Method for cleaning rolling brush to automatically sense and avoid gaps of photovoltaic string

Abstract

The invention discloses a method for a cleaning rolling brush to automatically sense and avoid photovoltaic string gaps, and relates to the technical field of photovoltaic cleaning equipment. According to the method, the real-time position of a cleaning robot is obtained through an RTK system and converted into UTM coordinates, gap position information is obtained through offline point cloud data, and the distance between the robot and a gap is calculated; when the distance is smaller than a preset threshold value, rolling brush lifting and lowering actions are planned according to the running speed of the robot, the lifting height is determined by combining the gap and the rolling brush height, and an action instruction is generated; the instruction execution frequency is 100 Hz, and it is ensured that the rolling brush quickly responds to position changes; according to the method, centimeter-level positioning precision is achieved, collision is effectively avoided, cleaning efficiency and safety are improved, operation and maintenance cost is reduced, and the stability of a photovoltaic power station is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of photovoltaic cleaning equipment, and in particular relates to a method for a cleaning roller brush to automatically sense and avoid gaps in photovoltaic strings. Background Art

[0002] Photovoltaic power generation, a clean, renewable energy source, has seen widespread application and rapid growth worldwide in recent years. As the core component of a photovoltaic power generation system, the power generation efficiency of photovoltaic modules directly impacts the performance and economic benefits of the entire system. Module cleanliness is a key factor affecting photovoltaic power generation efficiency. Obstructions such as dust and dirt reduce the panels' absorption of sunlight, thereby reducing power generation. Therefore, regular cleaning of photovoltaic modules is crucial to ensuring the efficient operation of photovoltaic power generation systems.

[0003] Currently, photovoltaic cleaning vehicles are commonly used for cleaning photovoltaic panels, improving cleaning efficiency and quality to a certain extent. However, during the actual cleaning process, gaps between photovoltaic panels present challenges. If the cleaning equipment cannot accurately detect and avoid gaps between photovoltaic panels, the cleaning brush may fall into the gap. Once the cleaning brush falls into the gap, it will not only damage the cleaning equipment itself, increasing repair costs and downtime, but also damage the integrity of the photovoltaic panels, affecting the normal power generation function of the photovoltaic modules, and thus reducing the power generation efficiency and reliability of the entire photovoltaic power generation system.

[0004] Existing cleaning equipment suffers from significant technical deficiencies when addressing gaps in photovoltaic strings. Firstly, it generally lacks precise sensing capabilities, making it difficult to accurately identify the location, width, and depth of gaps between photovoltaic panels. Secondly, it lacks dynamic avoidance capabilities during the cleaning process, making it impossible to adjust the cleaning action according to real-time conditions to prevent collisions between the cleaning brush and the gaps. These technical deficiencies pose significant safety risks during the cleaning process, making it difficult to ensure cleaning efficiency and quality, and increasing the operating costs and maintenance complexity of photovoltaic power generation systems. Summary of the Invention

[0005] The purpose of this application is to provide a method for a cleaning roller brush to automatically sense and avoid gaps in photovoltaic strings. By integrating an RTK system, offline point cloud data, and an intelligent algorithm, the cleaning robot can automatically adjust the state of the cleaning roller brush when approaching the gaps in photovoltaic strings to avoid collisions and ensure the cleaning effect.

[0006] To achieve the above objectives, the present invention provides a method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush, including:

[0007] Obtain the real-time location information of the cleaning robot through the RTK system;

[0008] Obtain the location information of the PV string gaps through offline point cloud data, and store the location information of the PV string gaps in a JSON file;

[0009] Calculate the distance between the cleaning robot and the gap between the photovoltaic strings based on the real-time position information of the cleaning robot and the position information of the gap between the photovoltaic strings;

[0010] The cleaning robot includes a cleaning roller brush. If the distance between the cleaning robot and the gap between the photovoltaic strings is less than a preset threshold, the operating speed of the cleaning robot at that moment is obtained. The lifting action of the cleaning roller brush is planned when the cleaning robot is at a position d1 away from the gap between the photovoltaic strings. The lowering action of the cleaning roller brush is planned when the cleaning robot crosses the gap between the photovoltaic strings by d2. The lifting height of the cleaning roller brush is planned based on the position information of the gap between the photovoltaic strings, and action instructions are generated for the lifting action, lowering action, and lifting height.

[0011] Get action instructions and execute them.

