Robot control method and device for cleaning photovoltaic panel and robot

Abstract

The invention provides a robot control method and device for cleaning a photovoltaic panel and a robot, and relates to the field of photovoltaic technology, and the method comprises the steps: judging the state of the robot under the condition that a weather forecast indicates that there is severe weather in a sixth time period in the future at the location of the robot; if the robot is in the cleaning state, the position of the robot is obtained, and when the time length required by the robot to return to the warehouse from the position and the time length required by severe weather meet a first preset condition, the position is determined to be a warehouse return point; if the robot is in the warehouse state, under the condition that the latest warehouse-out moment of the robot is earlier than the severe weather arrival moment by at least a fourth duration, determining a warehouse-back point of the robot according to the advancing speed of the robot, the planned path and the warehouse-out duration of the latest warehouse-out of the robot, the delivery duration is the duration determined by the delivery time and the severe weather arrival time. Therefore, the staying time of the robot in the bin is shortened, and the cleaning efficiency is greatly improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and in particular to a robot control method, device and robot for cleaning photovoltaic panels. Background Technology

[0002] Photovoltaic power generation is a technology that uses solar panels to convert solar energy into electrical energy, which is beneficial for obtaining clean energy. However, after long-term use, photovoltaic panels will accumulate dust and dirt, which will affect their power generation efficiency. Therefore, photovoltaic cleaning robots are used to clean the photovoltaic panels.

[0003] Currently, when severe weather such as wind, rain, or snow is predicted, the cleaning robots are immediately sent back to their storage compartments. The robots inside the compartments wait until the severe weather ends before resuming cleaning. This results in robots spending too much time inside the compartments, significantly reducing cleaning efficiency. Summary of the Invention

[0004] In view of this, this application provides a robot control method, device and robot for cleaning photovoltaic panels, aiming to improve the cleaning efficiency of the robot.

[0005] In a first aspect, this application provides a robot control method for cleaning photovoltaic panels, including:

[0006] If the weather forecast indicates that there will be severe weather in the robot's location within the next six hours, determine the robot's current state.

[0007] If the robot is in cleaning mode, the robot's location is obtained. When the time required for the robot to return to the warehouse from the location is compared with the time required to arrive in bad weather, and the first preset condition is met, the location is determined as the return point.

[0008] If the robot is in a warehouse state, then if the robot's most recent departure time is at least four hours earlier than the arrival time of the severe weather, the robot's return point is determined by combining the robot's travel speed and planned path.

[0009] The robot's operation is controlled based on the stated return point.

[0010] Optionally, obtaining the location of the robot includes:

[0011] At each first time interval, the location of the robot is obtained;

[0012] The comparison of the time required for the robot to return to the warehouse from its current location with the time required to reach the warehouse in inclement weather, satisfying a first preset condition, includes:

[0013] If the difference between the time required for the robot to return to the warehouse from its current location and the time required to reach the warehouse under the current severe weather is less than a preset time, then the first preset condition is met.

[0014] Optionally, the method for calculating the time required for the robot to return to the warehouse from its current location is as follows:

[0015] Calculate the first distance between the current location and the charging compartment;

[0016] Based on the first distance and the travel speed, the time required for the robot to return to the warehouse from its current location is determined.

[0017] Optionally, if the robot's most recent departure time is at least four hours earlier than the arrival time of the severe weather, determining the robot's return point by combining the robot's travel speed and planned path includes:

[0018] Determine the safe time interval between the robot's most recent departure time from the warehouse and the arrival time of the severe weather.

[0019] If the safe duration is greater than or equal to the fourth duration, it is determined whether the safe duration is less than the task duration; the task duration is the time required for the robot to successfully complete the cleaning task and return to the warehouse the most recent time.

[0020] If the safe time is less than the task time, the travel path length of the robot over the safe time is determined based on the travel speed; according to the planned path, the position point corresponding to the robot cleaning less than or equal to half of the travel path length is taken as the return point.

[0021] If the safe duration is longer than the task duration, then based on the planned path, the location where the robot last performed its cleaning task outside the warehouse ends will be used as the return point.

[0022] Optionally, if the robot is in a warehouse-in state, and the robot's most recent departure time is no earlier than at least four hours after the arrival of the severe weather, the method further includes:

[0023] The robot's departure time is determined based on when the severe weather ends.

