltaic cleaning robot continues to perform the cleaning task, it will cause damage to the robot itself, affect the safety of the photovoltaic panel, and even may lead to safety accidents. Therefore, how to improve the safety of photovoltaic cleaning robots under harsh climate conditions deserves attention. Summary of the Invention

[0003] In view of this, the embodiments of the present application provide a control method, device, system of a photovoltaic cleaning robot, and a photovoltaic cleaning system, in order to improve the safety of photovoltaic cleaning robots under harsh climate conditions.

[0004] In a first aspect, a control method of a photovoltaic cleaning robot includes: obtaining wind speed data of the current working environment; adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, including: when the wind speed data is greater than or equal to the preset first wind speed threshold, controlling the photovoltaic cleaning robot to stop working, and controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy.

[0005] The above control method of the photovoltaic cleaning robot can accurately monitor the wind speed change in real time, take protective measures in time before the strong wind comes, control the photovoltaic cleaning robot to move to a safe preset position, avoid damage to the photovoltaic cleaning robot in the strong wind, improve the safety of photovoltaic-related equipment and personnel, and reduce the operation and maintenance costs.

[0006] Optionally, it further includes: when the photovoltaic cleaning robot is at the preset position, obtaining the wind speed data; adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset second wind speed threshold, including: when the wind speed data is less than the second wind speed threshold, controlling the photovoltaic cleaning robot to continue working; where the second wind speed threshold is less than the first wind speed threshold.

[0007] The above control method of the photovoltaic cleaning robot can quickly resume the cleaning task after the wind speed returns to normal, reduce the working interruption time caused by strong wind weather, improve the working efficiency of photovoltaic panel cleaning, and ensure the stable power generation of the photovoltaic power station.

[0008] Optionally, obtaining wind speed data further includes: obtaining wind speed data multiple times based on a preset time interval; adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, further including: when the number of times the wind speed data is continuously greater than or equal to the preset first wind speed threshold reaches a preset cumulative number, controlling the photovoltaic cleaning robot to stop working, and controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy; wherein, during the process of accumulating the wind speed data, when the wind speed data is less than the preset first wind speed threshold, the cumulative number is reset.

[0009] Optionally, controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy includes: obtaining the position information of the photovoltaic cleaning robot; determining the preset position closest to the photovoltaic cleaning robot based on the position information, and the preset positions include: above the driving column, the parking platform, and the return platform; controlling the photovoltaic cleaning robot to move to the preset position.

[0010] Optionally, controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy further includes: obtaining a positioning signal, which is determined when the positioning sensor of the photovoltaic cleaning robot detects an induction device at the preset position; controlling the photovoltaic cleaning robot to stop moving based on the positioning signal.

[0011] In a second aspect, a control device for a photovoltaic cleaning robot is provided, including: an acquisition unit for acquiring wind speed data of the current working environment; an adjustment unit for adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, including: when the wind speed data is greater than or equal to the preset first wind speed threshold, controlling the photovoltaic cleaning robot to stop working, and controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy.

[0012] In a third aspect, a control system for a photovoltaic cleaning robot is provided, including: a wind speed data acquisition module for acquiring wind speed data of the current working environment; a decision-making and judgment module for adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, sending a first instruction when the wind speed data is greater than or equal to the preset first wind speed threshold, and further for determining a path planning strategy based on the position information of the photovoltaic cleaning robot and sending a second instruction; an action control module for controlling the photovoltaic cleaning robot to stop working based on the first instruction, and controlling the photovoltaic cleaning robot to move to a preset position based on the second instruction.

[0013] Optionally, the wind speed data acquisition module is further configured to acquire wind speed data when the photovoltaic cleaning robot is at a preset position; the decision-making and judgment module is further configured to send a third instruction when the wind speed data is less than a second wind speed threshold; the action control module is further configured to control the photovoltaic cleaning robot to continue working based on the third instruction; wherein, the second wind speed threshold is less than the first wind speed threshold.

[0014] In a fourth aspect, a photovoltaic cleaning system is provided, including: a photovoltaic cleaning robot; and a control module configured to execute the control method for the photovoltaic cleaning robot provided in the first aspect according to wind speed data, and control the photovoltaic cleaning robot to move to a preset position when it stops working.