[0012] The above method according to the embodiment of the present application may also have the following additional technical features:

[0013] Furthermore, the real-time location information of the cleaning robot is obtained through the RTK system, including:

[0014] The GPS coordinates of the cleaning robot are obtained through the RTK system and converted into UTM coordinates. The formula is as follows:

[0015] UTM(x,y)=f(GPS(lat,lon),zone)

[0016] Where lat represents latitude; lon represents longitude; zone represents the UTM zone of the geographical area where the cleaning robot is located; GPS(lat,lon) represents the GPS coordinates of the cleaning robot; f(·) represents the conversion function; x represents the x-axis coordinate of the cleaning robot in the UTM coordinate system; and y represents the y-axis coordinate of the cleaning robot in the UTM coordinate system.

[0017] Furthermore, the distance between the cleaning robot and the gap between the photovoltaic strings is calculated using the following formula:

[0018] d=(xx gap ) 2 +(yy gap ) 2

[0019] Where d represents the distance between the cleaning robot and the gap between the photovoltaic strings; x gap and y gapThey represent the x-coordinate and y-coordinate of the gap of the photovoltaic string respectively.

[0020] Furthermore, the lifting action of the cleaning roller brush is planned when the cleaning robot is at a position d1 away from the gap between the photovoltaic strings; the lowering action of the cleaning roller brush is planned when the cleaning robot crosses the gap d2 between the photovoltaic strings. The formula is as follows:

[0021] d1=k1·v robot

[0022] d2=k2·v robot

[0023] Among them, v robot Indicates the running speed of the cleaning robot at this moment; k1 and k2 are empirical parameters.

[0024] Furthermore, the lifting height of the cleaning roller brush is planned based on the location information of the gaps between the photovoltaic strings. The formula is as follows:

[0025] h up =max(height gap ,height brush +Δh)

[0026] Among them, h up Indicates the lifting height of the cleaning roller brush; height gap Indicates the height of the gap between photovoltaic strings; height brush Indicates the height of the cleaning roller brush; Δh indicates the safety redundancy height.

[0027] Furthermore, the lifting action, lowering action and lifting height are generated into action instructions, including:

[0028] Record trigger point T up , indicating that the cleaning roller brush is raised to h up ;

[0029] Record trigger point T down , indicating that the cleaning roller brush is lowered to the height gap .

[0030] Furthermore, the action instructions are obtained and executed, including:

[0031] The UTM coordinates of the cleaning robot are detected every Δt seconds, and the current position of the cleaning robot and the trigger point T are calculated. up and trigger point T down If the current position of the cleaning robot is close to the trigger point T up When the distance is less than the preset threshold, the lifting action is performed and the cleaning roller brush is lifted to h up ; If the current position of the cleaning robot is close to the trigger point T downWhen the distance is less than the preset threshold, the lowering action is executed and the cleaning roller brush is lowered to the height gap .

[0032] Furthermore, the execution frequency of the action instructions is 100 Hz.

[0033] The method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush provided in the embodiments of the present application has the following beneficial technical effects compared to the prior art:

[0034] The embodiment of the present application obtains the real-time position information of the cleaning robot through the RTK system and converts it into UTM coordinates, achieving centimeter-level positioning accuracy, ensuring that the cleaning robot can accurately sense its own position when moving between photovoltaic strings, and providing a reliable basis for subsequent gap avoidance actions.

[0035] The embodiment of the present application uses offline point cloud data to obtain the location information of the gaps in the photovoltaic strings, and calculates the distance between the cleaning robot and the gaps based on this. When the distance is less than a preset threshold, the cleaning robot can automatically plan the lifting and lowering actions of the cleaning roller brush, effectively avoiding the collision between the roller brush and the gap, and protecting the photovoltaic strings and cleaning equipment.

[0036] The embodiment of the present application dynamically plans the lifting and lowering actions of the cleaning roller brush according to the running speed of the cleaning robot, ensuring the smoothness and accuracy of the action. At the same time, the lifting height is calculated according to the height of the photovoltaic string gap and the height of the cleaning roller brush, and a safety redundant height is added to further improve the safety and reliability of the cleaning operation.

[0037] The embodiment of the present application generates action instructions for lifting, lowering and lifting height, and executes these instructions through high frequency (100Hz), ensuring that the cleaning roller brush can quickly respond to position changes and closely adhere to the surface of the photovoltaic string for cleaning, thereby improving cleaning efficiency and quality.

