Cleaning control method and related device

Abstract

The invention provides a cleaning control method and a related device, and relates to the field of photovoltaic cleaning. According to the photovoltaic cleaning device, the adjusting assembly in the photovoltaic cleaning device is connected between the mechanical arm and the rolling brush assembly, when the photovoltaic assembly is cleaned, the distance between the rolling brush assembly and the photovoltaic assembly is the target distance, and the subsequent rolling brush assembly can normally clean the photovoltaic assembly. Wherein the target distance is larger than the safety distance and smaller than the radius of a rolling brush in the rolling brush assembly, so that the probability of collision between the rolling brush assembly and the photovoltaic assembly can be reduced, and the safety of the photovoltaic assembly is guaranteed. Besides, under the condition that the distance between the rolling brush assembly and the photovoltaic assembly is smaller than the target distance, the adjusting assembly can drive the rolling brush assembly to be away from the photovoltaic assembly, then the relative distance between the rolling brush assembly and the photovoltaic assembly can be adjusted through the adjusting assembly, adjustment of a mechanical arm and a chassis in the photovoltaic cleaning device is reduced, the operation difficulty is lowered, and the cleaning efficiency is improved. And the working efficiency of the photovoltaic cleaning device in the cleaning process is improved.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic cleaning, and more specifically, to a cleaning control method and related devices. Background Art

[0002] A photovoltaic power station has multiple rows of photovoltaic strings. The photovoltaic modules in each row of photovoltaic strings are connected in series to increase the total voltage to meet the input requirements of the grid-connected inverter or other equipment.

[0003] To improve the power generation efficiency of photovoltaic modules, they are usually cleaned regularly or irregularly. However, in real-world scenarios, photovoltaic modules are often installed on non-planar surfaces such as hillsides. Due to the terrain of the installation area, the installation heights of different photovoltaic modules may vary. This can cause collisions with the photovoltaic modules during cleaning, potentially damaging them. Summary of the Invention

[0004] In view of this, the present application provides a cleaning control method and related devices to avoid collision with photovoltaic modules and ensure the safety of photovoltaic modules when cleaning photovoltaic modules.

[0005] To solve the above technical problems, this application adopts the following technical solutions:

[0006] A cleaning control method, comprising:

[0007] Obtaining the relative distance between the roller brush assembly and the photovoltaic assembly; the roller brush assembly is disposed in a photovoltaic cleaning device, and the adjustment assembly in the photovoltaic cleaning device is connected between a mechanical arm and the roller brush assembly, the mechanical arm is capable of driving the adjustment assembly and the roller brush assembly to move, and the adjustment assembly is capable of driving the roller brush assembly to move;

[0008] According to the relative distance, the mechanical arm is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and / or the adjustment assembly is used to adjust the relative distance between the roller brush assembly and the end of the mechanical arm so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance, so that the roller brush assembly cleans the photovoltaic assembly;

[0009] In which, the target distance is greater than the safety distance and smaller than the radius of the roller brush in the roller brush assembly; the safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic assembly; when the distance between the roller brush assembly and the photovoltaic assembly is smaller than the target distance, the adjustment assembly can drive the roller brush assembly away from the photovoltaic assembly.

[0010] Optionally, the adjustment component is provided with an adjustable stroke, and the relative distance between the roller brush component and the end of the robotic arm can be adjusted by adjusting the size of the adjustable stroke; the relative distance includes relative sub-distances between different positions of the roller brush component and the photovoltaic component;

[0011] According to the relative distance, using the mechanical arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and / or using the adjustment assembly to adjust the relative distance between the roller brush assembly and the end of the mechanical arm so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance, comprising:

[0012] determining distance differences between different relative sub-distances;

[0013] When the maximum distance difference is less than or equal to the distance difference threshold, determining the target distance;

[0014] Setting the size of the adjustable stroke of the adjustment component to the size of the target stroke;

[0015] Wherein, when the size of the adjustable stroke is equal to the size of the target stroke, the distance between the roller brush assembly and the photovoltaic assembly is the target distance.

[0016] Optionally, determining a target itinerary includes:

[0017] Calculating the compression amount of the roller brush by using one of the relative sub-distances and the radius information of the roller brush;

[0018] When the compression amount is not a preset compression amount, determining that the distance between the roller brush assembly and the photovoltaic assembly is not a target distance;

[0019] A target stroke that makes the distance between the roller brush assembly and the photovoltaic assembly a target distance is determined by utilizing the mapping relationship between the change information of the adjustable stroke and the change information of the distance between the roller brush assembly and the photovoltaic assembly.

[0020] Optionally, the adjustment assembly is provided with a connecting component for connecting the end of the mechanical arm to the roller brush assembly; the length of the connecting component is adjustable;

[0021] Setting the adjustable stroke of the adjustment component to the target stroke comprises:

[0022] Control the movement of the driving motor for adjusting the size of the adjustable stroke to adjust the length of the connecting component between the end of the robotic arm and the roller brush assembly, and stop when the length of the connecting component meets the length requirement corresponding to the target stroke.

[0023] Optionally, when the maximum distance difference is greater than the distance difference threshold, the cleaning control method further includes:

[0024] Using the mechanical arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly so that the roller brush assembly is horizontally arranged relative to the photovoltaic assembly;

[0025] After the roller brush assembly is horizontally arranged relative to the photovoltaic assembly, a new relative sub-distance is acquired;

[0026] Using the new relative sub-distance, determining a target distance so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance;

[0027] The size of the adjustable stroke of the adjustment component is set to the size of the target stroke.

[0028] Optionally, a third driving member is provided in the mechanical arm, and the third driving member is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly; using the mechanical arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly includes:

[0029] The extension and contraction amount of the third driving member in the mechanical arm is adjusted to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly.

[0030] Optionally, according to the relative distance, adjusting the orientation of the roller brush assembly relative to the photovoltaic assembly using the mechanical arm, and / or adjusting the relative distance between the roller brush assembly and the end of the mechanical arm using the adjustment assembly, includes:

[0031] According to the relative relationship between the relative distance, the motion information of the robotic arm, and the size of the adjustable stroke of the adjustment component, a target motion mode of the robotic arm and a target stroke of the adjustment component are determined; when the robotic arm moves according to the target motion mode and the size of the adjustable stroke of the adjustment component is the size of the target stroke, the distance between the roller brush assembly and the photovoltaic assembly is the target distance;

[0032] The robotic arm is controlled to operate in accordance with the target motion mode to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and at the same time, the size of the adjustable stroke of the adjustment assembly is adjusted to the size of the target stroke.

[0033] A cleaning control device, comprising:

[0034] An acquisition module is used to acquire the relative distance between the roller brush assembly and the photovoltaic assembly; the roller brush assembly is provided in the photovoltaic cleaning device, and the adjustment assembly in the photovoltaic cleaning device is connected between the mechanical arm and the roller brush assembly, the mechanical arm can drive the adjustment assembly and the roller brush assembly to move, and the adjustment assembly can drive the roller brush assembly to move;

[0035] an adjustment module, configured to adjust, using the mechanical arm, the orientation of the roller brush assembly relative to the photovoltaic assembly according to the relative distance, and / or to adjust, using the adjustment assembly, the relative distance between the roller brush assembly and the end of the mechanical arm, so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance, so that the roller brush assembly cleans the photovoltaic assembly;

[0036] In which, the target distance is greater than the safety distance and smaller than the radius of the roller brush in the roller brush assembly; the safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic assembly; when the distance between the roller brush assembly and the photovoltaic assembly is smaller than the target distance, the adjustment assembly can drive the roller brush assembly away from the photovoltaic assembly.

[0037] An electronic device comprising at least one processor and a memory connected to the processor, wherein:

[0038] The memory is used to store computer programs;

[0039] The processor is used to execute the computer program so that the electronic device can implement the above-mentioned cleaning control method.

[0040] A photovoltaic cleaning device comprises the above-mentioned electronic device.

[0041] The present application provides a cleaning control method and related devices. In the present application, the adjustment component in the photovoltaic cleaning device is connected between the mechanical arm and the roller brush assembly. The mechanical arm can drive the adjustment component and the roller brush assembly to move, and the adjustment component can drive the roller brush assembly to move. When cleaning the photovoltaic component, based on the relative distance between the roller brush assembly and the photovoltaic component, the mechanical arm is used to adjust the orientation of the roller brush assembly relative to the photovoltaic component, and / or the adjustment component is used to adjust the relative distance between the roller brush assembly and the end of the mechanical arm, so that the distance between the roller brush assembly and the photovoltaic component is the target distance, and the roller brush assembly can subsequently clean the photovoltaic component normally. Wherein, the target distance is greater than the safety distance and less than the radius of the roller brush in the roller brush assembly; the safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic component, thereby reducing the probability of the roller brush assembly colliding with the photovoltaic component and ensuring the safety of the photovoltaic component. In addition, when the distance between the roller brush assembly and the photovoltaic assembly is less than the target distance, the adjustment assembly can drive the roller brush assembly away from the photovoltaic assembly, and then the relative distance between the roller brush assembly and the photovoltaic assembly can be adjusted by the adjustment assembly, thereby reducing the adjustment of the mechanical arm and chassis in the photovoltaic cleaning device, reducing the difficulty of operation, and improving the work efficiency of the photovoltaic cleaning device during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0043] Figure 1 This is a schematic structural diagram of a photovoltaic cleaning device disclosed in an embodiment of the present application;

[0044] Figure 2 This is a structural diagram of a roller brush assembly and an adjustment assembly of a photovoltaic cleaning device disclosed in an embodiment of the present application;

[0045] Figure 3 This is a schematic structural diagram of a roller brush assembly and an adjustment assembly of another photovoltaic cleaning device disclosed in an embodiment of the present application;

[0046] Figure 4 This is a schematic structural diagram of an adjustment component of a photovoltaic cleaning device disclosed in an embodiment of the present application;

[0047] Figure 5 for Figure 4 A partial enlarged view of middle A;

[0048] Figure 6 A schematic diagram of the partial structure of an adjustment component of a photovoltaic cleaning device disclosed in an embodiment of the present application;

[0049] Figure 7 A schematic structural diagram of a robotic arm of a photovoltaic cleaning device disclosed in an embodiment of the present application;

[0050] Figure 8 This is a flow chart of a cleaning control method disclosed in an embodiment of the present application;

[0051] Figure 9 A flow chart of an adjustment process disclosed in an embodiment of the present application;

[0052] Figure 10 This is a structural schematic diagram of a cleaning control device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0054] Photovoltaic power generation refers to the use of clean light energy to generate electricity. Photovoltaic power stations can achieve photovoltaic power generation. Photovoltaic power stations refer to a power generation system that uses solar energy and adopts special materials such as crystalline silicon panels, inverters and other electronic components. It is connected to the power grid and transmits electricity to the grid.