[0024] Optionally, before controlling the robot's operation based on the return point, the method further includes:

[0025] Every five preset time intervals, the weather forecast for the robot's location for the next six time intervals is retrieved again;

[0026] If the weather forecast indicates that there will be severe weather in the robot's location within the next six hours, then the steps of determining the robot's return point and subsequent steps based on the arrival time of the severe weather and the robot's first parameters are executed, and the return point is updated if it changes.

[0027] If the weather forecast indicates that the robot's location will have normal weather for the next six hours, then the return point will be updated to the cleaning point corresponding to the completion of this cleaning task.

[0028] Optionally, the method further includes:

[0029] When the robot leaves the warehouse, the robot's current battery level is obtained once every seven preset time intervals;

[0030] If the robot's current battery level is less than the preset battery level, the robot's current location is the return point, and the robot is controlled to return to the storage compartment.

[0031] Optionally, the method further includes:

[0032] Based on local real-time dynamic positioning information, the robot's latitude and longitude are sent to the weather application programming interface to obtain the weather forecast for the robot's location within the next six hours.

[0033] The weather forecast data is divided to determine whether the robot's location, as indicated by the weather forecast, will experience severe or normal weather within the next six hours. Specifically, if the weather forecast data shows one or more of the following: rainfall exceeding a first threshold, snowfall exceeding a second threshold, wind speed exceeding a third threshold, and condensation exceeding a fourth threshold, then the weather forecast indicates that the robot's location will experience severe weather within the next six hours.

[0034] Secondly, this application also provides a robot control device for cleaning photovoltaic panels, comprising:

[0035] The judgment unit is used to determine the state of the robot when the weather forecast indicates that there will be severe weather in the robot's location within the next six hours.

[0036] The first processing unit is configured to, if the robot is in a cleaning state, obtain the location of the robot, and determine the location as a return point when comparing the time required for the robot to return to the warehouse from the location with the time required to arrive in bad weather, which meets a first preset condition.

[0037] The second processing unit is used to determine the robot's return point if the robot is in a warehouse state, and the robot's most recent departure time is at least four hours earlier than the arrival time of the severe weather, by combining the robot's travel speed and planned path.

[0038] An execution unit is used to control the operation of the robot based on the return point.

[0039] Thirdly, this application also provides a photovoltaic panel cleaning robot, which employs a robot control method for cleaning photovoltaic panels as described in any one of the above claims.

[0040] This application provides a robot control method, device, and robot for cleaning photovoltaic panels. First, if a weather forecast indicates severe weather within the next six hours at the robot's location, the robot's current state is determined. If the robot is in cleaning mode, its location is obtained. If the time required for the robot to return to its storage location from that location meets a first preset condition (compares the time required for the severe weather to arrive), the location is determined as the return point. If the robot is in storage, and its most recent exit time is at least four hours earlier than the arrival time of the severe weather, the return point is determined by combining the robot's travel speed and planned path. Based on the return point, the robot's operation is controlled. This application, when severe weather is predicted in the future, if the robot is currently in cleaning mode, obtains its location and compares the time required to return to storage with the time required for the severe weather to arrive. If the arrival time of the severe weather is still relatively long, cleaning can continue; otherwise, the robot needs to return to storage. If the robot is in the storage state, it can continue cleaning even if the weather is bad and the arrival time is late. Based on the robot's preset planned path and speed, the robot can determine its final cleaning point as the return point. This improves cleaning time and effectiveness, reduces the impact of dirt on the photovoltaic panels' energy conversion, and eliminates the need for human intervention, thus lowering labor costs. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A flowchart illustrating a robot control method for cleaning photovoltaic panels, provided as an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of a preset path for a robot to clean photovoltaic panels, provided in an embodiment of this application.

[0044] Figure 3 A schematic diagram illustrating the application process of a robot control method for cleaning photovoltaic panels, provided in an embodiment of this application.

[0045] Figure 4 This is a schematic diagram of a robot control device for cleaning photovoltaic panels, provided as an embodiment of this application. Detailed Implementation

[0046] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0047] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0048] Unless otherwise stated, the term "multiple" means two or more.

[0049] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0050] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0052] See Figure 1 , Figure 1 This application provides a flowchart illustrating a robot control method for cleaning photovoltaic panels. The method includes:

[0053] S101. If the weather forecast indicates that there will be severe weather in the robot's location within the next six hours, determine the robot's current state.