[0038] The automated and intelligent cleaning process of the embodiment of the present application reduces the need for manual intervention and lowers operation and maintenance costs. At the same time, through precise positioning and gap avoidance actions, it avoids equipment damage and photovoltaic string performance degradation caused by collisions, thereby improving the safety and stability of the entire photovoltaic power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A flow chart of a method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some, rather than all, structures related to the present application are shown in the accompanying drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0041] As used herein, the terms "comprise," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0042] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0043] like Figure 1 As shown, the embodiment of the present application provides a method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush, comprising the following steps:

[0044] Step 101: Acquire the real-time position information of the cleaning robot through the RTK system.

[0045] Step 101 ensures that the cleaning robot can obtain its own position information in real time and accurately, providing basic data for subsequent calculation of the position relationship with the gaps of the photovoltaic strings, motion planning, etc.

[0046] The RTK (Real-Time Kinematic) system is a satellite navigation and positioning system that uses carrier phase differential technology to achieve centimeter-level positioning accuracy. In this method, the RTK system is used to obtain the real-time GPS coordinates of the cleaning robot.

[0047] The obtained GPS coordinates (latitude and longitude) need to be converted to UTM (Universal Transverse Mercator) coordinates for subsequent distance calculations and position determination. The UTM coordinate system is a plane rectangular coordinate system based on the Transverse Mercator projection. It divides the earth's surface into multiple 6-degree wide projection zones, each of which has a unique UTM zone number.

[0048] The GPS coordinates of the cleaning robot are obtained through the RTK system and converted into UTM coordinates. The formula is as follows:

[0049] UTM(x,y)=f(GPS(lat,lon),zone)

[0050] Where lat represents latitude; lon represents longitude; zone represents the UTM zone of the geographical area where the cleaning robot is located; GPS(lat,lon) represents the GPS coordinates of the cleaning robot; f(·) represents the conversion function; x represents the x-axis coordinate of the cleaning robot in the UTM coordinate system; and y represents the y-axis coordinate of the cleaning robot in the UTM coordinate system.

[0051] The RTK system provides real-time location information for the cleaning robot, ensuring it can continuously and accurately determine its position during movement. This is crucial for subsequent calculations of the positional relationship with PV string gaps and motion planning.

[0052] The position information acquired by the RTK system has centimeter-level accuracy, meeting the high-precision requirements for the cleaning brush to automatically sense and avoid gaps in photovoltaic strings. Real-time position information enables the cleaning robot to rapidly respond to position changes and promptly adjust the cleaning brush's position to avoid collisions with gaps in photovoltaic strings. The position information acquired in step 101 is the foundation for all subsequent calculations, planning, and execution. Its accuracy and real-time performance directly impact the performance and effectiveness of the entire method.

[0053] RTK systems must be calibrated before use to ensure positioning accuracy and stability. RTK systems may experience signal obstruction or interference in certain environments (such as urban areas with tall buildings or dense forests), resulting in reduced positioning accuracy. Therefore, in practical applications, it is necessary to consider environmental adaptability and implement appropriate measures (such as adding base stations or using differential GPS) to improve positioning accuracy.

[0054] In order to ensure that the cleaning robot can obtain position information in real time, it is necessary to set a suitable data update frequency. In the embodiment of the present application, the execution frequency of the action command is 100 Hz, so the update frequency of the position information also needs to be high enough to meet the real-time requirements.

[0055] Step 102 : obtaining location information of gaps between photovoltaic strings through offline point cloud data, and storing the location information of gaps between photovoltaic strings in a JSON file.

[0056] The present invention utilizes a high-precision laser scanner or camera mounted on a drone to perform a full-scale scan of the photovoltaic strings, acquiring three-dimensional point cloud data of the photovoltaic strings. This data is typically stored in a standard format such as PLY or LAS for ease of subsequent processing and analysis.

[0057] First, the raw point cloud data is acquired and denoised to remove noise points caused by scanning errors, environmental interference, and other factors. Furthermore, filtering algorithms are used to smooth the point cloud data to improve data quality. If the scanning process involves multiple scans or scans from different perspectives, point cloud registration is required to unify the point cloud data from different sources into the same coordinate system.

[0058] The present embodiment uses point cloud algorithms such as RANSAC (Random Sample Consensus) or DBSCAN (Density-Based Spatial Clustering) to process the pre-processed point cloud data and extract the precise location information of the photovoltaic panel edge points. These algorithms can effectively identify and separate edge points in point cloud data.

[0059] Based on the extracted edge point information, geometric calculations are performed to determine the coordinates of the PV string gap. This typically involves fitting and interpolating the edge points to obtain accurate gap coordinates. The distance information between the edge points is then used to calculate PV string gap dimensions, such as width and length.