[0055] A photovoltaic power station has multiple rows of photovoltaic strings. The photovoltaic modules in each row of photovoltaic strings are connected in series to increase the total voltage to meet the input requirements of the grid-connected inverter or other equipment.

[0056] Photovoltaic panels are easily contaminated by airborne dust and other dirt, reducing their power generation efficiency. To improve their power generation efficiency, they are typically cleaned regularly or irregularly. To achieve cross-row cleaning of multiple rows of photovoltaic strings, a mobile chassis equipped with a robotic arm and a roller brush assembly at the end of the arm is currently used. This cross-row cleaning is performed by the mobile chassis. However, within a photovoltaic string, the topography of the landscape can cause uneven top-to-bottom and left-to-right alignment of the photovoltaic panels.

[0057] The connection structure between the end of the robotic arm and the roller brush assembly is a rigid connection. When the robotic arm moves with the mobile chassis, the height of the roller brush device relative to the robotic arm is constant. Due to the different heights of the photovoltaic modules, the roller brush assembly will collide with the photovoltaic modules, affecting the safe use of the photovoltaic modules.

[0058] In addition, the rigid connection between the end of the robot arm and the roller brush assembly will also make the cleaning adjustment response untimely, and it is easy to miss sweeps too quickly, resulting in low cleaning efficiency. In addition, the rigid connection between the end of the robot arm and the roller brush assembly will also cause the roller brush end to shake more.

[0059] To address the aforementioned technical issues, the present invention discloses a photovoltaic cleaning device that, by increasing redundant degrees of freedom, allows the height of the roller brush assembly relative to the robotic arm to change synchronously with the height of the photovoltaic module, thereby preventing collisions between the roller brush assembly and the photovoltaic module. Furthermore, the device improves cleaning efficiency and reduces wobbling of the roller brush tip.

[0060] Figure 1 This is a schematic diagram of the structure of a photovoltaic cleaning device disclosed in an embodiment of the present application, such as Figure 1 As shown, the photovoltaic cleaning device disclosed in the embodiment of the present application includes: a walking device 10, a chassis 20, a mechanical arm 30, an adjustment component 40 and a roller brush component 50.

[0061] The robotic arm 30 is rotatably mounted on the chassis 20, and a counterweight box 21 is provided on the end of the chassis 20 opposite to the robotic arm 30. The counterweight box 21 ensures the stability of the center of gravity of the photovoltaic cleaning device and prevents the photovoltaic cleaning device from tipping over during the rotation of the robotic arm 30.

[0062] The roller brush assembly 50 is a cleaning device for cleaning photovoltaic module panels. The roller brush assembly 50 is connected to the robotic arm 30 through the adjustment assembly 40 , and the adjustment assembly 40 is connected to the end of the robotic arm 30 .

[0063] Among them, the roller brush assembly 50 can achieve movement relative to the end of the robotic arm 30 through the adjustment assembly 40, which can be understood as: the roller brush assembly 50 can achieve a flexible connection or a rigid connection relative to the end of the robotic arm 30 through the adjustment assembly 40.

[0064] Taking flexible connection as an example, the roller brush assembly 50 of the photovoltaic cleaning device disclosed in the embodiment of the present application is flexibly connected to the end of the mechanical arm 30 via the adjustment assembly 40, thereby achieving a variable distance between the roller brush assembly 50 and the end of the mechanical arm 30, that is, achieving adjustment of the height of the roller brush assembly 50 relative to the end of the mechanical arm 30, and achieving the height of the roller brush assembly 50 relative to the end of the mechanical arm 30 to change with the height of the photovoltaic module, thereby achieving the purpose of avoiding collision between the roller brush assembly 50 and the photovoltaic module. In addition, by adjusting the height of the roller brush assembly 50 through the adjustment assembly 40, the adjustment of the mechanical arm 30 and the chassis 20 can be reduced, reducing the difficulty of operation and improving the working efficiency of the photovoltaic cleaning device during the cleaning process.

[0065] In addition, the flexible connection can achieve soft contact between the roller brush and the photovoltaic panel assembly, with fast adjustment response and small buffering during adjustment, which will not cause large shaking of the roller brush end and avoid the risk of collision between the roller brush device and the photovoltaic assembly.

[0066] The following combination Figures 2 to 6 The structure of the adjustment assembly 40 disclosed in the embodiment of the present application is described. Figure 2 This is a structural diagram of a roller brush assembly and an adjustment assembly of a photovoltaic cleaning device disclosed in an embodiment of the present application. Figure 3 This is a structural diagram of a roller brush assembly and an adjustment assembly of another photovoltaic cleaning device disclosed in an embodiment of the present application. Figure 4 This is a schematic structural diagram of an adjustment component of a photovoltaic cleaning device disclosed in an embodiment of the present application. Figure 5 for Figure 4 A partial enlarged view of A in the middle, Figure 6 This is a schematic diagram of the partial structure of an adjustment component of a photovoltaic cleaning device disclosed in an embodiment of the present application.

[0067] like Figure 2 、 3 As shown in FIG4 , the adjustment assembly 40 disclosed in the embodiment of the present application includes: a guide member 41 , a connecting member 42 , a slider 421 , a rotating shaft 43 , a mounting seat 44 , a connecting rope 45 , an elastic telescopic member 46 , a driving motor 47 , a fixing seat 48 and a coupling 49 .

[0068] The guide member 41 is fixedly connected to the roller brush assembly 50 , and extends along the connection direction between the roller brush assembly 50 and the robotic arm 30 . Optionally, the guide member 41 extends perpendicular to the roller brush assembly 50 .

[0069] The connecting member 42 can move along the extending direction of the guiding member 41 . Specifically, the end of the connecting member 42 is slidably connected to the guiding member 41 via a slider 421 ; the end of the robotic arm 30 is connected to the connecting member 42 .

[0070] The mounting seat 44 is fixed on the connecting member 42 , the rotating shaft 43 is rotatably mounted on the mounting seat 44 , the connecting rope 45 is wound around the rotating shaft 43 , one end of the connecting rope 45 is fixedly connected to the rotating shaft 43 , and the other end of the connecting rope 45 is fixedly connected to the roller brush assembly 50 .

[0071] The drive motor 47 is rotatably connected to the rotating shaft 43 and can drive the rotating shaft 43 to rotate forward and / or reverse. Specifically, the drive motor 47 is fixed to the connecting member 42 via a fixing seat 48, and the output shaft of the drive motor 47 is transmission-connected to the rotating shaft 43 via a coupling 49. The rotation of the drive motor 47 can realize the winding and releasing of the connecting rope 45. The winding of the connecting rope 45 can reduce the distance between the roller brush assembly 50 and the mechanical arm 30 to accommodate the higher height of the photovoltaic modules on the photovoltaic string; the releasing of the connecting rope 45 can increase the distance between the roller brush assembly 50 and the mechanical arm 30 to accommodate the lower height of the photovoltaic modules on the photovoltaic string, that is, to achieve the undulating photovoltaic modules in the photovoltaic string.

[0072] It should be noted that the drive motor 47 can also be a power unit such as a cylinder or an actuator.

[0073] The adjusting member includes the above-mentioned connecting rope 45 and power unit. In other optional embodiments, the adjusting member can also be other structures that realize the length of the connection direction between the roller brush assembly 50 and the robotic arm 30, which are also within the protection range. For example, the adjusting member can also be a telescopic rod, etc.

[0074] Since photovoltaic panels are usually arranged in an inclined state, when the inclination angle of the photovoltaic panel relative to the vertical direction is small, that is, the inclination angle of the photovoltaic panel relative to the horizontal plane is large, the roller brush assembly 50 is adjusted by the mechanical arm 30 to be parallel to the photovoltaic panel and clean the photovoltaic panel. During the cleaning process of the roller brush assembly 50, the component of the connecting member 42 in the direction of gravity cannot meet the requirements of the connecting member 42 sliding along the guide member 41 under the action of gravity. Moreover, when the roller brush assembly 50 is attached to the photovoltaic panel, when different photovoltaic panels fluctuate, the connecting rope 45 cannot guarantee that it always has tension. Specifically, when the height of the photovoltaic panel increases, the roller brush assembly 50 moves in the direction close to the mechanical arm 30, causing the connecting rope 45 to loosen, affecting the cleaning effect.