[0054] It should be noted that the above weather forecast needs to be updated and retrieved at target time intervals. When manually set, this target time interval needs to be shorter than the sixth time interval mentioned above; for example, it can be a few minutes or a dozen minutes. The sixth time interval mentioned above needs to be set to a relatively long duration, generally not less than five hours, to avoid subsequent weather changes affecting subsequent judgments.

[0055] The robot's current operating state can include a cleaning state and a charging state. The cleaning state refers to the robot cleaning the photovoltaic panels according to the planned path. The charging state refers to the robot remaining inside the charging compartment.

[0056] S102. If the robot is in cleaning mode, the location of the robot is obtained. When the time required for the robot to return to the warehouse from the location is compared with the time required to arrive in bad weather, and the first preset condition is met, the location is determined as the return point.

[0057] Optionally, the above-mentioned return to the charging compartment may refer to the robot returning to the charging compartment.

[0058] If the time required for the robot to return to the charging compartment from its current location is compared with the time required for the arrival of severe weather, and the first preset condition is met, the time required for the robot to return to the charging compartment (the second time required to return from the current location) can be compared with the time required for the arrival of severe weather (the third time between the time the current location is obtained and the time when the severe weather arrives) to determine whether the first preset condition is met.

[0059] The first preset condition mentioned above is the condition for determining whether the robot can safely return to the warehouse by comparing the second and third time periods.

[0060] In one example, if the difference between the second duration and the third duration is less than the preset duration, the first preset condition is met; if the difference between the second duration and the third duration is greater than or equal to the preset duration, the first preset condition is not met, and cleaning continues. After the first duration interval from the current location, the robot's location is re-acquired to determine the new second duration and the new third duration, and the determination of whether the first preset condition is met continues.

[0061] The preset duration is longer than the first duration mentioned above. Optionally, the preset duration can be less than twice the first duration. This ensures that the robot can return to the storage compartment in time when severe weather arrives, while also cleaning as much of the solar panel area as possible.

[0062] S103. If the robot is in a warehouse state, then if the robot's most recent departure time is at least four hours earlier than the arrival time of the severe weather, the robot's return point is determined by combining the robot's travel speed and planned path.

[0063] If it is determined that severe weather is about to arrive, but there is still a relatively long time between the arrival time and the robot's last departure from the storage compartment (i.e., at least the fourth time period mentioned above), then the robot can leave the storage compartment to clean, and can return to the charging compartment before the arrival of severe weather. This increases the robot's time to leave the storage compartment for cleaning, ensuring the working efficiency of the photovoltaic panels.

[0064] S104. Control the operation of the robot according to the return point.

[0065] As can be seen from steps S101-S102 above, this application reduces the robot's dwell time in the storage compartment, increases cleaning time, and improves cleaning efficiency. At the same time, it ensures that the robot can return to the storage compartment promptly in inclement weather, guaranteeing safe cleaning.

[0066] Based on the above statements, it can be seen that the current operating state of the robot in this application is divided into a storage state and a cleaning state. Therefore, there are corresponding methods for determining the return point for the two robot states, as shown in the following examples:

[0067] When the robot is in cleaning mode, the specific steps in step S102 above may include:

[0068] Step A1: After each first time interval, obtain the location of the robot.

[0069] Optionally, a timer can be set to retrieve the robot's location at regular intervals.

[0070] The first duration mentioned above can be a duration that gradually decreases over time to increase the frequency of subsequent detections. Of course, the first duration can also be a fixed duration, or other durations can be set according to user needs.

[0071] Step A2: Based on the location, determine the time required for the robot to return from that location to the charging compartment (second time).

[0072] Optionally, the calculation method for the second duration may be as follows: planning a return path from the current location to the charging compartment, calculating the length of the return path as a first distance; and determining the second duration based on the first distance and the travel speed.

[0073] For example, when the robot is moving at a constant speed, the ratio of the first distance to the moving speed is used as the second duration.

[0074] Step A3: Determine whether the difference between the time required for the robot to return to the charging compartment from its current location (second time) and the time required to reach the charging compartment under the current severe weather (third time) is less than a preset time.

[0075] The preset duration is greater than the first duration to avoid the preset duration being too short. Although the difference between the second and third durations obtained last time is greater than the preset duration, compared with the first duration obtained on the previous side, the second duration is less than the third duration when the current position is obtained again. This can lead to the problem of not being able to return to the warehouse in time before the arrival of severe weather.

