Roller brush control method and device and photovoltaic cleaning robot

Abstract

The invention discloses a roller brush control method and device and a photovoltaic cleaning robot. The method comprises the steps that a point cloud image of a laser radar is acquired; determining a first plane equation of the photovoltaic module based on the point cloud image; determining a first distance based on the first plane equation, wherein the first distance is the distance from the laser radar to the photovoltaic module; determining a first length based on the first distance and structural parameters of the roller brush supporting mechanism, wherein the first length is the telescopic length of a push rod in the roller brush supporting mechanism; determining a first vector based on the first plane equation; determining a second coordinate plane based on the first coordinate plane of the laser radar and a preset roller brush cleaning angle; based on the first vector and the second coordinate plane, a first angle is determined, and the first angle is an included angle between the roller brush and the photovoltaic module; and controlling the roller brush to move based on the first length and the first angle. The photovoltaic module cleaning device can adapt to ground fluctuation and angle and height changes of the photovoltaic module, and the technical effect of improving the photovoltaic module cleaning efficiency is achieved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of photovoltaic cleaning technology, and in particular to a roller brush control method, device, and photovoltaic cleaning robot. Background Art

[0002] With the continuous development of new energy technologies, the scale of newly installed photovoltaic power generation capacity continues to expand, making photovoltaic energy a crucial component of the new energy mix. Since photovoltaic equipment is exposed to the outdoor environment for a long time, PV panels, in particular, are prone to dust accumulation, which reduces photoelectric conversion efficiency. Therefore, timely cleaning of PV panels is essential to ensure stable operation. Therefore, the control of the roller brushes used to clean PV panels deserves attention. Summary of the Invention

[0003] In view of this, the embodiments of the present disclosure provide a roller brush control method, device and photovoltaic cleaning robot, in order to solve the problem of low cleaning efficiency caused by floating changes of photovoltaic modules. In the first aspect, a roller brush control method is provided, including: obtaining a point cloud image of a laser radar, the point cloud image is determined based on the laser radar scanning the photovoltaic module, and the roller brush is used to clean the photovoltaic module; determining a first plane equation of the photovoltaic module based on the point cloud image; determining a first distance based on the first plane equation, the first distance being the distance from the laser radar to the photovoltaic module; determining a first length based on the first distance and the structural parameters of the roller brush support mechanism, the first length being the telescopic length of the push rod in the roller brush support mechanism; determining a first vector based on the first plane equation; determining a second coordinate plane based on the first coordinate plane of the laser radar and a preset roller brush cleaning angle; determining a first angle based on the first vector and the second coordinate plane, the first angle being the angle between the roller brush and the photovoltaic module; and controlling the movement of the roller brush based on the first length and the first angle.

[0004] The above roller brush control method can control the movement of the roller brush by determining the first length and the first angle, so that the photovoltaic cleaning robot with a roller brush can achieve flexible angle and distance control when facing application scenarios with undulating ground, changing angles and heights of photovoltaic modules. It has more accurate measurement results than the single-point ranging method, effectively improves the efficiency of photovoltaic module cleaning, and improves the adaptability of the photovoltaic cleaning robot with a roller brush to different application scenarios and different environments.

[0005] Optionally, based on the first distance and the structural parameters of the roller brush support mechanism, the height to be adjusted of the roller brush is determined; based on the structural parameters of the roller brush support mechanism, the first height of the roller brush support mechanism is determined; based on the height to be adjusted and the first height, the second height is determined; based on the second height and the structural parameters of the roller brush support mechanism, the first length is determined.

[0006] Optionally, based on the first distance and the structural parameters of the roller brush support mechanism, the height to be adjusted of the roller brush is determined, including: determining the height to be adjusted based on the first distance, the second distance and the third distance, wherein the second distance is a fixed distance from the roller brush support mechanism to the center of the roller brush, and the third distance is the distance from the center of the desired roller brush to the photovoltaic component.