[0075] Based on the above problems, in some embodiments, the connecting member 42 is connected to the roller brush assembly 50 through an elastic telescopic member 46. The elastic telescopic member 46 can provide the roller brush assembly 50 with a thrust away from the connecting member 42. Optionally, the thrust provided by the elastic telescopic member 46 can ensure that the roller brush assembly 50 has a compression distance of 10 mm relative to the plane of the photovoltaic component to ensure cleaning efficiency.

[0076] When the photovoltaic component panel is greater than 60° at different angles, the elastic telescopic part 46 is set to provide thrust to the roller brush assembly 50, which can improve the response efficiency of the roller brush assembly 50 moving away from the robotic arm 30, and can ensure that the roller brush assembly 50 always has the pressure to clean the photovoltaic component panel, thereby ensuring cleaning efficiency.

[0077] By providing an elastic telescopic member 46 to provide thrust to the roller brush assembly 50, the response efficiency of the roller brush assembly 50 moving away from the robotic arm 30 can be improved, and it can be ensured that the roller brush assembly 50 always has the pressure to clean the photovoltaic panel.

[0078] Optionally, the elastic member 46 includes a first rod, a second rod, and a spring. The first rod is fixed to the connecting member 42, and the second rod is fixed to the roller brush assembly 50. The first rod and the second rod are sleeved and connected, and a spring is provided between the two rods, with one end of the spring abutting against the first rod and the other end of the spring abutting against the second rod.

[0079] In some embodiments, the connecting rope 45 includes but is not limited to a flexible steel wire rope, and may also be a spring; the spring in the elastic telescopic member 46 includes but is not limited to a nitrogen spring.

[0080] In combination with the structure of the photovoltaic cleaning device disclosed above, it can be seen that during the cleaning process of the photovoltaic cleaning device disclosed in the embodiment of the present application, the photovoltaic cleaning device adjusts the angle of the mechanical arm 30 according to the height of the photovoltaic string, so that the roller brush assembly 50 is at the basic height of the photovoltaic string (the basic height is the height of multiple photovoltaic components of the same height in the photovoltaic string); the roller brush assembly 50 is in contact with the photovoltaic panel to clean the photovoltaic panel; the walking device 10 is started, and during the movement of the photovoltaic cleaning device, the drive motor 47 of the adjustment assembly 40 adjusts the released length of the connecting rope 45 according to the height of the photovoltaic component, so that the height of the roller brush assembly 50 relative to the end of the mechanical arm 30 can change with the height of the photovoltaic component, thereby achieving the purpose of avoiding collision between the roller brush assembly 50 and the photovoltaic component.

[0081] The following combination Figure 5 and Figure 6 As shown, the connection method of the connecting member 42 and the guide member 41 is described.

[0082] like Figure 5 As shown, a rotatable roller 423 is installed on the connecting member 42, and the side of the roller 423 close to the guide member 41 is in sliding cooperation with the guide member 41; a protective cover 422 is provided on the periphery of the side of the roller 423 away from the guide member 41, and the protective cover 422 is used to shield the side of the roller 423 away from the guide member 41, prevent other components from colliding with the roller 423, and prevent external impurities from entering the roller 423.

[0083] like Figure 6As shown, the guide member 41 has a guide rail 411, which is arranged perpendicular to the roller brush assembly 50. The guide rail 411 and the roller 423 are in sliding engagement. Optionally, the guide rail 411 is a guide groove structure, and the roller 423 is inserted into the guide groove and can move along the guide groove. The use of the guide groove structure can utilize the sidewalls of the guide groove structure to limit the roller 423, thereby achieving the guiding effect of the guide rail 411 on the movement of the roller 423. In other optional embodiments, the guide rail 411 is a track structure protruding from the guide member 41, and the roller 423 has a slot that cooperates with the track structure. The slot is engaged with the track structure to achieve the guiding effect of the guide rail 411 on the movement of the roller 423.

[0084] Figure 6 A limiting member 412 is provided at one end of the guide member 41 away from the roller brush assembly 50. By providing the limiting member 412, the connecting member 42 can be prevented from detaching from the end of the guide member 41 during the movement of the connecting member 42 along the guide member 41, thereby limiting the movement of the connecting member 42.

[0085] In some embodiments, the position-limiting member 412 includes a baffle 4121 and a shock-absorbing pad 4122. The baffle 4121 is connected to the guide member 41 and is optionally arranged parallel to the connecting member 42, i.e., perpendicular to the guide member 41. The shock-absorbing pad 4122 is mounted on the baffle 4121 and is optionally located on the side of the baffle 4121 facing the connecting member 42. When the connecting member 42 moves to the position of the position-limiting member 412, the slider 421 of the connecting member 42 abuts against the shock-absorbing pad 4122, thereby limiting the position of the connecting member 42 and simultaneously reducing vibration during contact between the connecting member 42 and the position-limiting member 412.

[0086] The above content describes the specific structure of the adjustment component 40. In other optional embodiments, the adjustment component 40 may also include a pneumatic rod structure, which utilizes the extension and retraction of the pneumatic rod to achieve the movement of the connecting member 42 along the guide member 41, thereby achieving the movement of the roller brush assembly 50 relative to the end of the robotic arm 30.

[0087] In summary, the connecting rope 45 is connected to the connecting member 42. When the driving motor 47 drives the connecting rope 45 to rotate, the connecting member 42 can be adjusted to move toward the guide member 41. The elastic member 46 is connected to the connecting member 42. The elastic member 46 can utilize the rebound effect of the elastic member 46 to achieve the movement of the connecting member 42 away from the guide member 41.

[0088] The following combination Figure 2 and Figure 3 , the specific structure of the roller brush assembly 50 is described.

[0089] like Figure 2As shown, the roller brush assembly 50 includes: a roller brush bracket 51, a roller brush 53, a mounting rod 52, an emergency stop sensor 54, an obstacle avoidance sensor 55, a distance measurement sensor 56 and a roller brush drive motor 57.

[0090] The roller brush bracket 51 is fixedly connected to the guide member 41. The roller brush bracket 51 includes a crossbeam parallel to the axis of the roller brush 53 and a longitudinal beam perpendicular to the crossbeam, and the guide member 41 is fixedly connected to the crossbeam.

[0091] The roller brush 53 is rotatably mounted on the longitudinal beam. Optionally, two longitudinal beams are provided, one at each end of the transverse beam, and the roller brush 53 is rotatably mounted between the two longitudinal beams. The type and size of the roller brush 53 can be customized according to different needs. The photovoltaic module panel is mounted on the bracket 100.

[0092] The mounting rod 52 is fixedly connected to the roller brush bracket 51. The mounting rod 52 is arranged parallel to the axis of the roller brush 53. Optionally, the mounting rod 52 and the axis of the roller brush 53 are at the same height, and the mounting rod 52 is located at the front end of the roller brush 53 in the forward direction.

[0093] The emergency stop sensor 54, obstacle avoidance sensor 55, and distance sensor 56 are all mounted on the mounting rod 52. The emergency stop sensor 54 is arranged at the axial end of the mounting rod 52, and when the emergency stop sensor 54 contacts the photovoltaic panel, the emergency stop sensor 54 is triggered. This can be understood as follows: when the emergency stop sensor 54 collides with the photovoltaic module panel and is triggered, the controller in the photovoltaic cleaning device controls the walking device 10 to stop moving.

[0094] In an optional embodiment, emergency stop sensors 54 are provided at both ends of the mounting rod 52 along the axial direction to detect both ends of the roller brush assembly 50 along the axial direction, thereby further ensuring the safety of the photovoltaic panel.

[0095] Mounting rod 52 may also be equipped with an obstacle avoidance sensor 55 for detecting obstacles on the photovoltaic panel. When the obstacle avoidance sensor 55 detects an obstacle on the photovoltaic panel, the controller in the photovoltaic cleaning device can initiate an obstacle avoidance operation. It should be noted that obstacles on the photovoltaic panel herein include, but are not limited to, objects protruding from the photovoltaic panel surface by a predetermined height. The predetermined height can be set as needed, for example, 5mm-15mm. Such obstacles may include dirt, stones, fallen leaves, and other impurities that have fallen onto the photovoltaic panel.

[0096] In some embodiments, multiple obstacle avoidance sensors 55 are arranged axially along the mounting rod 52. The number of obstacle avoidance sensors 55 and the distance between adjacent obstacle avoidance sensors 55 can be set according to different needs and are all within the protection range. In one implementation, four obstacle avoidance sensors are provided, with different obstacle avoidance sensors being arranged at different positions and equidistantly spaced on the mounting rod 52 of the roller brush assembly.

[0097] The mounting rod 52 may further be provided with a distance measuring sensor 56. There may be a plurality of distance measuring sensors 56. In one implementation, a distance measuring sensor 56 may be provided at each end of the mounting rod 52 (specifically, Figure 3 In addition, more distance sensors 56 can be provided according to actual conditions. The distance sensor 56 is used to detect the distance between the axis of the roller brush 53 and the photovoltaic panel, and controls the operation of the drive motor 47 based on the detected distance, adjusts the winding and release of the connecting rope 45, realizes the raising and lowering of the roller brush bracket 51, and further realizes the raising and lowering of the roller brush 53 to adapt to photovoltaic panels of different heights.

[0098] The distance measuring sensor 56 provided on the roller brush assembly 50 disclosed in the embodiment of the present application can realize automatic control of the drive motor 47, thereby improving the automatic control of the lifting and lowering of the roller brush assembly 50 of the photovoltaic cleaning device.