[0076] Optionally, the preset duration can be less than twice the first duration to achieve more cleaning, or it can be set to be greater than twice the first duration.

[0077] Understandably, based on the statement in step S101 above, the weather forecast needs to be re-acquired at every target time interval. This target time interval, when manually set, needs to be less than the aforementioned sixth time interval, for example, it could be a few minutes or a dozen minutes. The aforementioned sixth time interval needs to be set to a relatively long duration, generally not less than five hours, to avoid the sixth time interval being too short, which would be insufficient for the robot to return to the storage compartment when severe weather is detected, and also to prevent subsequent weather changes from going undetected, affecting subsequent judgments. In this way, weather conditions for a relatively long period in the future (the sixth time interval) can be obtained in advance and continuously refreshed. This allows for the prediction of the possibility of severe weather in the distant future, and when it occurs, steps S102-S104 above are executed. This ensures that before severe weather arrives, in cleaning mode, the robot's current location can be continuously refreshed, and the current location can be determined to continue cleaning or initiate a return to the storage compartment before the severe weather arrives, ensuring safety and allowing for cleaning as much area as possible based on the arrival time of severe weather. In storage mode, based on the most recent departure time, it is determined whether it is still possible to leave the compartment for cleaning before the arrival time of severe weather.

[0078] Step A4: If the difference between the second duration and the third duration is less than the preset duration, then the location is the return point; if the difference between the second duration and the third duration is not less than the preset duration, then continue to execute step A1 and subsequent steps.

[0079] Steps A1-A4 above periodically obtain the robot's location to determine if the planned return time is greater than the time required for the robot to return to the bin during severe weather, and whether the difference is less than a preset time. If it is not less than the preset time, there is still some cleaning time before the severe weather arrives. However, if it is less than the preset time, the severe weather is approaching, and the return-to-bin process needs to be initiated to ensure the robot can safely return when the severe weather arrives. This ensures the robot can make full use of the time before severe weather arrives for cleaning, while also ensuring a safe return to the bin, preventing damage to the robot.

[0080] Furthermore, following steps A1-A4 above, weather forecasts can be obtained periodically, and the return point can be updated based on weather changes. Specifically, this can be done as follows:

[0081] Every five preset time intervals, the weather forecast for the robot's location within the next six time intervals is retrieved again. If the weather forecast indicates severe weather at the robot's location within the next six time intervals, the steps of determining the robot's return point and subsequent steps based on the arrival time of the severe weather and the robot's first parameters are executed, and the return point is updated if it changes. If the weather forecast indicates normal weather at the robot's location within the next six time intervals, the return point is updated to the cleaning point corresponding to the completion of this cleaning task.

[0082] In this way, after each return point is determined, this application will also periodically obtain new weather forecasts and re-determine new return points to avoid the robot returning to the warehouse too late due to the arrival of severe weather, which would affect the safety of the robot's operation; or the robot returning to the warehouse too early due to the arrival of severe weather or the change of severe weather to normal weather, thus avoiding wasting the robot's cleaning time.

[0083] Based on the above statements, when the robot is in the warehouse state, step S103 may include:

[0084] Step B1: Determine the safe time interval between the robot's most recent departure time and the arrival time of the severe weather.

[0085] Step B2: If the safe duration is greater than or equal to the fourth duration, determine whether the safe duration is less than the task duration.

[0086] The above-mentioned task duration is the time required for the robot to successfully complete the cleaning task and return to the charging compartment during its most recent departure from the compartment.

[0087] Step B3: If the safe duration is less than the task duration, then based on the travel speed, determine the travel path length of the robot over the safe duration; according to the planned path, the position point corresponding to the robot cleaning less than or equal to half of the travel path length is taken as the return point.

[0088] For example, the above planning path can be found in [reference needed]. Figure 2 The diagram shows a preset path for a robot to clean a photovoltaic panel. The green indicator line with arrows represents the preset path for the robot to clean the photovoltaic panel, and P represents the storage compartment for the robot.

[0089] Step B4: If the safety duration is longer than the task duration, then based on the planned path, the location where the robot last performed the cleaning task outside the warehouse ended is taken as the return point.

[0090] If the aforementioned safe time is longer than the mission time, meaning that the most recent outbound cleaning mission can be completed before the arrival of severe weather, then the location where the cleaning mission ended can be used as the return point.