[0007] Optionally, determining the first length based on the second height and the structural parameters of the roller brush support mechanism includes: determining the required length of the push rod based on the second height and the structural parameters of the roller brush support mechanism; and determining the first length based on the required length of the push rod and the inherent length of the push rod.

[0008] Optionally, based on the structural parameters of the roller brush support mechanism, the first height of the roller brush support mechanism is determined, including: determining the current length of the push rod based on the inherent length of the push rod and the current telescopic length of the push rod; determining the first height of the roller brush support mechanism based on the structural parameters of the components in the roller brush support mechanism and the current length of the push rod.

[0009] Optionally, the second coordinate plane is determined based on the first coordinate plane of the laser radar and the preset roller brush cleaning angle, including: setting the plane where the x-axis and z-axis in the laser radar coordinate system are located as the first coordinate plane; deflecting the first coordinate plane by the preset roller brush cleaning angle to determine the second coordinate plane.

[0010] Optionally, determining the first angle based on the first vector and the second coordinate plane includes: projecting the first vector and the negative direction of the x-axis in the lidar coordinate system to the second coordinate plane; and determining the first angle based on the projected first vector and the projected negative direction of the x-axis.

[0011] Optionally, controlling the movement of the roller brush based on the first length and the first angle further includes: controlling the first angle to 0 degrees so that the roller brush is parallel to the photovoltaic component.

[0012] In the second aspect, a roller brush control device is provided, including: an acquisition unit for acquiring a point cloud image of a laser radar, wherein the point cloud image is determined based on the laser radar scanning the photovoltaic component; a determination unit for determining a first plane equation of the photovoltaic component based on the point cloud image, and determining a first distance based on the first plane equation, wherein the first distance is the distance from the laser radar to the photovoltaic component; a length determination unit for determining a first length based on the first distance and the structural parameters of the roller brush support mechanism, wherein the first length is the telescopic length of the push rod in the roller brush support mechanism; the determination unit is also for determining a first vector based on the first plane equation; an angle determination unit for determining a second coordinate plane based on the first coordinate plane of the laser radar and a preset roller brush cleaning angle, and determining a first angle based on the first vector and the second coordinate plane, wherein the first angle is the angle between the roller brush and the photovoltaic component; a control unit for controlling the movement of the roller brush based on the first length and the first angle.

[0013] In a third aspect, a photovoltaic module cleaning robot is provided, comprising: a roller brush for cleaning photovoltaic modules; a push rod connected to the roller brush, for adjusting the distance between the roller brush and the photovoltaic module based on a first length; a robotic arm connected to the roller brush, for adjusting a first angle of the roller brush; and a processor for executing the photovoltaic module roller brush cleaning control method provided in the first aspect, adjusting the first length of the push rod, and controlling the robotic arm to adjust the first angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The following is a brief introduction to the drawings used in describing the embodiments of the present disclosure:

[0015] Figure 1 A partial structural schematic diagram of a photovoltaic cleaning robot provided in some embodiments of the present application is shown;

[0016] Figure 2 A schematic flow chart of a roller brush control method provided in some embodiments of the present application is shown;

[0017] Figure 3 A schematic flow chart of a method for determining a first length provided in some embodiments of the present application is shown;

[0018] Figure 4 A schematic structural diagram of another photovoltaic cleaning robot provided in some embodiments of the present application is shown;

[0019] Figure 5 A structural block diagram of a roller brush control device provided in some embodiments of the present application is shown. DETAILED DESCRIPTION

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, examples of implementation of the present disclosure will be described below with reference to the accompanying drawings. The drawings described below are only some embodiments of the present disclosure. For those skilled in the art, other drawings and other implementations can be obtained based on these drawings without inventive work. Adjustments and improvements made without departing from the concept of the present disclosure are all within the scope of protection of the present disclosure.

[0021] To simplify the drawings, the figures schematically illustrate only the portions relevant to the embodiments and do not represent the actual structure of the products. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only a portion of components with the same structure or function are schematically depicted; in practice, more or fewer components with the same structure or function may exist.