[0015] In a fifth aspect, a computer-readable storage medium is provided, including instructions stored thereon, wherein when the instructions are executed by a processor, the control method for the photovoltaic cleaning robot provided in the first aspect is executed. Description of the Drawings

[0016] The following provides a brief introduction to the drawings used in the description of the embodiments of the present application:

[0017] Figure 1 It shows a schematic flowchart of a control method for a photovoltaic cleaning robot provided in some embodiments of the present application;

[0018] Figure 2 It shows a schematic flowchart of another control method for a photovoltaic cleaning robot provided in some embodiments of the present application;

[0019] Figure 3 It shows a schematic structural diagram of a control device for a photovoltaic cleaning robot provided in some embodiments of the present application;

[0020] Figure 4 It shows a schematic structural diagram of a control system for a photovoltaic cleaning robot provided in some embodiments of the present application. Detailed Embodiments

[0021] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will describe the exemplary embodiments of the present application with reference to the drawings. The drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, and other embodiments can be obtained. Adjustments and improvements made without departing from the concept of the present application all fall within the protection scope of the present application.

[0022] To make the drawings concise, each drawing only schematically shows the parts related to the embodiments, and they do not represent the actual structure of the product. Additionally, to make the drawings concise and easy to understand, in some drawings, parts with the same structure or function are only schematically shown, and there may actually be more or fewer parts with the same structure or function.

[0023] In this application, unless otherwise clearly specified and limited, ordinal numbers, such as "first", "second", etc., are only used to distinguish and describe related objects, and cannot be understood as indicating or implying the relative importance or order between related objects; in addition, they do not represent the quantity of related objects. "Multiple" includes two or more, and other quantifiers are similar. " / " is used to describe the relationship between related objects, which means the "or" relationship between related objects. "And / or" is used to describe the relationship between related objects, which includes any combination relationship between related objects. For example, "a and / or b" includes: "a alone", "b alone", or "a and b". "One or more" or "at least one" among multiple objects refers to any object or any combination of multiple objects. For example, "one or more of a1, a2, a3" or "at least one of a1, a2, a3" includes: "a1 alone", "a2 alone", "a3 alone", "a1 and a2", "a1 and a3", "a2 and a3", or "a1, a2 and a3".

[0024] Since photovoltaic power stations are often located in outdoor open areas, photovoltaic cleaning robots have been increasingly widely used in photovoltaic power stations. These photovoltaic cleaning robots can automatically complete the cleaning and maintenance work of photovoltaic panels in photovoltaic power stations, thereby improving the power generation efficiency of photovoltaic panels. However, in the outdoor environment, photovoltaic cleaning robots often encounter strong wind weather, and their protection ability against strong wind weather is extremely limited. Although some photovoltaic cleaning robots are equipped with wind speed detection devices, the control system cannot respond promptly and accurately according to the change of wind speed. When encountering bad weather such as strong wind, the photovoltaic cleaning robot may continue to execute the cleaning task, which will not only damage the robot itself, but also affect the safety of the photovoltaic panel, and may even cause safety accidents, seriously affecting the reliability of the daily operation and maintenance of the photovoltaic power station. This application provides a control method, device, system and photovoltaic cleaning system for a photovoltaic cleaning robot. By real-time detecting the wind speed data in the current environment where the photovoltaic cleaning robot is located, when it is determined that the current climate environment is not suitable for the photovoltaic cleaning robot to operate, it controls the robot to move to a safe area, effectively improving the safety of the photovoltaic cleaning robot in a harsh environment and the reliability of the daily maintenance of the photovoltaic power station.

[0025] Figure 1 The flowchart of a control method for a photovoltaic cleaning robot provided in some embodiments of this application is shown. The method at least includes the following steps:

[0026] S110: Obtain the wind speed data of the current working environment;

[0027] S120: Adjust the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold;

[0028] S130: When the wind speed data is greater than or equal to a preset first wind speed threshold, control the photovoltaic cleaning robot to stop working, and control the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy.

[0029] In the embodiments of the control method of the above photovoltaic cleaning robot, the wind speed data can be obtained and determined in real time by a wind speed sensor provided on the photovoltaic cleaning robot, or can be determined in real time by a climate detection device such as a wind sensing device provided inside the photovoltaic power station. The wind speed data determined in real time has the reliability of information timeliness, thus achieving more precise control. The climate information obtained from the cloud is often the weather conditions that may occur within a certain time range. In the face of the application scenario of precise control, there may be a problem of information lag. On the other hand, the climate information obtained from the cloud can be used as reference information. For example, when a strong wind weather is predicted, the time interval for obtaining the wind speed of the photovoltaic cleaning robot can be correspondingly shortened and the wind speed threshold can be correspondingly reduced to achieve advance planning and control.