[0091] Step B5: If the safe duration is less than the fourth duration, then the robot's exit time is determined based on the end time of the severe weather.

[0092] If the safe duration is less than the fourth duration, the robot will not leave the warehouse to clean until the severe weather ends.

[0093] Optionally, the fourth duration mentioned above is a parameter that is set manually, for example, it can be thirty minutes.

[0094] As described in steps B1-B5 above, when in the storage state, the robot's decision to leave the storage is determined based on the safety timeframe. If severe weather is imminent (step B5), the robot can remain in the storage state, waiting for the severe weather to end before leaving. If the severe weather is still some time away (step B3), the robot will leave the storage to clean. Based on the safety timeframe, it will be determined whether the robot's most recent exit can complete the current cleaning task. If the robot can complete the entire cleaning task within the safety timeframe, then the cleaning task will be executed. If the safety timeframe is insufficient to complete the cleaning task, the robot can plan the length of its cleaning path based on the safety timeframe, planned path, and travel speed, cleaning as much as possible, rather than not leaving the storage to clean even if severe weather is predicted. This reduces the robot's time spent in the storage, increases cleaning time, and improves cleaning efficiency. Simultaneously, it ensures that the robot can return to the storage in time during severe weather, guaranteeing safe cleaning.

[0095] Furthermore, every five hours, the weather forecast for the robot's location within the next six hours can be retrieved. If there is an update indicating when severe weather will arrive, steps B1-B5 above are repeated to re-determine the return point based on steps B3-B4, or to re-determine the departure time based on step B5. If the severe weather turns to normal weather, the robot leaves the warehouse based on the most recent departure time, and the current return point is updated to the cleaning point corresponding to the completion of this cleaning task.

[0096] Optionally, the fifth duration is shorter than the sixth duration. For example, the fifth duration can be a fraction or a tenth of the sixth duration. For instance, the fifth duration can be five minutes. If severe weather is detected in the sixth duration, the weather forecast is retrieved every five hours to update the return point based on weather changes.

[0097] This avoids the situation where severe weather arrives early and causes the robot to return to the storage compartment too late, thus affecting the safety of the robot's operation; or the situation where severe weather arrives late or turns into normal weather, causing the robot to return to the storage compartment too early, thus avoiding wasting the robot's cleaning time.

[0098] Based on the above embodiments, the above method may further include:

[0099] When the robot leaves the warehouse, the robot's current battery level is obtained once every seven preset time intervals;

[0100] If the robot's current battery level is less than the preset battery level, the robot's current location is the return point, and the robot is controlled to return to the storage compartment.

[0101] Optionally, the preset power level can be 30% of the robot's total power storage capacity.

[0102] In this way, the robot's battery status can be obtained periodically through a timer, so that the robot can return to the storage compartment in a timely manner when the battery is low.

[0103] Based on the above embodiments, before step S101, the method further includes:

[0104] Obtain the weather forecast for the robot's location within the next six hours;

[0105] The weather forecast data is divided to determine whether the weather will be severe or normal in the next six hours for the robot's location indicated by the weather forecast.

[0106] By obtaining the weather forecast for the robot's location within the next six hours and dividing the forecast data to distinguish between severe and normal weather, the robot can perform cleaning as described above if the weather is severe. If the weather is normal, the current cleaning schedule continues, such as leaving the robot's compartment at the scheduled time, cleaning along a preset path on the photovoltaic panel, and returning to the compartment at the end of the preset path to prepare for the next cleaning session.

[0107] Optionally, if the weather forecast data shows that rainfall exceeds a first threshold, snowfall exceeds a second threshold, wind speed exceeds a third threshold, and condensation exceeds a fourth threshold, then the weather forecast indicates that severe weather is expected in the robot's location within the next first time period. It is understood that if rainfall, snowfall, wind speed, and condensation do not exceed their corresponding thresholds, the weather can be classified as normal. Of course, the weather data is not limited to the above settings; other weather data can be classified as needed, such as hail.

[0108] Optionally, the specific method for obtaining weather forecasts mentioned above can be to send the latitude and longitude of the robot's location to the weather application programming interface (API) based on local real-time kinematic (RTK) positioning information, in order to receive the weather forecast fed back by the weather application programming interface.

[0109] The aforementioned RTK positioning is based on a Global Navigation Satellite System (GNSS, such as GPS, BeiDou, etc.) and can output latitude and longitude positioning information.