[0022] In the present disclosure, unless otherwise expressly specified and limited, ordinal numbers such as "first" and "second" are only used to distinguish and describe associated objects, and cannot be understood as indicating or implying the relative importance or order between associated objects; in addition, they do not represent the number of associated objects. "Multiple" includes two or more, and other quantifiers are similar. " / " is used to describe the relationship between associated objects, which indicates the "or" relationship between associated objects. "And / or" is used to describe the relationship between associated objects, which includes any combination relationship between associated objects, for example, "a and / or b" includes: "alone a", "alone b", or "a and b". "One or more" or "at least one" in multiple objects refers to any object or any combination of multiple objects, for example, "one or more of a1, a2, a3" or "at least one of a1, a2, a3" includes: "alone a1", "alone a2", "alone a3", "a1 and a2", "a1 and a3", "a2 and a3" or "a1, a2 and a3".

[0023] The photovoltaic cleaning robot with roller brush is an intelligent robot that automatically cleans photovoltaic modules in photovoltaic power stations. The overall structure consists of a mobile chassis, a robotic arm and a roller brush. Figure 1 A schematic structural diagram of a photovoltaic cleaning robot provided in some embodiments of the present application is shown. The roller brush 10 is installed at the end of the mechanical arm 40 through the roller brush support mechanism 30 and the push rod 20. When working, the photovoltaic module can be cleaned by the high-speed rotation of the roller brush 10. In order to ensure the cleaning effect, the roller brush 10 is required to maintain a certain distance from the surface of the photovoltaic module during the cleaning process. If the distance is too close, it is easy to crush the module, and if the distance is too far, it is easy to cause the problem of unclean cleaning. At the same time, it is necessary to control the roller brush 10 within a certain angle range, such as being parallel to the photovoltaic module. If the angle between the roller brush 10 and the photovoltaic module is not appropriate, it is easy for the roller brush 10 to crush the photovoltaic module and the problem of unclean cleaning. However, since photovoltaic modules are often set in outdoor environments, during the operation of the photovoltaic cleaning robot, when the ground becomes uneven, it is easy to affect the angle and distance between the roller brush 10 and the photovoltaic module. At the same time, there are certain angle differences and height differences in the setting of the photovoltaic module itself, so that the photovoltaic cleaning robot needs to control the roller brush 10 to dynamically float and change as the operation moves to adapt to the above problems. In some embodiments of the present application, continue to refer to Figure 1The roller brush support mechanism 30 can be a frame structure composed of two support structures that are approximately parallelograms and are arranged opposite to each other, and are connected by a cross bar in the middle. The push rod 20 can be rotatably connected between the two cross bars connected between the two approximately parallelograms. Taking the support structure with an approximately parallelogram on one side as an example, the push rod 20 is set between the cross bars at point A and the cross bars at point B of the roller brush support mechanism 30. Among them, point B is set between the first support member formed between point C and point D, point D is rotatably connected to the roller brush 10, and point C and point E form the second support member. Among them, the relative positions between some points among point A, point B, point C, point D, point E, and point G can change with the expansion and contraction of the push rod 20, and the cross bars set at the above points can drive the support structures of the approximately parallelograms on both sides to change through the rotation effect. For example, when the push rod 20 contracts, the straight-line distance from point B and point G to the second support member formed between point C and point E decreases accordingly, and the angle formed by point E, point C, and point D decreases accordingly. That is, the height of the frame structure formed by the approximate parallelograms on both sides can be adjusted through the telescopic effect of the push rod 20, thereby lowering the height of the entire roller brush support mechanism 30. Regardless of how the push rod 20 changes, the distance between point A and point E remains unchanged, and the distance between point B and point C or point D remains unchanged (but the relative positions may change). Therefore, as the push rod 20 changes, the structural parameters of the roller brush support mechanism 30 can change or remain unchanged. The roller brush support mechanism 30 is connected to the robotic arm 40 through a fixed structure formed by points A, C, and E. The present application provides a roller brush control method, device and photovoltaic cleaning robot, which uses laser radar to scan photovoltaic modules to determine the distance and angle between the roller brush 10 and the photovoltaic modules. The structural parameters of the roller brush support mechanism 30 are combined to control the telescopic length of the push rod 20 and the movement of the robotic arm 40, so that the roller brush 10 can adapt to the undulations of the ground, the angle and height changes of the photovoltaic modules, and improve the reliability of photovoltaic cleaning.