[0099] The following combination Figure 1 、 3 7 illustrate the structure of the robot arm 30 disclosed in the embodiment of the present application. Figure 7 This is a schematic structural diagram of a robotic arm of a photovoltaic cleaning device disclosed in an embodiment of the present application.

[0100] Combine Figure 1 、 3 As shown in FIG7 , the robot arm 30 includes a first arm 31 , a second arm 32 , a third arm 33 , a clamping end 34 , a first driving member 35 , a second driving member 36 and a third driving member 37 .

[0101] The first arm 31 is connected to the chassis 20 . Optionally, the first arm 31 is rotatably mounted on the chassis 20 . In some embodiments, the rotation axis of the first arm 31 is arranged perpendicular to the chassis 20 .

[0102] The second arm 32 is rotatably connected to the first arm 31 , and the rotation axis of the second arm 32 is perpendicular to the first arm 31 , so that the second arm 32 can flip relative to the first arm 31 .

[0103] The third arm 33 is rotatably connected relative to the second arm 32, and the rotation axis of the third arm 33 is perpendicular to the second arm 32, so that the third arm 33 can be flipped relative to the second arm 32. It should be noted that the rotation axis of the second arm 32 and the rotation axis of the third arm 33 include but are not limited to parallel arrangements.

[0104] One end of the clamping end 34 is rotatably connected to the third arm 33, and the other end is hinged to the connecting piece 42. The rotating axis of the clamping end 34 is perpendicular to the third arm 33, so that the clamping end 34 can be flipped relative to the third arm 33. It should be noted that the rotating axis of the clamping end 34 and the rotating axis of the third arm 33 include but are not limited to parallel arrangements.

[0105] The first driving member 35 includes but is not limited to a cylinder, and the cylinder seat of the cylinder is hinged to the first arm 31, and the telescopic rod of the cylinder is hinged to the second arm 32. The second arm 32 can rotate relative to the first arm 31 through the extension and retraction of the first driving member 35.

[0106] The second driving member 36 includes but is not limited to a cylinder, and the cylinder seat of the cylinder is hinged on the second arm 32, and the telescopic rod of the cylinder is hinged to the third arm 33. The third arm 33 can be rotated relative to the second arm 32 by the extension and contraction of the second driving member 36.

[0107] The third driving member 37 includes but is not limited to a cylinder, and the cylinder seat of the cylinder is hinged on the third arm 33, and the telescopic rod of the cylinder is hinged to the clamping end 34. The clamping end 34 can be rotated relative to the third arm 33 by the telescopic movement of the third driving member 37.

[0108] In some embodiments, the first arm 31 , the second arm 32 , the third arm 33 and the clamping end 34 are arranged in sequence and are all connected by a clamping device.

[0109] The first arm 31 and the second arm 32 are rotatably connected by a connecting structure 38 , and the connecting structure 38 can be used between the second arm and the third arm as well as between the third arm and the clamping end.

[0110] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0111] Based on the embodiment of the structure of the photovoltaic cleaning device described above, an embodiment of the present application discloses a cleaning control method, the execution subject can be a controller in the photovoltaic cleaning device (wherein, the controller is set inside the photovoltaic cleaning device and is not in the photovoltaic cleaning device). Figure 1 shown).

[0112] In one implementation, a roller brush assembly is provided in the photovoltaic cleaning device, and the adjustment assembly in the photovoltaic cleaning device is connected between the robotic arm and the roller brush assembly. The robotic arm can drive the adjustment assembly and the roller brush assembly to move, and the adjustment assembly can drive the roller brush assembly to move. For specific explanations, please refer to the above corresponding instructions.

[0113] In one implementation, a target distance is pre-configured to improve the safety of cleaning PV panels. This target distance is the distance that provides optimal cleaning results. The target distance can be configured based on factors such as the difficulty of cleaning stains on the PV panel, the panel's tolerance, and the softness of the roller brush bristles.

[0114] When configuring the target distance, the target distance should be greater than the safety distance and smaller than the radius of the roller brush in the roller brush assembly.

[0115] Among them, the safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic assembly. In specific implementation, when determining the minimum distance at which the roller brush assembly does not collide with the photovoltaic assembly, since the roller brush bristles of the roller brush assembly are generally soft, when in contact with the photovoltaic assembly, the photovoltaic assembly will not be broken. However, the mounting rod of the roller brush assembly is generally hard in texture. If it collides with the photovoltaic assembly, problems such as the photovoltaic assembly breaking may occur. Therefore, in this application, the minimum distance can be the distance between the mounting rod of the roller brush assembly and the photovoltaic assembly when the compression of the roller brush bristles is zero. When the distance between the photovoltaic assembly and the roller brush assembly is greater than the safety distance, the roller brush bristles have a certain amount of compression. At this time, the mounting rod of the roller brush does not collide with the photovoltaic assembly, and the safety of the photovoltaic assembly can be ensured.

[0116] In addition, the target distance is set smaller than the radius of the roller brush in the roller brush assembly in order to ensure that the bristles of the roller brush have a certain amount of compression so as to better clean the photovoltaic components.

[0117] In one implementation, the target distance can be a distance that causes the roller brush to compress to a preset amount. In another implementation, the preset amount can be a set value configured based on the actual scenario, such as the aforementioned 10 mm. When the roller brush compresses to the preset amount, the photovoltaic panel is effectively cleaned.

[0118] In one implementation, when the distance between the roller brush assembly and the photovoltaic module is less than a target distance, the adjustment assembly can drive the roller brush assembly away from the photovoltaic module. Specifically, the roller brush assembly can achieve a flexible or rigid connection relative to the end of the robotic arm through the adjustment assembly. When the distance between the roller brush assembly and the photovoltaic module is less than the target distance, the distance between the roller brush assembly and the photovoltaic module needs to be increased. In this case, the relative distance between the roller brush assembly and the photovoltaic module can be adjusted by adjusting the flexible connection or the rigid connection to move the roller brush assembly away from the photovoltaic module.

[0119] In one implementation, when the distance between the roller brush assembly and the photovoltaic assembly is greater than the target distance, the adjustment assembly can drive the roller brush assembly closer to the photovoltaic assembly. In this application, the roller brush assembly approaching the photovoltaic assembly and the roller brush assembly moving away from the photovoltaic assembly are opposite processes.

[0120] Reference Figure 8 , a cleaning control method may include the following steps:

[0121] S11. Obtain the relative distance between the roller brush assembly and the photovoltaic assembly.

[0122] In this embodiment, photovoltaic modules are generally arranged in non-planar areas such as hillsides, where the terrain is undulating, resulting in height differences between adjacent photovoltaic modules and height differences between different sides of the same photovoltaic module, such as a height difference between the east and west sides of the same photovoltaic module, or a height difference between the south and north sides.

[0123] In order to enable the photovoltaic cleaning device in this embodiment to be applicable to various setting scenarios of photovoltaic components, and to avoid the roller brush assembly colliding with the photovoltaic component panel when cleaning the photovoltaic component (the photovoltaic component in this embodiment is specifically the photovoltaic component panel), causing the photovoltaic component panel to break, the relative distance between the roller brush assembly and the photovoltaic component to be cleaned will be collected, and the relative orientation and relative distance between the roller brush assembly and the photovoltaic component panel will be adjusted based on the relative distance.

[0124] In one implementation, the relative distance can be measured using a distance sensor, which is mounted on the roller brush assembly. Since there is a height difference between different sides of the same photovoltaic assembly, in the embodiment of the present application, a plurality of distance sensors can be provided in the photovoltaic cleaning device to detect the distance between different positions of the roller brush assembly and the photovoltaic assembly panel. The specific location and number of the distance sensors can be configured according to the actual situation. Different distance sensors are provided at different positions of the mounting rod of the roller brush assembly. The distance sensor can detect the distance between the axis of the roller brush in the roller brush assembly and the photovoltaic assembly. For the specific implementation process, please refer to the corresponding description above.

[0125] At this time, obtaining the relative distance between the roller brush assembly and the photovoltaic assembly may include:

[0126] The relative sub-distance detected by each distance measuring sensor is obtained, and the relative sub-distance value detected by each distance measuring sensor is used as the relative distance between the roller brush assembly and the photovoltaic assembly.

[0127] That is, the relative distance includes the relative sub-distances between different positions of the roller brush assembly and the photovoltaic assembly.

[0128] In actual scenarios, due to the uneven heights of different sides of the photovoltaic module, the relative distances between different parts of the roller brush assembly and the photovoltaic module panel are not necessarily the same. Therefore, the relative sub-distances detected by each distance sensor between itself and the photovoltaic module panel may be the same or different.

[0129] In the case of multiple sensors, multiple relative sub-distances are also obtained. These relative sub-distances can represent the relative distances between different parts of the roller brush assembly and the photovoltaic panel, thereby determining the phase position between the roller brush assembly and the photovoltaic panel. If the relative sub-distances measured by different distance sensors are the same, it indicates that the roller brush assembly and the photovoltaic panel are set parallel to each other. If the relative sub-distances measured by different distance sensors are not exactly the same, it indicates that the roller brush assembly and the photovoltaic panel are set at an angle. Therefore, the phase sub-distances collected by the distance sensor can be used as a reference for subsequent adjustments to the robotic arm.