[0110] Optionally, the robot can access commonly used weather APIs, such as the China Meteorological Administration API, via 4G or 5G networks. Using local RTK positioning information, the robot's latitude and longitude are transmitted back to the weather API interface via HTTP service. The weather API interface can then transmit local weather forecast data back to the robot based on the latitude and longitude.

[0111] Based on the above embodiments, see Figure 3 The diagram illustrates a process for a robot cleaning photovoltaic panels to determine its return point. Based on the above embodiment, the steps for a robot cleaning photovoltaic panels to determine its return point can be as follows:

[0112] S301. At each target time interval, obtain the weather forecast for the robot's location within the next six time intervals.

[0113] S302. Determine whether the weather is severe based on the weather forecast data.

[0114] S303. If it is in bad weather, determine whether the robot is in cleaning mode or in storage mode. If it is not in bad weather, continue to execute step S301.

[0115] Understandably, in non-severe weather (normal weather), the current cleaning schedule will continue, and step S301 will be executed to obtain subsequent weather information.

[0116] S304. If in cleaning mode, the robot's location is obtained every first time interval. If the difference between the time required for the robot to return to the charging compartment from the location and the time required to return in the current inclement weather is less than a preset time interval, then the location is designated as the return point. Simultaneously, the robot's current battery level is obtained every preset seventh time interval. If the robot's current battery level is less than a preset battery level, the robot's current location is designated as the return point, and the robot is controlled to return to the charging compartment.

[0117] S305. If the robot is in the warehouse, determine that the time of the robot's most recent departure from the warehouse is earlier than the safe duration of the arrival of the severe weather; if the safe duration is greater than or equal to the fourth duration, determine whether the safe duration is less than the task duration.

[0118] The task duration is the time required for the robot to successfully complete the cleaning task and return to the charging compartment during its most recent departure from the compartment.

[0119] S306. If the safe duration is less than the task duration, then based on the travel speed, determine the travel path length of the robot over the safe duration; according to the planned path, the position point corresponding to the robot cleaning less than or equal to half of the travel path length is designated as the return point; simultaneously, after the robot leaves the compartment, the current battery level of the robot is acquired every preset seventh time interval; if the current battery level of the robot is less than the preset battery level, the current position of the robot is designated as the return point, and the robot is controlled to return to the compartment.

[0120] S307. If the safe duration is longer than the task duration, then based on the planned path, the location where the robot last performed its cleaning task outside the bin is taken as the return point. Simultaneously, after the robot leaves the bin, its current battery level is acquired every preset seventh time interval; if the robot's current battery level is less than the preset battery level, the robot's current location is taken as the return point, and the robot is controlled to return to the bin.

[0121] Understandably, in the above steps S304, S306 and S307, the step of returning the battery to its storage compartment when the battery level is lower than the preset level has the highest priority.

[0122] S308. At each preset fifth time interval, determine whether it is severe weather based on the re-acquired weather forecast data; if it is severe weather, execute S303-S307 to update the return point if it changes; if it is not severe weather, update the return point to the cleaning point corresponding to the completion of this cleaning task.

[0123] The above steps S301-S308 are executed to determine the return point, and the robot cleans along the preset planned path for cleaning the photovoltaic panels, then initiates the return to the return point. This application can increase the robot's cleaning time, greatly improve the cleaning effect, and reduce the impact of dirt on the photovoltaic panels on energy conversion. Furthermore, it eliminates the need for human intervention, reducing labor costs. In addition, especially for cleaning photovoltaic panels at large angles, if the robot fails to return to the return point in time due to inclement weather, there is a risk of it slipping. This application increases cleaning time while continuously updating the return point, improving cleaning safety and ensuring stable robot operation.

[0124] The above are some specific implementations of a robot control method for cleaning photovoltaic panels provided in this application. Based on this, this application also provides a corresponding device. The device provided in this application will be described below from the perspective of functional modularity.

[0125] See Figure 4 The diagram shows a structural schematic of a robot control device for cleaning photovoltaic panels. The robot control device for cleaning photovoltaic panels includes:

[0126] The judgment unit 401 is used to determine the state of the robot when the weather forecast indicates that there will be severe weather in the robot's location within the next six hours.

[0127] The first processing unit 402 is used to obtain the location of the robot if the robot is in a cleaning state, and determine the location as the return point when the time required for the robot to return to the warehouse from the location is compared with the time required to arrive in bad weather, which meets a first preset condition.