[0024] Please refer to Figure 2 , which shows a flow chart of a roller brush control method provided in some embodiments of the present application, the method at least comprising the steps of:

[0025] S210: Acquire a point cloud image of the laser radar, where the point cloud image is determined based on the laser radar scanning the photovoltaic module, and the roller brush is used to clean the photovoltaic module;

[0026] S220: Determine a first plane equation of the photovoltaic assembly based on the point cloud image;

[0027] S230: Determine a first distance based on the first plane equation, where the first distance is the distance from the laser radar to the photovoltaic module;

[0028] S240: Determine a first length based on the first distance and structural parameters of the roller brush support mechanism, where the first length is a telescopic length of the push rod in the roller brush support mechanism;

[0029] S250: Determine a first vector based on the first plane equation;

[0030] S260: Determine a second coordinate plane based on the first coordinate plane of the laser radar and a preset roller brush cleaning angle;

[0031] S270: Determine a first angle based on the first vector and the second coordinate plane, where the first angle is the angle between the roller brush and the photovoltaic module;

[0032] S280: Controlling the movement of the roller brush based on the first length and the first angle.

[0033] To clean photovoltaic panels using the roller brush, a photovoltaic cleaning robot with a roller brush needs to use sensors to identify the real-time distance and angle between the roller brush and the panel. For example, a laser radar (LiDAR) can be mounted vertically on the roller brush support mechanism. The LiDAR can be a repetitive or non-repetitive scanning LiDAR. The LiDAR scans the surface of the photovoltaic panel to determine a planar point cloud image of the panel, which can be used to calculate the distance and angle between the panel and the roller brush 10. When the LiDAR acquires the point cloud image, a filtering method can be used to extract the corresponding point cloud image of the photovoltaic panel plane. The PCL library ransac plane extraction function is then used to identify the panel plane and determine a first plane equation. This first plane equation can be used to calculate the first distance from the panel plane to the LiDAR origin. Furthermore, the roller brush 10 is mounted on the roller brush support mechanism 30, and the push rod 20 controls the changes in the parallelogram structure therein to enable the roller brush to float up and down, or maintain a fixed distance from the panel while cleaning. Therefore, the first length of the push rod 20 can be determined in conjunction with the structural parameters of the roller brush support mechanism 30. For example, the required height adjustment can be determined by combining the first distance with the height of the roller brush support mechanism, and the extension length of the push rod can be determined based on this height. Alternatively, the extension length of the push rod can be calculated based on the first distance, the inherent lengths of the components connected to the push rod in the roller brush support mechanism, and the angles formed between the connected components. Alternatively, a first vector can be determined based on a first plane equation; this first vector can be the normal vector to the first plane equation. During normal cleaning operations, a photovoltaic cleaning robot with a roller brush has a certain deflection angle (e.g., 15 degrees) with the vertical plane of the robot arm. The laser radar plane can be rotated to coincide with the vertical plane of the robot arm based on this deflection angle, thereby facilitating control of the robot arm. For example, the planes of the laser radar's X- and Z-axes can be first determined. Then, the deflected plane can be rotated based on the deflection angle to coincide with the vertical plane of the robot arm. The first vector of the point cloud plane and the negative X-axis are then projected onto the rotated plane to determine the angle between them. Maintaining this angle at zero allows the roller brush to be controlled parallel to the photovoltaic panel. Therefore, the present application can realize the control of the roller brush movement through the first length and the first angle, so that the photovoltaic cleaning robot with a roller brush can realize flexible angle and distance control when facing application scenarios with undulating ground, changing angles and heights of photovoltaic modules, and has more accurate measurement results than the single-point ranging method, effectively improving the efficiency of cleaning photovoltaic modules, and improving the adaptability of the photovoltaic cleaning robot with a roller brush to different application scenarios and different environments. It should be noted that the steps provided in the embodiment of the present application can be adjusted based on actual applications, such as the execution order between step 220 and step 250 can be adjusted, such as first executing step 250 and subsequent steps, first determining the first angle, and then executing step 220 to determine the first length. No specific limitation is made here, and all are within the scope of protection of the present application.