[0030] When detecting the working state of the photovoltaic cleaning robot, a first wind speed threshold can be set. By comparing the first wind speed threshold with the obtained wind speed data, it can be judged whether it is necessary to stop the cleaning work of the photovoltaic cleaning robot at this time. The setting of the first wind speed threshold can be determined by evaluating the maximum wind resistance of the photovoltaic cleaning robot and combining the climate characteristics of different regions and the specific environment of the photovoltaic power station. For example, the first wind speed threshold can be less than the maximum wind speed that the photovoltaic cleaning robot can withstand. When the maximum critical wind speed that the cleaning robot can withstand is 20 m / s, the first wind speed threshold can be set to 15 m / s. In this way, protection can be carried out in advance before the maximum critical wind speed that the photovoltaic cleaning robot can withstand arrives, avoiding damage to itself and the photovoltaic support caused by the robot not having enough time to dock safely during the working process. If the photovoltaic cleaning robot only stays at the current cleaning operation position at this time, due to the characteristics of the cleaning operation, its cleaning component may be close to the photovoltaic component for operation at this time. When facing the maximum critical wind speed, it may cause damage to the photovoltaic component. Therefore, the photovoltaic cleaning robot can be controlled to move to a safe preset position to protect the photovoltaic cleaning robot and the photovoltaic component from wind damage. When the wind speed data is less than the first wind speed threshold, the photovoltaic cleaning robot can be controlled to continue working without affecting the normal maintenance work of the photovoltaic component.

[0031] Figure 2 The flowchart of another control method of the photovoltaic cleaning robot provided in some embodiments of the present application is shown. The method further includes:

[0032] S210: When the photovoltaic cleaning robot is located at a preset position, obtain wind speed data;

[0033] S220: Adjust the working state of the photovoltaic cleaning robot based on the wind speed data and a preset second wind speed threshold;

[0034] S230: When the wind speed data is less than the second wind speed threshold, control the photovoltaic cleaning robot to continue working.

[0035] The photovoltaic cleaning robot staying at the preset position can continue to obtain the wind speed data, so that when the wind speed data is less than the preset second wind speed threshold, its working state can be restored. The second wind speed threshold can be set to be less than the first wind speed threshold to enable restoration under the wind speed conditions that the photovoltaic cleaning robot can normally resist. When it is greater than the second wind speed threshold, there are still certain risks for the photovoltaic cleaning robot to continue working.

[0036] Meanwhile, after the cleaning robot stops working and temporarily docks at the preset position, continuously detecting the wind speed data in order to quickly resume normal cleaning work can reduce the time of work interruption caused by strong wind weather, improve the working efficiency of photovoltaic panel cleaning, and ensure the stable power generation of the photovoltaic power station.

[0037] In some embodiments, obtaining the wind speed data further includes: obtaining the wind speed data multiple times based on a preset time interval; adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold further includes: when the number of times that the wind speed data is continuously greater than or equal to the preset first wind speed threshold reaches the preset cumulative number of times, controlling the photovoltaic cleaning robot to stop working, and controlling the photovoltaic cleaning robot to move to the preset position based on a preset path planning strategy; wherein, in the process of calculating the cumulative wind speed data, when the wind speed data is less than the preset first wind speed threshold, the cumulative number of times is recalculated.

[0038] The photovoltaic cleaning robot can collect the wind speed data multiple times according to a preset time interval, and the control system can obtain the wind speed data multiple times based on the preset time interval. When the wind speed data is not less than the first wind speed threshold for a continuous preset cumulative number of times, the photovoltaic cleaning robot can be controlled to stop working. When there is once that the wind speed data does not exceed the first wind speed threshold, the counting starts again from the next time when it is greater than or equal to the first wind speed threshold until it meets the requirement that the preset cumulative number of times all exceed the threshold. For example, the wind speed data is obtained once every 5 seconds, and when it reaches or exceeds the first wind speed threshold continuously for 5 times, further control is performed. In some embodiments, a tolerance margin for the preset cumulative number of times can also be set. For example, among the 5 times of obtaining the wind speed data, if 4 times meet the first wind speed threshold, it can also be determined that the photovoltaic cleaning robot needs to enter the protection state.

[0039] In some embodiments, controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy includes: obtaining the real-time position information of the photovoltaic cleaning robot; determining the preset position closest to the photovoltaic cleaning robot based on the real-time position information, where the preset positions include: above the driving column, the parking platform, and the return platform; and controlling the photovoltaic cleaning robot to move to the preset position.