[0130] Furthermore, the relative sub-distance can be used to determine whether the distance between the roller brush assembly and the photovoltaic module is at the target distance. If it is not, the adjustment assembly can be controlled to bring the distance between the roller brush assembly and the photovoltaic module to the target distance. In one implementation, the relative sub-distance is used to determine the amount of compression of the roller brush bristles, thereby determining whether the amount of compression meets the requirements. If it does not meet the requirements, the length of the connecting rope in the adjustment assembly is changed to ensure that the amount of compression of the roller brush bristles meets the requirements, such as a preset amount, thereby bringing the distance between the roller brush assembly and the photovoltaic module to the target distance.

[0131] S12. According to the relative distance, the mechanical arm is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and / or the adjustment assembly is used to adjust the relative distance between the roller brush assembly and the end of the mechanical arm, so that the distance between the roller brush assembly and the photovoltaic assembly is the target distance, so that the roller brush assembly cleans the photovoltaic assembly.

[0132] Specifically, after the relative distance is known, the orientation of the roller brush assembly relative to the photovoltaic panel is first adjusted. This orientation can be a relative orientation between the two, such as horizontal or tilted. Generally, when using the roller brush assembly to clean the photovoltaic panel, the roller brush in the roller brush assembly should be parallel to the photovoltaic panel, and the force between each part of the roller brush and the photovoltaic panel should be balanced, so as to avoid damage to the photovoltaic panel due to excessive force between one end of the roller brush and the photovoltaic panel.

[0133] After the roller brush in the roller brush assembly is parallel to the photovoltaic module panel, the distance between the roller brush assembly and the end of the robotic arm can be adjusted. The distance between the roller brush assembly and the photovoltaic module is the target distance. Since the roller brush in the roller brush assembly has a certain amount of compression, it has a cleaner cleaning effect when cleaning the photovoltaic module panel.

[0134] In one implementation, when the distance between the roller brush assembly and the photovoltaic module is the target distance, the compression amount of the roller brush during cleaning is 10 mm. In addition, it can also be other values, which are determined based on various parameters such as the difficulty of cleaning stains on the photovoltaic module panel, the tolerance of the photovoltaic module panel, and the softness of the roller brush bristles.

[0135] After controlling the roller brush to a certain compression amount, the controller can control the roller brush bristles to clean the photovoltaic panel. After the photovoltaic panel is cleaned, it continues to clean the next photovoltaic panel, and the above process can be repeated. It should be noted that during the cleaning process, the movement of the walking device can also be coordinated to continuously clean more photovoltaic panel panels.

[0136] If a photovoltaic array is cleaned, the vehicle can move to the next photovoltaic array through the walking device to clean the next photovoltaic array.

[0137] In one implementation, if the roller brush in the roller brush assembly is parallel to the photovoltaic assembly panel, there is no need to use the robotic arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and the adjustment assembly can be used to directly adjust the relative distance between the roller brush assembly and the end of the robotic arm.

[0138] In one implementation, if the distance between the roller brush assembly and the photovoltaic assembly is the target distance after the robotic arm is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, there is no need to use the adjustment assembly to adjust the relative distance between the roller brush assembly and the end of the robotic arm, and the cleaning operation can be performed directly.

[0139] In this embodiment, an adjustment assembly in a photovoltaic cleaning device is connected between a mechanical arm and a roller brush assembly. The mechanical arm is capable of driving the adjustment assembly and the roller brush assembly to move, and the adjustment assembly is capable of driving the roller brush assembly to move. When cleaning a photovoltaic module, the mechanical arm adjusts the orientation of the roller brush assembly relative to the photovoltaic module based on the relative distance between the roller brush assembly and the photovoltaic module, and / or the adjustment assembly adjusts the relative distance between the roller brush assembly and the end of the mechanical arm, so that the distance between the roller brush assembly and the photovoltaic module reaches a target distance, allowing the roller brush assembly to subsequently clean the photovoltaic module properly. The target distance is greater than a safety distance and less than the radius of the roller brush in the roller brush assembly. The safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic module, thereby reducing the probability of collision between the roller brush assembly and the photovoltaic module and ensuring the safety of the photovoltaic module. Furthermore, if the distance between the roller brush assembly and the photovoltaic module is less than the target distance, the adjustment assembly can drive the roller brush assembly away from the photovoltaic module. The adjustment assembly can then adjust the relative distance between the roller brush assembly and the photovoltaic module, reducing the need for adjustment of the mechanical arm and chassis of the photovoltaic cleaning device, reducing operational difficulty, and improving the efficiency of the photovoltaic cleaning device during cleaning.

[0140] In addition, since the height of the roller brush assembly relative to the end of the robotic arm can change with the height of the photovoltaic assembly, the photovoltaic cleaning device in this application can achieve cross-row cleaning between different photovoltaic strings.

[0141] Based on any of the above embodiments, the adjustment component is provided with an adjustable stroke, and by adjusting the size of the adjustable stroke, the relative distance between the roller brush assembly and the end of the robotic arm can be adjusted. The size of the adjustable stroke can be the size of the adjustable length of the above-mentioned connecting rope. In a specific implementation, the drive motor is rotatably connected to the rotating shaft and can drive the rotating shaft to rotate forward and / or reversely. The rotation of the drive motor can realize the winding and release of the connecting rope. The winding of the connecting rope can reduce the distance between the roller brush assembly and the robotic arm, thereby reducing the compression of the roller brush bristles. If the compression of the roller brush bristles is greater than 10mm, the winding of the connecting rope should be controlled until the compression of the roller brush bristles is 10mm. The release of the connecting rope can increase the distance between the roller brush assembly and the robotic arm, thereby increasing the compression of the roller brush bristles. If the compression of the roller brush bristles is less than 10mm, the release of the connecting rope should be controlled until the compression of the roller brush bristles is 10mm. For specific implementation, please refer to the corresponding instructions above.

[0142] On this basis, refer to Figure 9 According to the relative distance, adjusting the orientation of the roller brush assembly relative to the photovoltaic assembly using the mechanical arm, and / or adjusting the relative distance between the roller brush assembly and the end of the mechanical arm using the adjustment assembly so that the distance between the roller brush assembly and the photovoltaic assembly is the target distance, may include:

[0143] S21. Determine the distance difference between different relative sub-distances.

[0144] The distance difference between the relative sub-distances may be calculated as the distance difference between any two relative sub-distances, or as the distance difference between the largest relative sub-distance and the smallest relative sub-distance. In this embodiment, how to calculate the distance difference may depend on actual configuration.

[0145] S22. Determine whether the maximum distance difference is less than or equal to a distance difference threshold; if so, execute step S23; if not, execute step S24.

[0146] Specifically, the maximum distance difference is considered in this application because the maximum distance difference can represent whether the photovoltaic component and the roller brush component are relatively horizontal. If the maximum relative distance is large, such as greater than the distance difference threshold, it means that the axes of the current photovoltaic component and the roller brush component are not horizontal, and the two are relatively tilted. This scenario is not convenient for the roller brush to clean the photovoltaic component panel, and the relative orientation of the two needs to be adjusted so that they remain horizontal or approximately horizontal.

[0147] If the maximum relative distance is small, such as less than or equal to the distance difference threshold, it means that the axes of the current photovoltaic component and the roller brush assembly are relatively horizontal or approximately horizontal. This scenario facilitates the roller brush to clean the photovoltaic component panel. There is no need to adjust the relative orientation of the two. Only the distance between the roller brush assembly and the photovoltaic component needs to be adjusted to the target distance.

[0148] S23: Determine the target itinerary.

[0149] Wherein, when the size of the adjustable stroke is equal to the size of the target stroke, the distance between the roller brush assembly and the photovoltaic assembly is the target distance.

[0150] In one implementation, determining the target trip may include:

[0151] 1) Using one of the relative sub-distances and the radius information of the roller brush, calculate the compression amount of the roller brush.

[0152] Among them, since the maximum distance difference between different relative sub-distances is less than or equal to the distance difference threshold, it means that the values of different relative sub-distances are similar. At this time, a relative distance can be randomly selected from all relative sub-distances to calculate the compression amount of the roller brush.

[0153] Alternatively, a maximum relative sub-distance, a minimum relative sub-distance, or an intermediate relative sub-distance may be selected from the relative sub-distances to calculate the compression amount of the roller brush. Specific selection of a relative sub-distance from the plurality of relative sub-distances may be based on actual configuration.

[0154] Specifically, the compression of the roller brush is the compression of the bristles. When the bristles are free, their length is equal to their radius. However, due to the relative sub-distance, there may be a certain amount of force between the bristles and the photovoltaic panel, resulting in a certain amount of compression. In this embodiment, the compression of the roller brush = the radius of the roller brush - the selected relative sub-distance.

[0155] 2) When the compression amount is not the preset compression amount, it is determined that the distance between the roller brush assembly and the photovoltaic assembly is not the target distance.

[0156] According to the above discussion, when the distance between the roller brush assembly and the photovoltaic assembly is the target distance, the compression amount of the roller brush bristles is not the preset compression amount. Then, when the compression amount is not the preset compression amount, it is determined that the distance between the roller brush assembly and the photovoltaic assembly is not the target distance.

[0157] 3) Using the mapping relationship between the adjustable stroke change information and the distance change information between the roller brush assembly and the photovoltaic assembly, a target stroke is determined so that the distance between the roller brush assembly and the photovoltaic assembly is the target distance.

[0158] In specific implementation, the connection rope can be wound and released by rotating the drive motor. The winding of the connection rope can reduce the distance between the roller brush assembly and the mechanical arm, thereby reducing the compression of the roller brush bristles. In the case where the compression of the roller brush bristles is greater than 10mm, the winding of the connection rope should be controlled until the compression of the roller brush bristles is 10mm. The release of the connection rope can increase the distance between the roller brush assembly and the mechanical arm, thereby increasing the compression of the roller brush bristles. In the case where the compression of the roller brush bristles is less than 10mm, the release of the connection rope should be controlled until the compression of the roller brush bristles is 10mm. For specific implementation, please refer to the corresponding instructions above.