[0034] Figure 3 A flow chart of a method for determining a first length provided in some embodiments of the present application is shown. Step S240: Determining the first length based on the first distance and the structural parameters of the roller brush support mechanism, further comprising:

[0035] S310: Determining a height of the roller brush to be adjusted based on the first distance and structural parameters of the roller brush support mechanism;

[0036] S320: Determining a first height of the roller brush support mechanism based on structural parameters of the roller brush support mechanism;

[0037] S330: Determine a second height based on the height to be adjusted and the first height;

[0038] S340: Determine a first length based on the second height and structural parameters of the roller brush support mechanism.

[0039] In an embodiment of the present application, the first plane equation can be determined by identifying the plane of the photovoltaic module using a laser radar, such as shown in Formula 1:

[0040] ax+by+cz+d=0 Formula 1

[0041] Among them, according to the basic principle of plane equation, the value of the first distance d from the laser radar to the plane of the photovoltaic module can be determined. The first height of the roller brush support mechanism can be determined by the structural parameters of the roller brush support mechanism. The first height can be determined by the height of the parallelogram support mechanism itself during the process of the roller brush support mechanism changing with the extension and contraction of the push rod. For example, the distance between point D and the straight line formed by point C and point E is the first height H. DEC , the first height H DEC The angle ∠DCE formed by the sides CD and CE, with point C as the vertex, can be determined using the triangle formula. For example, adjusting the AB side can change the height of the roller brush, where the current height, i.e., the distance from point D to the line EC (i.e., the first height), can be calculated; let the inherent length of the push rod be tg, the current telescopic length tn be obtained through the feedback data of the push rod controller, ∠ACE be a fixed angle known in the structure, and the lengths of the remaining structural components LAC, LBC, LDC, and LCE are all known, then Formula 1 is obtained:

[0042] L AB =tg+tn Formula 1

[0043] According to the trigonometric function formula, calculate the angle of ∠ACD, refer to formula 2:

[0044] ∠ACD=arccos(L AC *L AC +LBC *L BC -L AB *L AB ) / (2*L AC *L BC ) Formula 2 is used to calculate ∠DCE, refer to Formula 3:

[0045] ∠DCE=∠ACD-∠ACE Formula 3 Then the current first height H DEC It can be determined, refer to formula 4:

[0046] H DEC =L DC *sin∠DCE formula 4

[0047] When the height to be adjusted dt and the first height H are known DEC After that, the second height H after adjustment can be determined by summing DECaft , refer to the following formula 5:

[0048] H DECaft =H DEC +dt Formula 5

[0049] After determining the second height, the first length of the push rod can be reversely deduced based on the structural parameters of the roller brush support mechanism, thereby determining the control amount of the push rod telescopic length and realizing the control of the distance between the roller brush and the photovoltaic component.

[0050] In some embodiments of the present application, the height to be adjusted of the roller brush is determined based on the first distance and the structural parameters of the roller brush support mechanism, including: determining the height to be adjusted based on the first distance, the second distance and the third distance, wherein the second distance is a fixed distance from the roller brush support mechanism to the center of the roller brush, and the third distance is the distance from the center of the desired roller brush to the photovoltaic component.

[0051] The first distance d from the laser radar to the photovoltaic module can be measured by the laser radar. The second distance dg from the roller brush support mechanism to the inherent height of the roller brush center can be predetermined. When assuming that the third distance from the roller brush center to the photovoltaic module plane is dp, the value of the roller brush height to be adjusted dt can be determined, such as shown in Formula 6:

[0052] dt=d-dg-dp Formula 6

[0053] In some embodiments of the present application, the first length is determined based on the second height and the structural parameters of the roller brush support mechanism, including: determining the required length of the push rod based on the second height and the structural parameters of the roller brush support mechanism; determining the first length based on the required length of the push rod and the inherent length of the push rod.