[0040] Specifically, a parking platform and a return platform are provided at the front and rear ends of the photovoltaic support, respectively. The parking platform provides a place for the cleaning robot to park and dock. When the cleaning robot finishes cleaning, it will return to the parking platform for parking and docking. It can also be charged on the parking platform and wait for the next cleaning work. The parking platform is provided with a limiting structure for the cleaning robot so that the cleaning robot can dock stably on it; the return platform provides sufficient space for the cleaning robot to move, thereby ensuring that the cleaning robot completes cleaning of the photovoltaic modules at the outermost position of the photovoltaic support. At the same time, the return platform can also serve as a temporary docking platform for the cleaning robot. In actual application, the parking platform is provided at one end of the photovoltaic support, and the return platform is located at the other end opposite to the parking platform; in addition, in order to obtain more sunlight and thus obtain greater power generation, the photovoltaic support is provided with a driving mechanism, which drives the photovoltaic modules arranged on the photovoltaic support to rotate so that the photovoltaic modules are kept as perpendicular to the sunlight as possible. The driving mechanism is generally provided above the column. The driving column can be understood as a column with a driving mechanism. The column without a driving mechanism is an ordinary column or a non-driving column. The drive mechanism can be, for example, a rotary reducer, which is mounted at the top of the drive column and has its output connected to the main beam of the photovoltaic support. The photovoltaic modules are positioned above the main beam along its length. To avoid interference between the photovoltaic modules and the rotary reducer during operation, the photovoltaic modules are not positioned above the rotary reducer along the length of the main beam. That is, the photovoltaic modules are positioned on either side of the rotary reducer. To ensure smooth passage of the cleaning robot, a bridge is positioned above the rotary reducer, connecting the photovoltaic modules on either side of the rotary reducer. In actual projects, the drive column must withstand significant dynamic loads, such as additional stress from acceleration or deceleration during support rotation, structural vibration from starting and stopping the drive motor, windy conditions, and wind load fluctuations at different angles. Therefore, the drive column has relatively higher structural strength than conventional columns, minimizing distortion at the drive column when exposed to wind. This allows the location above the drive column to serve as a temporary resting point for the cleaning robot, ensuring its safety. The position above the driving column specifically refers to the bridge position above the driving column and the area on the photovoltaic components arranged on both sides of the rotary reducer close to the driving column. Specifically, in one embodiment, the cleaning robot is temporarily docked on the bridge above the rotary reducer, and the cleaning robot is located directly above the driving column; in another embodiment, part of the cleaning robot is docked at the edge of one side of the photovoltaic component on either side of the rotary reducer close to the rotary reducer, and the other part is docked on the bridge; in yet another embodiment, the cleaning robot can also be temporarily docked on the photovoltaic component on either side of the rotary reducer, and is located on the side of the photovoltaic component close to the driving column.It should be noted that in each photovoltaic bracket, the number of driving columns can be one, two or more. For example, when the photovoltaic bracket is single-point driven, the number of driving columns is one. When the photovoltaic bracket is multi-point synchronously driven, the number of driving columns is correspondingly multiple.

[0041] In a harsh environment with high wind speed, there may not only be the effect of wind, but also dust or other particles raised by the wind, which may also affect the photovoltaic cleaning robot. Therefore, it is necessary to shorten the moving distance of the photovoltaic cleaning robot as much as possible in the current situation and find a driving column, parking platform or return platform that can provide temporary shelter for the cleaning robot.

[0042] In some embodiments, obtaining the real-time location information of the photovoltaic cleaning robot can be achieved through a positioning device, which can be a GPS positioning device, a ZigBee or LoRa positioning device, a Beidou satellite positioning device or other existing positioning devices that can achieve position monitoring, and is not limited here.

[0043] In other embodiments, the real-time position information of the photovoltaic cleaning robot can be obtained based on the cleaning speed and cleaning time of the photovoltaic cleaning robot, and the walking distance of the photovoltaic cleaning robot on the photovoltaic bracket can be calculated, and the real-time position information of the photovoltaic cleaning robot can be obtained based on the walking distance and the length of the photovoltaic bracket.