[0159] In actual scenarios, when the adjustable stroke changes, that is, when the connecting rope is wound or released, the relative distance between the roller brush assembly and the photovoltaic module will change accordingly. Therefore, in this embodiment, a mapping relationship between the adjustable stroke change information and the distance change information between the roller brush assembly and the photovoltaic module can be pre-configured through experiments. This mapping relationship can be used to determine the adjustable stroke size when the distance between the roller brush assembly and the photovoltaic module is the target distance. The adjustable stroke size is the target stroke size.

[0160] In this embodiment, if it is determined that the distance between the roller brush assembly and the photovoltaic assembly is not the target distance, a pre-established mapping relationship between the adjustable stroke change information and the distance change information between the roller brush assembly and the photovoltaic assembly is used to determine a target stroke that will bring the distance between the roller brush assembly and the photovoltaic assembly to the target distance. Because the target stroke can be determined by directly querying the mapping relationship, the process of determining the target stroke is simplified and more efficient.

[0161] It should be noted that after executing step S23 , step S27 of “setting the adjustable stroke of the adjustment component to the target stroke” is executed.

[0162] In one implementation, the adjustment assembly includes a connecting member, such as the aforementioned connecting rope, for achieving a flexible or rigid connection between the distal end of the robotic arm and the roller brush assembly. The length of the connecting member is adjustable. For details on this implementation, refer to the corresponding description above.

[0163] In one implementation, when the size of the adjustable stroke of the adjustment component is set to the size of the target stroke, the movement of the drive motor used to adjust the size of the adjustable stroke is controlled to adjust the length of the connecting component between the end of the robotic arm and the roller brush assembly, and stop when the length of the connecting component meets the length requirement corresponding to the target stroke.

[0164] In actual scenarios, taking the connecting component as a connecting rope as an example, the current adjustable stroke size and the target stroke size can be obtained, and the connecting rope can be reeled or released based on the relative relationship between the current adjustable stroke size and the target stroke size.

[0165] When the current adjustable stroke is larger than the target stroke, it indicates that the connecting rope needs to be reeled in. At this time, the connecting rope is reeled in by rotating the above-mentioned driving motor so that the adjustable stroke of the adjustment component is equal to the target stroke, and the compression amount of the roller brush bristles is 10mm.

[0166] When the current adjustable stroke is smaller than the target stroke, it means that the connecting rope needs to be released. At this time, the connecting rope is released by rotating the above-mentioned drive motor, so that the adjustable stroke of the adjustment component is the target stroke, and the compression amount of the roller brush bristles is 10mm.

[0167] In one implementation method, the correspondence between the difference between the size of different target strokes and the size of adjustable strokes, and the rotation time of the drive motor can be pre-configured through experiments. After the size of the target stroke is known, the difference between the size of the target stroke and the size of the adjustable stroke is calculated, and the rotation time of the drive motor is determined by using the difference. The drive motor is controlled to work according to the rotation time of the drive motor, which can adjust the compression amount of the roller brush bristles to 10mm.

[0168] S24. Using a robotic arm, adjust the position of the roller brush assembly relative to the photovoltaic assembly so that the roller brush assembly is horizontally arranged relative to the photovoltaic assembly.

[0169] According to the above discussion, if the maximum relative distance is large, such as greater than the distance difference threshold, it means that the axes of the current photovoltaic component and the roller brush component are not horizontal, and the two are relatively tilted. This scenario is not convenient for the roller brush to clean the photovoltaic component panel, and the relative position of the two needs to be adjusted so that they remain horizontal or approximately horizontal.

[0170] In actual scenarios, a third driving member is provided in the robotic arm, and the third driving member is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly; the robotic arm is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly.

[0171] The specific structure of the robotic arm is described above. In one implementation, the robotic arm is provided with a first drive member, a second drive member, and a third drive member, wherein the first drive member is hingedly connected to the first arm of the robotic arm, the second drive member is hingedly connected to the second arm of the robotic arm, and the third drive member is hingedly connected to the third arm of the robotic arm.

[0172] The third driving member includes but is not limited to a cylinder, which is driven by a driving motor, and the cylinder seat of the cylinder is hinged on the third arm, and the telescopic rod of the cylinder is hinged to the clamping end. The clamping end can be rotated relative to the third arm through the telescopic movement of the third driving member, thereby adjusting the relative orientation of the roller brush assembly and the photovoltaic assembly panel.

[0173] In one implementation, the extension and retraction amount of the third driving member in the robotic arm can be adjusted to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly.

[0174] In this embodiment, Figure 7 As shown, the third drive member has a certain amount of expansion and contraction. If at least one relative distance is greater than a set distance, the expansion and contraction of the third drive member can be increased, thereby reducing the relative distance between the axis of the roller brush and the photovoltaic panel, thereby placing them in parallel. If at least one relative distance is less than the set distance, the expansion and contraction of the third drive member can be decreased, thereby increasing the relative distance between the axis of the roller brush and the photovoltaic panel, thereby placing them in parallel. The set distance can be configured according to actual conditions; when the relative distance is the set distance, the compression of the roller brush is exactly the preset compression amount.

[0175] In a practical scenario, in one embodiment, when adjusting the extension and retraction of the third drive member, a distance sensor can be used to continuously detect the new relative distance. When the maximum distance difference among multiple relative sub-distances is less than or equal to a distance difference threshold, the axis of the roller brush assembly is considered to be horizontal or approximately horizontal relative to the photovoltaic module. In another embodiment, the extension and retraction of the third drive member that causes the axis of the roller brush assembly to be horizontal or approximately horizontal relative to the photovoltaic module can be calculated using a mathematical formula or algorithm using the values of different relative sub-distances. After adjustment according to this extension and retraction, the axis of the roller brush assembly can be ensured to be horizontal or approximately horizontal relative to the photovoltaic module.

[0176] The specific method to be adopted may depend on the actual configuration. In this embodiment, the specific implementation of adjusting the extension and contraction amount of the third driving member is not limited. As long as the extension and contraction amount of the third driving member is adjusted so that the axis of the roller brush assembly is horizontally or approximately horizontally relative to the photovoltaic module, it is within the scope of protection of the embodiments of this application.

[0177] In the present application, the axis of the roller brush assembly can be set horizontally or approximately horizontally relative to the photovoltaic assembly only by adjusting the third driving member. The first driving member and the second driving member do not need to move, which can simplify the adjustment process of the robotic arm and thereby improve the adjustment efficiency of the robotic arm.

[0178] S25. After the roller brush assembly is horizontally arranged relative to the photovoltaic assembly, a new relative sub-distance is acquired.

[0179] In this embodiment, after the roller brush assembly is adjusted to be horizontal or approximately horizontal relative to the photovoltaic assembly, it is necessary to ensure that the compression amount of the roller brush is a preset compression amount to better achieve the cleaning operation of the photovoltaic assembly panel.

[0180] The compression of the roller brush is still determined based on the relative sub-distance. In actual scenarios, after adjusting the extension and contraction of the third drive member, the relative distance between the axis of the roller brush and the PV panel has changed. At this time, the distance sensor should be used to re-collect the relative sub-distance. Since the axis of the roller brush assembly is horizontal or approximately horizontal relative to the PV panel, the relative sub-distance values detected by each distance sensor should theoretically be the same or approximately the same.

[0181] S26. Using the new relative sub-distance, determine a target distance that makes the distance between the roller brush assembly and the photovoltaic assembly the target distance.

[0182] In this embodiment, when the values of multiple relative distances are exactly the same or approximately the same, it means that the axis of the roller brush assembly has been set horizontally or approximately horizontally relative to the photovoltaic assembly. There is no need to adjust the third driving member. The new relative sub-distance is directly used to determine the target stroke that makes the distance between the roller brush assembly and the photovoltaic assembly the target distance. For the specific calculation process, please refer to the corresponding description above.

[0183] S27, setting the size of the adjustable stroke of the adjustment component to the size of the target stroke.

[0184] It should be noted that for the specific implementation of this step, please refer to the corresponding instructions above.

[0185] In this embodiment, through the above-mentioned adjustment operations of the robotic arm and the connecting rope, the photovoltaic cleaning device can clean photovoltaic modules at different heights. On the basis of ensuring that the photovoltaic modules and the roller brush modules are set horizontally or approximately horizontally, the pressure of the roller brush on the photovoltaic panel is adjusted by adjusting the compression amount of the roller brush to ensure cleaning efficiency.

[0186] In addition, the adjustment method in this application does not require the participation of too many joints, has a fast response speed, and the simple structure of the adjustment component can also suppress the vibration transmitted by the robotic arm, avoid the problem of vibration affecting the roller brush posture, avoid collisions, and ensure the safety of the photovoltaic panel.

[0187] In the above embodiment, the mechanical arm is adjusted first, and then the connecting rope in the adjustment assembly is adjusted. In another implementation, the mechanical arm and the connecting rope can be adjusted simultaneously. In this case, based on the relative distance, the mechanical arm is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and / or the adjustment assembly is used to adjust the relative distance between the roller brush assembly and the end of the mechanical arm, which may include:

[0188] 1) According to the relative relationship between the relative distance, the motion information of the robot arm and the adjustable stroke of the adjustment component, the target motion mode of the robot arm and the target stroke of the adjustment component are determined.