[0054] Continue to refer Figure 1As the push rod extends and retracts, the height and angle of the parallelogram structure change accordingly. After the height of the parallelogram structure, that is, the second height of the roller brush support mechanism, is determined, the length of the push rod can be calculated. Therefore, it is necessary to know the value of the angle ∠ACD formed by point C as the vertex and CA and CD as the two sides to deduce the required length of the push rod. Among them, ∠ACE is a fixed value in the structural parameters of the roller brush support mechanism. Therefore, the value of ∠ACD can be determined by taking point C as the vertex and CD and CE as the two sides to form the angle ∠DCE, and ∠DCE can be represented by the second height and side DC. Among them, the length of side DC is a fixed value in the structural parameters of the roller brush support mechanism, refer to Formula 7 and Formula 3:

[0055]

[0056] Based on the distance L between point A and point C AC , the distance L between point B and point C BC And ∠ACD can be used to derive the required length L of the push rod ABaft , as shown in Formula 8:

[0057]

[0058] Then the first length t1 of the push rod to be controlled is determined by referring to Formula 9:

[0059]

[0060] In some embodiments of the present application, the first height of the roller brush support mechanism is determined based on the structural parameters of the roller brush support mechanism, including: determining the current length of the push rod based on the inherent length of the push rod and the current telescopic length of the push rod; determining the first height of the roller brush support mechanism based on the structural parameters in the roller brush support mechanism and the current length of the push rod.

[0061] In the structural parameters of the roller brush support mechanism, the push rod has an inherent length tg. For example, the distance between point A and point F, and the distance between point F and point B is the current telescopic length tn of the push rod. Therefore, the current length L of the push rod can be determined by formula 10. AB :

[0062] L AB =t g +t n Formula 10

[0063] First height H DEC The determination of can be determined by referring to Formula 4, which will not be described in detail here.

[0064] In some embodiments of the present application, the second coordinate plane is determined based on the first coordinate plane of the laser radar and the preset roller brush cleaning angle, including: setting the plane where the x-axis and z-axis in the laser radar coordinate system are located as the first coordinate plane; deflecting the first coordinate plane by the preset roller brush cleaning angle to determine the second coordinate plane.

[0065] Figure 4 A structural schematic diagram of another photovoltaic cleaning robot provided in some embodiments of the present application is shown. In the laser radar coordinate system, the X-axis and the Z-axis constitute a first coordinate plane. In order to facilitate the adjustment of the angle of the roller brush 10 by the robotic arm 40, the laser radar coordinate system can be converted into a robotic arm coordinate system. During normal cleaning operations, the roller brush 10 and the vertical plane of the robotic arm 40 have a preset deflection angle θ, such as an angle of 15 degrees. Then, the PB plane after the laser radar XZ plane is rotated by a deflection angle θ can be determined, and the angle control can be determined in this plane. The equation of the second coordinate plane of the PB plane can be determined according to Formula 11:

[0066] X*cosθ-Y*sinθ=0 Formula 11

[0067] In some embodiments of the present application, determining a first angle based on a first vector and a second coordinate plane includes: projecting the first vector and the negative direction of the x-axis in the lidar coordinate system to the second coordinate plane; and determining the first angle based on the projected first vector and the projected negative direction of the x-axis.

[0068] According to formula 1, the normal vector corresponding to the first plane equation is (a, b, c), and the coordinates after projecting it onto the PB plane are (x1, y1, z1). The coordinates after projection are expressed according to formula 12:

[0069]

[0070] The angle in the plane formed by the X-axis and the Z-axis, the negative direction vector of the X-axis can be expressed as (-1, 0, 0). Based on formula 8, the vector after projection to the PB plane can be calculated as (-1, 0, 0). The vector after the normal vector of the first plane equation is projected to the PB plane is (x1, y1, z1). Then, according to the vector dot multiplication formula for the angle, the angle θ between the roller brush 10 and the plane of the photovoltaic module is L It can be expressed by formula 13:

[0071] θ L =(z1 / |z1|)*arccos(x1 / sqrt(x1*x1+y1*y1+z1*z1)) Formula 13

[0072] Therefore, the control arm rotation angle θ L That is, the roller brush 10 and the plane of the photovoltaic module can be kept at the required cleaning angle.