[0044] In some embodiments, determining the preset position closest to the photovoltaic cleaning robot based on the position information specifically includes:

[0045] 1) Based on the length information of the photovoltaic support, the position information of the driving column, the parking platform, and the return platform, calculate the distance S1 between the photovoltaic cleaning robot and the driving column, the distance S2 between the photovoltaic cleaning robot and the parking platform, and the distance S3 between the photovoltaic cleaning robot and the return platform. It should be noted that when there are multiple driving columns, the distance between each driving column and the current position of the photovoltaic cleaning robot must be calculated separately;

[0046] 2) Compare the sizes of S1, S2, and S3;

[0047] 3) The preset position corresponding to the minimum value among S1, S2, and S3 is used as the preset position closest to the photovoltaic cleaning robot. That is, the preset position closest to the photovoltaic cleaning robot is used as the temporary parking position of the photovoltaic cleaning robot.

[0048] In some embodiments, controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy further includes: obtaining a positioning signal, which is determined when the positioning sensor of the photovoltaic cleaning robot detects an induction device at the preset position; controlling the photovoltaic cleaning robot to stop moving based on the positioning signal. Specifically, the induction device can be arranged on the bridge above the driving column, or on the frames of the photovoltaic modules on both sides of and close to the slewing speed reducer. A positioning sensor is arranged on the photovoltaic cleaning robot. When the positioning sensor recognizes the induction device, it indicates that the photovoltaic cleaning robot has reached the preset position, and at this time, the photovoltaic cleaning robot stops moving.

[0049] The cooperation between the positioning sensor and the induction device can ensure that the photovoltaic cleaning robot stays reliably at the preset position, avoiding the situation of not docking in place and being unable to stay effectively. By ensuring that the robot stops as soon as it arrives through the positioning signal, the equipment safety is improved.

[0050] Based on the same technical concept, Figure 3 FIG. shows a schematic structural diagram of a control device of a photovoltaic cleaning robot provided in some embodiments of the present application. The control device 300 of the photovoltaic cleaning robot includes: an acquisition unit 310 for acquiring wind speed data of the current working environment; an adjustment unit 320 for adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, including: when the wind speed data is greater than or equal to the preset first wind speed threshold, controlling the photovoltaic cleaning robot to stop working and controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy.

[0051] The division of each of the above units is only a division of logical functions. In actual implementation, all or part of them can be integrated into a physical entity, or physically separated. In addition, each of the above units can be implemented in the form of a processor invoking software. For example, the detection device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor invokes the instructions stored in the memory to implement any of the above methods or the functions of each unit. The processor is, for example, a general-purpose processor, such as a central processing unit (CPU), and the memory is a memory inside or outside the device. Alternatively, each of the above units can be implemented in the form of a hardware circuit, and the functions of some or all of the units can be implemented by designing the hardware circuit. The hardware circuit can be understood as one or more processors. For example, in some embodiments, the hardware circuit is an application specific integrated circuit (ASIC), and the functions of some or all of the above units are implemented by designing the logical relationships of the components in the circuit. Again, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD), which can include a large number of logic gate circuits, and the logical relationships between the logic gate circuits are configured through a configuration file to implement the functions of some or all of the above units. All units of the above device can be all implemented in the form of a processor invoking a program, or all implemented in the form of a hardware circuit, or part implemented in the form of a processor invoking a program, and the remaining part implemented in the form of a hardware circuit.

[0052] Based on the same technical concept, Figure 4 FIG. shows a schematic structural diagram of a control system of a photovoltaic cleaning robot provided in some embodiments of the present application. The control system 400 of the photovoltaic cleaning robot includes: a wind speed data acquisition module 410, configured to acquire wind speed data of the current working environment; a decision-making judgment module 420, configured to adjust the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, and send a first instruction when the wind speed data is greater than or equal to the preset first wind speed threshold, and is further configured to determine a path planning strategy based on the position information of the photovoltaic cleaning robot and send a second instruction; an action control module 430, configured to control the photovoltaic cleaning robot to stop working based on the first instruction, and control the photovoltaic cleaning robot to move to a preset position based on the second instruction.

[0053] In some embodiments, the wind speed data acquisition module is further configured to acquire wind speed data when the photovoltaic cleaning robot is located at a preset position; the decision-making judgment module is further configured to send a third instruction to control the photovoltaic cleaning robot to continue working when the wind speed data is less than a second wind speed threshold; wherein, the second wind speed threshold is less than the first wind speed threshold.

[0054] Based on the same inventive concept, the present application also provides a photovoltaic cleaning system, including: a photovoltaic cleaning robot, on which a wind speed sensor and a position sensor are arranged, and the wind speed sensor is used to obtain wind speed data; a control module, configured to execute the control method of the photovoltaic cleaning robot provided in the first aspect according to the wind speed data sent by the photovoltaic cleaning robot, and control the photovoltaic cleaning robot to move to a preset position when it stops working.