[0189] When the robotic arm moves according to the target motion mode and the adjustable stroke of the adjustment component is equal to the target stroke, the distance between the roller brush component and the photovoltaic component is the target distance.

[0190] In one implementation method, the relative relationship between the relative distance, the extension and retraction amount of the third driving member in the robotic arm, and the target stroke size of the adjustment component can be pre-configured through experiments. Therefore, when it is determined based on multiple relative distances that the roller brush assembly and the photovoltaic assembly are not set horizontally or are not approximately horizontally set, the relative relationship can be directly used to determine the extension and retraction amount of the third driving member and the target stroke size of the adjustment component, and at the same time, the extension and retraction amount of the third driving member and the variable length of the connecting rope can be adjusted.

[0191] In another implementation method, the correspondence between the relative distance, the extension and retraction amount of the third driving member in the robotic arm, and the rotation time of the driving motor can be pre-configured through experiments. Therefore, when it is determined based on multiple relative distances that the roller brush assembly and the photovoltaic assembly are not set horizontally or are not approximately horizontally, the correspondence can be directly used to determine the extension and retraction amount of the third driving member and the rotation time of the driving motor, and at the same time, the extension and retraction amount of the third driving member and the length of the connecting rope can be adjusted.

[0192] In another implementation method, the calculation formula for the relative distance, the extension and retraction amount of the third driving member in the robotic arm, and the rotation time of the driving motor (or the change in length of the connecting rope) can be derived by mathematical formulas. The extension and retraction amount of the third driving member and the rotation time of the driving motor (or the change in length of the connecting rope) can be calculated using this calculation relationship, thereby achieving simultaneous adjustment of the extension and retraction amount of the third driving member and the change in length of the connecting rope.

[0193] In this embodiment, the extension and retraction amount of the third driving member and the length of the connecting rope can be adjusted simultaneously, which reduces the adjustment time and improves the cleaning efficiency of the photovoltaic cleaning device.

[0194] Based on any of the above embodiments, at least one obstacle avoidance sensor is provided on the mounting rod of the roller brush assembly in the photovoltaic cleaning device; the obstacle avoidance sensor is used to detect image information of the photovoltaic assembly.

[0195] In one implementation, the obstacle avoidance sensor is equipped with an image acquisition device such as a camera, which can capture images of photovoltaic modules.

[0196] The controller can perform an obstacle analysis on the captured images to determine whether there are any obstacles in the direction of travel of the photovoltaic cleaning device. If an obstacle is determined to be in the direction of travel of the photovoltaic cleaning device based on the image information, an obstacle avoidance operation can be performed. This obstacle avoidance operation can include planning a route that avoids the obstacle through a route planning operation, and then driving along that route. If an obstacle avoidance route cannot be planned, the photovoltaic cleaning device can be controlled to stop operation to protect the safety of the photovoltaic cleaning device.

[0197] In this embodiment, by providing an obstacle avoidance sensor, when there is an obstacle ahead, the obstacle can be avoided in time to protect the safety of the photovoltaic cleaning device.

[0198] Based on any of the above embodiments, at least one emergency stop sensor is provided on the mounting rod of the roller brush assembly in the photovoltaic cleaning device; the emergency stop sensor outputs an emergency stop control command when colliding with the photovoltaic assembly.

[0199] In actual scenarios, when an emergency stop control command is received from an emergency stop sensor, the photovoltaic cleaning device is controlled to stop moving.

[0200] In this embodiment, emergency stop sensors are arranged at both ends of the mounting rod of the roller brush assembly. When there is a large pit on the photovoltaic module panel or the connecting rope is disconnected, a collision occurs between the photovoltaic cleaning device and the photovoltaic module panel. At this time, the emergency stop sensor will touch the photovoltaic module panel. After the emergency stop sensor is pressed, an emergency stop control command is output. The controller responds to the emergency stop control command and controls the photovoltaic cleaning device to stop moving to avoid damage to the photovoltaic module panel caused by continued collision.

[0201] Based on the above embodiment of the cleaning control method, another embodiment of the present application provides a cleaning control device, referring to Figure 10 , a cleaning control device comprising:

[0202] An acquisition module 111 is configured to acquire a relative distance between the roller brush assembly and the photovoltaic assembly; the roller brush assembly is disposed in the photovoltaic cleaning device, and an adjustment assembly in the photovoltaic cleaning device is connected between the mechanical arm and the roller brush assembly. The mechanical arm is capable of driving the adjustment assembly and the roller brush assembly to move, and the adjustment assembly is capable of driving the roller brush assembly to move.

[0203] an adjustment module 112 for adjusting the position of the roller brush assembly relative to the photovoltaic assembly using the robotic arm according to the relative distance, and / or adjusting the relative distance between the roller brush assembly and the end of the robotic arm using the adjustment assembly so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance, so that the roller brush assembly cleans the photovoltaic assembly;

[0204] Among them, the target distance is greater than the safety distance and smaller than the radius of the roller brush in the roller brush assembly; the safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic assembly; when the distance between the roller brush assembly and the photovoltaic assembly is smaller than the target distance, the adjustment assembly can drive the roller brush assembly away from the photovoltaic assembly.

[0205] In one implementation, the adjustment assembly is provided with an adjustable stroke, and the relative distance between the roller brush assembly and the end of the robotic arm can be adjusted by adjusting the size of the adjustable stroke; the relative distance includes the relative sub-distances between different positions of the roller brush assembly and the photovoltaic assembly;

[0206] The adjustment module 112 includes:

[0207] a distance difference determination submodule, configured to determine the distance difference between different relative sub-distances;

[0208] A trip determination submodule, configured to determine a target trip when the maximum distance difference is less than or equal to a distance difference threshold;

[0209] A stroke adjustment submodule, used to set the size of the adjustable stroke of the adjustment component to the size of the target stroke;

[0210] Wherein, when the size of the adjustable stroke is equal to the size of the target stroke, the distance between the roller brush assembly and the photovoltaic assembly is the target distance.

[0211] In one implementation, the itinerary determination submodule includes:

[0212] A compression amount calculation unit, configured to calculate the compression amount of the roller brush by using one of the relative sub-distances and the radius information of the roller brush;

[0213] a determining unit, configured to determine that the distance between the roller brush assembly and the photovoltaic assembly is not a target distance when the compression amount is not a preset compression amount;

[0214] The stroke determination unit is used to determine a target stroke that makes the distance between the roller brush assembly and the photovoltaic assembly the target distance by using the mapping relationship between the change information of the adjustable stroke and the change information of the distance between the roller brush assembly and the photovoltaic assembly.

[0215] In one implementation, the adjustment assembly is provided with a connecting component for connecting the end of the mechanical arm to the roller brush assembly; the length of the connecting component is adjustable;

[0216] The stroke adjustment submodule is specifically used for:

[0217] Control the movement of the driving motor for adjusting the size of the adjustable stroke to adjust the length of the connecting component between the end of the robotic arm and the roller brush assembly, and stop when the length of the connecting component meets the length requirement corresponding to the target stroke.

[0218] In one implementation, the adjustment module 112 further includes:

[0219] An orientation adjustment submodule, configured to use a robotic arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly so that the roller brush assembly is horizontally arranged relative to the photovoltaic assembly;

[0220] The acquisition module 111 is further configured to acquire a new relative sub-distance after the roller brush assembly is horizontally arranged relative to the photovoltaic assembly;

[0221] The stroke determination submodule is further configured to use the new relative sub-distance to determine a target stroke such that the distance between the roller brush assembly and the photovoltaic assembly is the target distance;

[0222] The stroke adjustment submodule is used to set the size of the adjustable stroke of the adjustment component to the size of the target stroke.

[0223] In one implementation, a third driving member is provided in the robotic arm, and the third driving member is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly;

[0224] The orientation adjustment submodule is specifically used for:

[0225] The extension and contraction amount of the third driving member in the mechanical arm is adjusted to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly.

[0226] In one implementation, the adjustment module 112 includes:

[0227] a comprehensive calculation submodule for determining a target motion mode of the robotic arm and a target stroke of the adjustment component based on a relative relationship among the relative distance, motion information of the robotic arm, and the size of the adjustable stroke of the adjustment component; when the robotic arm moves according to the target motion mode and the size of the adjustable stroke of the adjustment component is the target stroke, the distance between the roller brush assembly and the photovoltaic component is the target distance;

[0228] The comprehensive adjustment submodule is used to control the robot arm to operate in a target motion mode to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and at the same time, adjust the size of the adjustable stroke of the adjustment assembly to the size of the target stroke.

[0229] In the present application, an adjustment assembly in a photovoltaic cleaning device is connected between a mechanical arm and a roller brush assembly. The mechanical arm is capable of driving the adjustment assembly and the roller brush assembly to move, and the adjustment assembly is capable of driving the roller brush assembly to move. When cleaning a photovoltaic module, the mechanical arm adjusts the orientation of the roller brush assembly relative to the photovoltaic module based on the relative distance between the roller brush assembly and the photovoltaic module, and / or the adjustment assembly adjusts the relative distance between the roller brush assembly and the end of the mechanical arm, so that the distance between the roller brush assembly and the photovoltaic module reaches a target distance, allowing the roller brush assembly to subsequently clean the photovoltaic module normally. The target distance is greater than a safety distance and less than the radius of the roller brush in the roller brush assembly. The safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic module, thereby reducing the probability of collision between the roller brush assembly and the photovoltaic module and ensuring the safety of the photovoltaic module. Furthermore, if the distance between the roller brush assembly and the photovoltaic module is less than the target distance, the adjustment assembly is capable of driving the roller brush assembly away from the photovoltaic module. The adjustment assembly can then adjust the relative distance between the roller brush assembly and the photovoltaic module, thereby reducing the need for adjustment of the mechanical arm and chassis of the photovoltaic cleaning device, reducing operational difficulty, and improving the efficiency of the photovoltaic cleaning device during cleaning.