[0060] The extracted PV string gap location information (including coordinates and dimensions) is organized into a JSON data structure. JSON files are easy to read and write, cross-platform compatible, and facilitate subsequent data processing and access. The defined JSON data structure is saved as a file so that it can be read and used at any time by the cleaning robot during cleaning tasks.

[0061] The accuracy and completeness of point cloud data directly impact the extraction of gap location information. Therefore, during the scanning process, ensure that the drone's flight altitude, speed, and other parameters are appropriately set to obtain high-quality point cloud data. Different point cloud algorithms have their own strengths and weaknesses in edge point extraction and gap location calculation. The appropriate algorithm should be selected based on actual needs and scenario characteristics, and necessary optimization and adjustments should be performed to improve processing efficiency and accuracy.

[0062] When processing PV string point cloud data, attention should be paid to data security and privacy protection to avoid data leakage and abuse and ensure the safe operation of PV power plants.

[0063] In summary, the process of obtaining the location information of the PV string gaps through offline point cloud data and storing it in a JSON file in step 102 involves multiple steps, such as data acquisition and preprocessing, edge point extraction, gap coordinate and size calculation, and location information storage and formatting.

[0064] Step 103 : Calculate the distance between the cleaning robot and the gap of the photovoltaic strings based on the real-time position information of the cleaning robot and the position information of the gap of the photovoltaic strings.

[0065] Step 103 involves accurately calculating the distance between the cleaning robot and the gaps in the PV strings based on the robot's real-time location and the location of the gaps in the PV strings. This step provides basic data for subsequent action planning, ensuring that the cleaning brush is raised and lowered at the appropriate times to effectively avoid gaps in the PV strings.

[0066] Calculating the distance between the cleaning robot and the gap between the photovoltaic strings is essentially a distance calculation problem on a two-dimensional plane. Given the real-time position (x, y) of the cleaning robot in the UTM coordinate system and the position (x gap ,y gap By applying the formula for the distance between two points on a two-dimensional plane, we can obtain the distance between the cleaning robot and the gap between the photovoltaic strings. The formula is as follows:

[0067] d=(xx gap ) 2 +(yy gap ) 2

[0068] Where d represents the distance between the cleaning robot and the gap between the photovoltaic strings; x gap and y gap They represent the x-coordinate and y-coordinate of the gap of the photovoltaic string respectively.

[0069] Step 104: The cleaning robot includes a cleaning roller brush. If the distance between the cleaning robot and the gap between the photovoltaic strings is less than a preset threshold, the running speed of the cleaning robot at this moment is obtained, and the lifting action of the cleaning roller brush is planned when the cleaning robot is at a position d1 away from the gap between the photovoltaic strings; the lowering action of the cleaning roller brush is planned when the cleaning robot crosses the gap between the photovoltaic strings d2; the lifting height of the cleaning roller brush is planned according to the position information of the gap between the photovoltaic strings, and action instructions are generated for the lifting action, lowering action and lifting height.

[0070] Step 104 involves how to intelligently plan the lifting and lowering actions of the cleaning roller brush and determine the lifting height when the cleaning robot approaches or crosses the gap between the photovoltaic strings, and generate specific action instructions based on these action and height information.

[0071] When the distance between the cleaning robot and the gap between the PV strings is less than a preset threshold, the cleaning robot's operating speed is first obtained. Based on the cleaning robot's operating speed and empirical parameters, the lifting action of the cleaning roller brush is planned at a specific position between the cleaning robot and the gap between the PV strings. The formula is as follows:

[0072] d1=k1·v robot

[0073] Among them, v robot Indicates the running speed of the cleaning robot at this moment; k1 is an empirical parameter, and in the embodiment of the present application, k1=0.35.

[0074] The planning formula of the lifting action ensures that the cleaning roller brush can be lifted in time when approaching the gap to avoid collision.

[0075] After the cleaning robot passes through the gap between the photovoltaic strings, it is necessary to plan the lowering action of the cleaning roller brush at the appropriate position. The planning of the lowering action is also based on the operating speed of the cleaning robot and empirical parameters to ensure that the cleaning roller brush can be lowered smoothly after passing through the gap and continue the cleaning operation. The formula is as follows:

[0076] d2=k2·v robot

[0077] Among them, v robot Indicates the running speed of the cleaning robot at this moment; k2 is an empirical parameter, and in the embodiment of the present application, k2=0.15.