[0055] In addition, an embodiment of the present application also provides a computer-readable storage medium, including instructions stored thereon, and when the instructions are called by a processor, any one of the control methods of the photovoltaic cleaning robot in the above embodiments is executed. An embodiment of the present application also provides a computer program (or computer program product), including instructions, and when the instructions are called by a processor, any one of the control methods of the photovoltaic cleaning robot in the above embodiments is executed.

[0056] The above computer-readable storage medium may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0057] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not described or recorded in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A control method for a photovoltaic cleaning robot, characterized in that, Including: Obtain the wind speed data of the current working environment; Adjust the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, including: When the wind speed data is greater than or equal to the preset first wind speed threshold, control the photovoltaic cleaning robot to stop working, and control the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy.

2. The control method of the photovoltaic cleaning robot according to claim 1, wherein, Also including: When the photovoltaic cleaning robot is at the preset position, obtain the wind speed data; Adjust the working state of the photovoltaic cleaning robot based on the wind speed data and a preset second wind speed threshold, including: When the wind speed data is less than the second wind speed threshold, control the photovoltaic cleaning robot to continue working; Wherein, the second wind speed threshold is less than the first wind speed threshold.

3. The control method of the photovoltaic cleaning robot according to claim 1, wherein The obtaining of the wind speed data further includes: continuously obtaining the wind speed data multiple times based on a preset time interval; Adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold further includes: When the number of times the wind speed data is continuously greater than or equal to the preset first wind speed threshold reaches a preset cumulative number, control the photovoltaic cleaning robot to stop working, and control the photovoltaic cleaning robot to move to the preset position based on the preset path planning strategy; Wherein, during the process of accumulating the number of times of the wind speed data, when the wind speed data is less than the preset first wind speed threshold, the number of times is re-accumulated.

4. The control method of the photovoltaic cleaning robot according to any one of claims 1-3, characterized in that, The controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy includes: Obtain the position information of the photovoltaic cleaning robot; Determine the preset position closest to the photovoltaic cleaning robot based on the position information, and the preset positions include: above the driving column, the parking platform, and the return platform; Control the photovoltaic cleaning robot to move to the preset position closest to the photovoltaic cleaning robot.

5. The control method of the photovoltaic cleaning robot according to claim 4, wherein, The controlling the photovoltaic cleaning robot to move to the preset position based on a preset path planning strategy further includes: Obtain a positioning signal, which is determined when the positioning sensor of the photovoltaic cleaning robot detects an induction device at the preset position; Control the photovoltaic cleaning robot to stop moving based on the positioning signal.

6. A control device for a photovoltaic cleaning robot, characterized in that, Including: An obtaining unit for obtaining the wind speed data of the current working environment; An adjusting unit for adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, including: when the wind speed data is greater than or equal to the preset first wind speed threshold, controlling the photovoltaic cleaning robot to stop working, and controlling the photovoltaic cleaning robot to move to a preset position based on a preset path planning strategy.

7. A control system of a photovoltaic cleaning robot, characterized in that, Including: A wind speed data acquisition module for obtaining the wind speed data of the current working environment; A decision-making and judgment module for adjusting the working state of the photovoltaic cleaning robot based on the wind speed data and a preset first wind speed threshold, sending a first instruction when the wind speed data is greater than or equal to the preset first wind speed threshold, and also for determining a path planning strategy based on the position information of the photovoltaic cleaning robot and sending a second instruction; The motion control module is used to control the photovoltaic cleaning robot to stop working based on the first instruction, and to control the photovoltaic cleaning robot to move to a preset position based on the second instruction.

8. The control system according to claim 7, wherein the wind speed data acquisition module is further used to obtain the wind speed data when the photovoltaic cleaning robot is located at the preset position; the decision-making judgment module is further used to send a third instruction when the wind speed data is less than the second wind speed threshold; the motion control module is further used to control the photovoltaic cleaning robot to continue working based on the third instruction; wherein, the second wind speed threshold is less than the first wind speed threshold.

9. A photovoltaic cleaning system, characterized in that, Comprising: a photovoltaic cleaning robot; a control module, configured to execute the control method of the photovoltaic cleaning robot according to any one of claims 1-5 based on wind speed data, and control the photovoltaic cleaning robot to move to the preset position when it stops working.

10. A computer-readable storage medium, characterized in that, Comprising instructions stored thereon, wherein when the instructions are executed by a processor, the control method of the photovoltaic cleaning robot according to any one of claims 1-5 is executed.

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