[0230] In one implementation, the cleaning control device further includes:

[0231] The obstacle avoidance module is used to detect the image information of the photovoltaic components and perform obstacle avoidance operations when it is determined based on the image information that there is an obstacle in the direction of travel of the photovoltaic cleaning device.

[0232] In one implementation, at least one emergency stop sensor is provided on the mounting rod of the roller brush assembly in the photovoltaic cleaning device; the emergency stop sensor outputs an emergency stop control command when colliding with the photovoltaic assembly;

[0233] The cleaning control device also includes:

[0234] The emergency stop module is used to control the photovoltaic cleaning device to stop moving when receiving the emergency stop control command output by the emergency stop sensor.

[0235] In the present application, an adjustment assembly in a photovoltaic cleaning device is connected between a mechanical arm and a roller brush assembly. The mechanical arm is capable of driving the adjustment assembly and the roller brush assembly to move, and the adjustment assembly is capable of driving the roller brush assembly to move. When cleaning a photovoltaic module, the mechanical arm adjusts the orientation of the roller brush assembly relative to the photovoltaic module based on the relative distance between the roller brush assembly and the photovoltaic module, and / or the adjustment assembly adjusts the relative distance between the roller brush assembly and the end of the mechanical arm, so that the distance between the roller brush assembly and the photovoltaic module reaches a target distance, allowing the roller brush assembly to subsequently clean the photovoltaic module normally. The target distance is greater than a safety distance and less than the radius of the roller brush in the roller brush assembly. The safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic module, thereby reducing the probability of collision between the roller brush assembly and the photovoltaic module and ensuring the safety of the photovoltaic module. Furthermore, if the distance between the roller brush assembly and the photovoltaic module is less than the target distance, the adjustment assembly is capable of driving the roller brush assembly away from the photovoltaic module. The adjustment assembly can then adjust the relative distance between the roller brush assembly and the photovoltaic module, thereby reducing the need for adjustment of the mechanical arm and chassis of the photovoltaic cleaning device, reducing operational difficulty, and improving the efficiency of the photovoltaic cleaning device during cleaning.

[0236] It should be noted that, for the working process of each module, sub-module and unit in this embodiment, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0237] Another embodiment of the present application provides an electronic device, including at least one processor and a memory connected to the processor, wherein:

[0238] Memory is used to store computer programs;

[0239] The processor is used to execute the computer program so that the electronic device can implement the above-mentioned cleaning control method.

[0240] In one implementation, the electronic device is a controller in a photovoltaic cleaning device.

[0241] Another embodiment of the present application provides a photovoltaic cleaning device, including the above-mentioned electronic device.

[0242] An embodiment of the present application also provides a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the cleaning control methods provided in the embodiments of the present application.

[0243] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any cleaning control method provided in the embodiment of the present application.

[0244] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning control method, characterized in that: include: Obtaining the relative distance between the roller brush assembly and the photovoltaic assembly; the roller brush assembly is disposed in a photovoltaic cleaning device, and the adjustment assembly in the photovoltaic cleaning device is connected between a mechanical arm and the roller brush assembly, the mechanical arm is capable of driving the adjustment assembly and the roller brush assembly to move, and the adjustment assembly is capable of driving the roller brush assembly to move; According to the relative distance, the mechanical arm is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and / or the adjustment assembly is used to adjust the relative distance between the roller brush assembly and the end of the mechanical arm so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance, so that the roller brush assembly cleans the photovoltaic assembly; In which, the target distance is greater than the safety distance and smaller than the radius of the roller brush in the roller brush assembly; the safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic assembly; when the distance between the roller brush assembly and the photovoltaic assembly is smaller than the target distance, the adjustment assembly can drive the roller brush assembly away from the photovoltaic assembly.

2. The cleaning control method according to claim 1, characterized in that: The adjustment component is provided with an adjustable stroke, and the relative distance between the roller brush component and the end of the mechanical arm can be adjusted by adjusting the size of the adjustable stroke; the relative distance includes the relative sub-distances between different positions of the roller brush component and the photovoltaic component; According to the relative distance, using the mechanical arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and / or using the adjustment assembly to adjust the relative distance between the roller brush assembly and the end of the mechanical arm so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance, comprising: determining distance differences between different relative sub-distances; When the maximum distance difference is less than or equal to the distance difference threshold, determining the target distance; Setting the size of the adjustable stroke of the adjustment component to the size of the target stroke; Wherein, when the size of the adjustable stroke is equal to the size of the target stroke, the distance between the roller brush assembly and the photovoltaic assembly is the target distance.

3. The cleaning control method according to claim 2, characterized in that: Determine your target itinerary, including: Calculating the compression amount of the roller brush by using one of the relative sub-distances and the radius information of the roller brush; When the compression amount is not a preset compression amount, determining that the distance between the roller brush assembly and the photovoltaic assembly is not a target distance; A target stroke that makes the distance between the roller brush assembly and the photovoltaic assembly a target distance is determined by utilizing the mapping relationship between the change information of the adjustable stroke and the change information of the distance between the roller brush assembly and the photovoltaic assembly.

4. The cleaning control method according to claim 2, characterized in that: The adjusting assembly is provided with a connecting component for connecting the end of the mechanical arm with the roller brush assembly; the length of the connecting component is adjustable; Setting the adjustable stroke of the adjustment component to the target stroke comprises: Control the movement of the driving motor for adjusting the size of the adjustable stroke to adjust the length of the connecting component between the end of the robotic arm and the roller brush assembly, and stop when the length of the connecting component meets the length requirement corresponding to the target stroke.

5. The cleaning control method according to claim 2, characterized in that: When the maximum distance difference is greater than the distance difference threshold, the cleaning control method further includes: Using the mechanical arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly so that the roller brush assembly is horizontally arranged relative to the photovoltaic assembly; After the roller brush assembly is horizontally arranged relative to the photovoltaic assembly, a new relative sub-distance is acquired; Using the new relative sub-distance, determining a target distance so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance; The size of the adjustable stroke of the adjustment component is set to the size of the target stroke.

6. The cleaning control method according to claim 5, characterized in that: The mechanical arm is provided with a third driving member, and the third driving member is used to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly; Using the mechanical arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly includes: The extension and contraction amount of the third driving member in the mechanical arm is adjusted to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly.

7. The cleaning control method according to claim 1, wherein: According to the relative distance, using the mechanical arm to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and / or using the adjustment assembly to adjust the relative distance between the roller brush assembly and the end of the mechanical arm, including: According to the relative relationship between the relative distance, the motion information of the robotic arm, and the size of the adjustable stroke of the adjustment component, a target motion mode of the robotic arm and a target stroke of the adjustment component are determined; when the robotic arm moves according to the target motion mode and the size of the adjustable stroke of the adjustment component is the size of the target stroke, the distance between the roller brush assembly and the photovoltaic assembly is the target distance; The robotic arm is controlled to operate in accordance with the target motion mode to adjust the orientation of the roller brush assembly relative to the photovoltaic assembly, and at the same time, the size of the adjustable stroke of the adjustment assembly is adjusted to the size of the target stroke.

8. The cleaning control method according to claim 1, wherein: The cleaning control method further includes: detecting image information of the photovoltaic assembly; When it is determined based on the image information that there is an obstacle in the traveling direction of the photovoltaic cleaning device, an obstacle avoidance operation is performed.

9. The cleaning control method according to claim 1, characterized in that: At least one emergency stop sensor is provided on the mounting rod of the roller brush assembly in the photovoltaic cleaning device; the emergency stop sensor outputs an emergency stop control command when colliding with the photovoltaic assembly; The cleaning control method further includes: When the emergency stop control instruction output by the emergency stop sensor is received, the photovoltaic cleaning device is controlled to stop moving.

10. A cleaning control device, characterized in that: include: An acquisition module is used to acquire the relative distance between the roller brush assembly and the photovoltaic assembly; the roller brush assembly is provided in the photovoltaic cleaning device, and the adjustment assembly in the photovoltaic cleaning device is connected between the mechanical arm and the roller brush assembly, the mechanical arm can drive the adjustment assembly and the roller brush assembly to move, and the adjustment assembly can drive the roller brush assembly to move; an adjustment module, configured to adjust, using the mechanical arm, the orientation of the roller brush assembly relative to the photovoltaic assembly according to the relative distance, and / or to adjust, using the adjustment assembly, the relative distance between the roller brush assembly and the end of the mechanical arm, so that the distance between the roller brush assembly and the photovoltaic assembly is a target distance, so that the roller brush assembly cleans the photovoltaic assembly; In which, the target distance is greater than the safety distance and smaller than the radius of the roller brush in the roller brush assembly; the safety distance is the minimum distance at which the roller brush assembly does not collide with the photovoltaic assembly; when the distance between the roller brush assembly and the photovoltaic assembly is smaller than the target distance, the adjustment assembly can drive the roller brush assembly away from the photovoltaic assembly.

11. An electronic device, characterized in that: comprising at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is configured to execute the computer program so that the electronic device can implement the cleaning control method according to any one of claims 1 to 9.

12. A photovoltaic cleaning device, characterized in that: Comprising the electronic device as claimed in claim 11.

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