[0078] The lifting height of the cleaning roller brush is determined based on the location information of the PV string gap (especially the height of the gap), the height of the cleaning roller brush, and the safety redundancy height. The formula is as follows:

[0079] h up =max(height gap ,height brush +Δh)

[0080] Among them, h up Indicates the lifting height of the cleaning roller brush; height gap Indicates the height of the gap between photovoltaic strings; height brush Indicates the height of the cleaning roller brush; Δh indicates the safety redundancy height.

[0081] Among them, the safety redundancy height is an additional height set to ensure that the cleaning roller brush will not accidentally contact the photovoltaic strings due to various factors (such as wind, robot shaking, etc.) after being lifted. It is usually set to 0.01m.

[0082] The embodiment of the present application also records two trigger points, one for triggering the lifting action of the cleaning roller brush and the other for triggering the lowering action. The position of the trigger point is determined based on the running trajectory of the cleaning robot and the position information of the gap of the photovoltaic string, including recording the trigger point T up , indicating that the cleaning roller brush is raised to h up ;Record trigger point T down , indicating that the cleaning roller brush is lowered to the height gap .

[0083] The information about lifting, lowering, and lifting height is integrated into specific action instructions. The action instructions contain key information such as the action type (lift or lower), the location where the action is performed (trigger point), and the lifting height.

[0084] In summary, step 104 intelligently plans the brush's lifting and lowering movements, determines the lift height, and generates and executes motion commands, enabling the brush to automatically sense and avoid gaps during the PV string cleaning process. This step not only improves cleaning efficiency and quality, but also reduces labor costs and operational complexity.

[0085] Step 105: Get the action instruction and execute it.

[0086] Step 105 involves obtaining the generated motion instructions and controlling the cleaning roller brush of the cleaning robot to lift and lower the cleaning roller brush according to the instructions to ensure that the cleaning operation can be performed safely and effectively when approaching or crossing the gaps between the photovoltaic strings.

[0087] In the previous steps, action instructions including lifting, lowering, and lifting height have been generated based on the cleaning robot's real-time position information, the location information of the PV string gap, and preset thresholds. In step 105, the cleaning robot needs to obtain these action instructions for subsequent execution.

[0088] The cleaning robot detects its own UTM coordinates every Δt seconds and calculates the distance between the cleaning robot's current position and the trigger point (i.e., the position of the planned lifting and lowering action).

[0089] When the distance between the current position of the cleaning robot and the trigger point is less than the preset threshold, the corresponding action instruction is executed. up If the distance is less than the preset threshold, the lifting action is performed to lift the cleaning roller brush to a predetermined height h up ; If the current position is at the trigger point T of the drop action down If the distance is less than the preset threshold, the lowering action is executed and the cleaning roller brush is lowered to the height where it contacts the surface of the photovoltaic string. gap .

[0090] The execution frequency of the motion command is 100Hz, which means that the detection and execution cycle of the motion command is executed 100 times per second, ensuring that the cleaning roller brush can respond to position changes quickly and accurately.

[0091] Specifically, assuming that the current running speed of the cleaning robot is v robot =0.5m / s, the real-time distance to the nearest PV string gap is d=1.0m. It is known that the cleaning roller brush needs to be raised at d1=0.8m and lowered after d2=0.2m, and the height difference of the PV string gap is height gap =0.03m.

[0092] When d=d1, lift the cleaning roller brush to a height of h up =0.05m; when d=d2, restore the roller brush to normal height h normal =0.02m, that is, in this embodiment, the normal height of the roller brush is 0.02m higher than the gap between the photovoltaic strings. The entire action is completed within 0.2 seconds, ensuring that the cleaning robot passes smoothly through the gap between the photovoltaic strings without causing any damage to the roller brush.

[0093] The preset threshold should be set based on a comprehensive consideration of factors such as the robot's operating speed, the width of the PV string gap, and the size of the cleaning brush. If the threshold is set too high, the brush may not be raised in time when approaching the gap, causing a collision. If the threshold is set too low, the brush may be raised and lowered frequently, affecting cleaning efficiency. It is also important to ensure that the brush reaches the desired height and position when raised and lowered.

[0094] Furthermore, safety redundancy factors must be considered when executing motion commands. For example, when raising the cleaning roller brush, the lifting height can be set slightly higher than the gap between the PV strings to ensure that the cleaning roller brush does not accidentally contact the PV strings due to various factors (such as wind or robot shaking).