[0073] In some embodiments of the present application, controlling the movement of the roller brush based on the first length and the first angle further includes: controlling the first angle to 0 degrees so that the roller brush is parallel to the photovoltaic assembly.

[0074] When the roller brush 10 is parallel to the plane of the photovoltaic module, it can prevent the roller brush 10 from damaging the photovoltaic module when an undesirable angle is formed with the plane, maximize the contact area between the roller brush 10 and the photovoltaic module, and improve the cleaning efficiency of the photovoltaic module.

[0075] Based on the same technical concept, Figure 5 A block diagram of the structure of a roller brush control device provided in some embodiments of the present application is shown. The device comprises: an acquisition unit 510 for acquiring a point cloud image from a laser radar, the point cloud image being determined based on a laser radar scan of a photovoltaic module; a determination unit 520 for determining a first plane equation of the photovoltaic module based on the point cloud image, and a first distance based on the first plane equation, the first distance being the distance from the laser radar to the photovoltaic module; a length determination unit 530 for determining a first length based on the first distance and structural parameters of the roller brush support mechanism, the first length being the telescopic length of the push rod in the roller brush support mechanism; and a first vector based on the first plane equation. An angle determination unit 540 for determining a second coordinate plane based on the laser radar's first coordinate plane and a preset roller brush cleaning angle, and a first angle based on the first vector and the second coordinate plane, the first angle being the angle between the roller brush and the photovoltaic module; and a control unit 560 for controlling the movement of the roller brush based on the first length and the first angle. The methods and implementations for determining the first length and the first angle are the same as those in the above method embodiments and are not further described here.

[0076] The division of the above units is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the above units can be implemented in the form of a processor calling software; for example, a photovoltaic component roller brush cleaning control device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU), and the memory is a memory within the device or a memory outside the device. Alternatively, the above units can be implemented in the form of a hardware circuit, and the functions of some or all units can be realized by designing the hardware circuit. The hardware circuit can be understood as one or more processors; for example, in some embodiments, the hardware circuit is an application specific integrated circuit (ASIC), and the functions of some or all units above can be realized by designing the logical relationship between the components within the circuit; for example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD), which can include a large number of logic gate circuits. The logical relationship between the logic gate circuits is configured through a configuration file, thereby realizing the functions of some or all units above. All units of the above apparatus may be implemented entirely in the form of a processor calling a program, or entirely in the form of a hardware circuit, or partially in the form of a processor calling a program and the rest in the form of a hardware circuit.

[0077] In some embodiments of the present disclosure, the processor is a circuit with a signal processing capability. In some embodiments, the processor can be a circuit with instruction reading and execution capability, such as a CPU, a microprocessor, a graphics processing unit (GPU), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the processor loads a configuration document to implement the hardware circuit configuration, which can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms. In addition, each unit in the above device can be integrated together in whole or in part, or can be implemented independently. In some embodiments, these units are integrated together and implemented in the form of a system on chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the above device.

[0078] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A roller brush control method, characterized in that: include: Acquire a point cloud image of a laser radar, wherein the point cloud image is determined based on the laser radar scanning a photovoltaic assembly, and the roller brush is used to clean the photovoltaic assembly; determining a first plane equation of the photovoltaic assembly based on the point cloud image; Determine a first distance based on the first plane equation, where the first distance is the distance from the laser radar to the photovoltaic assembly; Determining a first length based on the first distance and structural parameters of the roller brush support mechanism, wherein the first length is a telescopic length of a push rod in the roller brush support mechanism; determining a first vector based on the first plane equation; Determining a second coordinate plane based on the first coordinate plane of the laser radar and a preset roller brush cleaning angle; Determine a first angle based on the first vector and the second coordinate plane, where the first angle is the angle between the roller brush and the photovoltaic module; The roller brush movement is controlled based on the first length and the first angle.