[0095] In summary, step 105, by acquiring motion commands and executing the lifting and lowering motions, enables the cleaning brush to automatically sense and avoid gaps during the PV string cleaning process. This step relies not only on the accuracy and rationality of the motion commands generated in the previous steps but also requires high-precision positioning and control capabilities, as well as appropriate time intervals and preset thresholds. These measures ensure safe and efficient cleaning operations.

[0096] It should be noted that, in the present application, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0097] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush, characterized in that: The method comprises: Obtain the real-time location information of the cleaning robot through the RTK system; Obtaining location information of photovoltaic string gaps through offline point cloud data, and storing the location information of the photovoltaic string gaps in a JSON file; Calculating the distance between the cleaning robot and the gap of the photovoltaic strings according to the real-time position information of the cleaning robot and the position information of the gap of the photovoltaic strings; The cleaning robot includes a cleaning roller brush. If the distance between the cleaning robot and the gap between the photovoltaic strings is less than a preset threshold, the running speed of the cleaning robot at that moment is obtained, and a lifting action of the cleaning roller brush is planned at a position where the cleaning robot is d1 away from the gap between the photovoltaic strings; a lowering action of the cleaning roller brush is planned at a position where the cleaning robot passes over the gap between the photovoltaic strings d2; a lifting height of the cleaning roller brush is planned according to the position information of the gap between the photovoltaic strings, and action instructions are generated for the lifting action, lowering action, and lifting height; Obtain the action instruction and execute it.

2. The method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush according to claim 1, characterized in that: The real-time position information of the cleaning robot is obtained by using the RTK system, including: The GPS coordinates of the cleaning robot are obtained through the RTK system and converted into UTM coordinates. The formula is as follows: UTM(x,y)=f(GPS(lat,lon),zone) Where lat represents latitude; lon represents longitude; zone represents the UTM zone of the geographical area where the cleaning robot is located; GPS(lat,lon) represents the GPS coordinates of the cleaning robot; f(·) represents the conversion function; x represents the x-axis coordinate of the cleaning robot in the UTM coordinate system; and y represents the y-axis coordinate of the cleaning robot in the UTM coordinate system.

3. The method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush according to claim 2, characterized in that: The distance between the cleaning robot and the gap between the photovoltaic strings is calculated using the following formula: d=(x-x gap ) 2 +(y-y gap ) 2 Where d represents the distance between the cleaning robot and the gap between the photovoltaic strings; x gap and y gap They represent the x-coordinate and y-coordinate of the gap of the photovoltaic string respectively.

4. The method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush according to claim 1, wherein: The lifting action of the cleaning roller brush is planned at the position where the cleaning robot is d1 away from the gap between the photovoltaic strings; the lowering action of the cleaning roller brush is planned at the position where the cleaning robot crosses the gap between the photovoltaic strings d2. The formula is as follows: d1=k1·v robot <h2 style=";text-align:left;direction:ltr">d2 = k2 v<h2 style=";text-align:left;direction:ltr"> robot Among them, v robot Indicates the running speed of the cleaning robot at this moment; k1 and k2 are empirical parameters.

5. The method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush according to claim 1, characterized in that: The lifting height of the cleaning roller brush is planned according to the position information of the gap between the photovoltaic strings. The formula is as follows: h up =max(height gap ,height brush +Δh) Among them, h up Indicates the lifting height of the cleaning roller brush; height gap Indicates the height of the gap between photovoltaic strings; height brush Indicates the height of the cleaning roller brush; Δh indicates the safety redundancy height.

6. The method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush according to claim 5, characterized in that: The step of generating an action instruction from the lifting action, the lowering action, and the lifting height includes: Record trigger point T up , indicating that the cleaning roller brush is raised to h up ; Record trigger point T down , indicating that the cleaning roller brush is lowered to the height gap .

7. The method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush according to claim 6, characterized in that: The obtaining and executing the action instruction includes: The UTM coordinates of the cleaning robot are detected every Δt seconds, and the current position of the cleaning robot and the trigger point T are calculated. up and trigger point T down If the current position of the cleaning robot is at a distance from the trigger point T up When the distance is less than the preset threshold, the lifting action is performed to lift the cleaning roller brush to h up If the current position of the cleaning robot is the same as the trigger point T down When the distance is less than the preset threshold, the lowering action is performed to lower the cleaning roller brush to the height gap .

8. The method for automatically sensing and avoiding gaps in photovoltaic strings using a cleaning roller brush according to claim 1, characterized in that: The execution frequency of the action instruction is 100 Hz.

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