2. The roller brush control method according to claim 1, characterized in that: The determining the first length based on the first distance and the structural parameters of the roller brush support mechanism includes: determining a height of the roller brush to be adjusted based on the first distance and structural parameters of the roller brush support mechanism; determining a first height of the roller brush support mechanism based on structural parameters of the roller brush support mechanism; determining a second height based on the height to be adjusted and the first height; The first length is determined based on the second height and structural parameters of the roller brush supporting mechanism.

3. The roller brush control method according to claim 2, characterized in that: The step of determining the height of the roller brush to be adjusted based on the first distance and the structural parameters of the roller brush support mechanism includes: The height to be adjusted is determined based on the first distance, the second distance and the third distance, wherein the second distance is a fixed distance from the roller brush support mechanism to the center of the roller brush, and the third distance is a desired distance from the center of the roller brush to the photovoltaic component.

4. The roller brush control method according to claim 3, characterized in that: The determining the first length based on the second height and the structural parameters of the roller brush support mechanism includes: determining a required length of the push rod based on the second height and structural parameters of the roller brush support mechanism; The first length is determined based on a required length of the push rod and an inherent length of the push rod.

5. The roller brush control method according to claim 4, characterized in that: The determining the first height of the roller brush support mechanism based on the structural parameters of the roller brush support mechanism includes: determining a current length of the push rod based on an inherent length of the push rod and a current telescopic length of the push rod; Based on the structural parameters of the roller brush support mechanism and the current length of the push rod, a first height of the roller brush support mechanism is determined.

6. The roller brush control method according to claim 1, characterized in that: The determining of the second coordinate plane based on the first coordinate plane of the laser radar and the preset roller brush cleaning angle includes: Set the plane where the x-axis and the z-axis in the laser radar coordinate system are located as the first coordinate plane; The first coordinate plane is deflected by the preset roller brush cleaning angle to determine the second coordinate plane.

7. The roller brush control method according to claim 6, characterized in that: The determining of the first angle based on the first vector and the second coordinate plane includes: Projecting the first vector and the negative x-axis direction in the laser radar coordinate system onto the second coordinate plane; The first angle is determined based on the projected first vector and the projected negative x-axis direction.

8. The roller brush control method according to claim 7, characterized in that: The controlling the movement of the roller brush based on the first length and the first angle further includes: The first angle is controlled to be 0 degrees so that the roller brush is parallel to the photovoltaic module.

9. A roller brush control device, characterized in that: include: An acquisition unit, configured to acquire a point cloud image of a laser radar, wherein the point cloud image is determined based on scanning of the photovoltaic assembly by the laser radar; a determining unit, configured to determine a first plane equation of the photovoltaic assembly based on the point cloud image, and determine a first distance based on the first plane equation, where the first distance is a distance from the laser radar to the photovoltaic assembly; a length determining unit, configured to determine a first length based on the first distance and structural parameters of the roller brush supporting mechanism, wherein the first length is a telescopic length of the push rod in the roller brush supporting mechanism; The determining unit is further configured to determine a first vector based on the first plane equation; an angle determination unit, configured to determine a second coordinate plane based on the first coordinate plane of the laser radar and a preset roller brush cleaning angle, and to determine a first angle based on the first vector and the second coordinate plane, where the first angle is an angle between the roller brush and the photovoltaic module; A control unit is configured to control the movement of the roller brush based on the first length and the first angle.

10. A photovoltaic module cleaning robot, characterized in that: include: Roller brush, used to clean photovoltaic modules; a push rod connected to the roller brush and configured to adjust the distance between the roller brush and the photovoltaic assembly based on a first length; a mechanical arm connected to the roller brush and configured to adjust a first angle of the roller brush; A processor, configured to execute the roller brush control method according to any one of claims 1 to 8, adjust the first length of the push rod, and control the robotic arm to adjust the first angle.

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