[0128] The second processing unit 403 is used to determine the robot's return point if the robot is in a warehouse state, and the robot's most recent departure time is at least four hours earlier than the arrival time of the severe weather, by combining the robot's travel speed and planned path.

[0129] The execution unit 404 is used to control the operation of the robot according to the return point.

[0130] Based on the aforementioned device, this application uses the judgment unit 401 to determine the robot's operating status in the event of severe weather. When the robot is in cleaning mode, the first processing unit 402 obtains its location and compares the time required to return to the charging compartment with the time required for severe weather to arrive. If the arrival of severe weather is still some time away, cleaning can continue; otherwise, the robot needs to return to the charging compartment. When the robot is in the charging compartment, the second processing unit 403 can continue cleaning even if the arrival of severe weather is late, and determines the end point of the robot's cleaning based on its preset planned path and travel speed as the return point. This improves the robot's cleaning time and cleaning effect, reduces the impact of dirt on the photovoltaic panels' energy conversion, and eliminates the need for human intervention, thus reducing labor costs.

[0131] Optionally, the first processing unit 402 is specifically used to obtain the location of the robot at each first time interval.

[0132] Optionally, the first processing unit 402 is specifically configured to satisfy a first preset condition if the difference between the time required for the robot to return from its location to the charging compartment and the time required to reach the charging compartment under the current severe weather is less than a preset time.

[0133] Optionally, the first processing unit 402 is specifically used to calculate the first distance between the current location and the charging compartment; and to determine the time required for the robot to return from the current location to the charging compartment based on the first distance and the travel speed.

[0134] Optionally, the second processing unit 403 is specifically used to determine the safe duration for which the robot's most recent exit time is earlier than the arrival time of the severe weather; if the safe duration is greater than or equal to the fourth duration, determine whether the safe duration is less than the task duration; the task duration is the time required for the robot to successfully complete the cleaning task and return to the charging compartment during its most recent exit; if the safe duration is less than the task duration, determine the length of the robot's travel path over the safe duration based on the travel speed; according to the planned path, use the position point corresponding to the robot cleaning less than or equal to half of the travel path length as the return point; if the safe duration is greater than the task duration, use the position where the robot's most recent cleaning task ended based on the planned path as the return point.

[0135] Optionally, the second processing unit 403 is specifically used to determine the robot's exit time based on the time when the severe weather ends, provided that the robot's most recent exit time is not earlier than the time when the severe weather arrived at least four hours ago.

[0136] Optionally, the device further includes an updating unit, which is used to reacquire the weather forecast for the robot's location within a future sixth hour every preset fifth hour interval; if the weather forecast indicates that there will be severe weather at the robot's location within the future sixth hour, then the step of determining the robot's return point and subsequent steps based on the arrival time of the severe weather and the robot's first parameters is executed, and the return point is updated if it changes; if the weather forecast indicates that there will be normal weather at the robot's location within the future sixth hour, then the return point is updated to the cleaning point corresponding to the completion of this cleaning task.

[0137] Optionally, the device further includes a power detection unit, which is used to acquire the current power of the robot every preset seventh time interval when the robot leaves the warehouse; if the current power of the robot is less than the preset power, the current position of the robot is designated as the return point, and the robot is controlled to return to the warehouse.

[0138] Optionally, the device further includes an acquisition unit, which is used to send the latitude and longitude of the robot's location to the weather application programming interface based on local real-time dynamic positioning information, and to acquire the weather forecast of the robot's location within the next six hours fed back by the weather application programming interface.

[0139] The weather forecast data is divided to determine whether the robot's location, as indicated by the weather forecast, will experience severe or normal weather within the next six hours. Specifically, if the weather forecast data shows one or more of the following: rainfall exceeding a first threshold, snowfall exceeding a second threshold, wind speed exceeding a third threshold, and condensation exceeding a fourth threshold, then the weather forecast indicates that the robot's location will experience severe weather within the next six hours.

[0140] This application also provides a photovoltaic panel cleaning robot, which includes a memory and a processor. The memory is used to store instructions or code, and the processor is used to execute the instructions or code to enable the photovoltaic panel cleaning robot to perform a robot control method for cleaning photovoltaic panels as described in any embodiment of this application.

[0141] This application also provides a computer storage medium storing code, wherein when the code is executed, a device running the code implements a robot control method for cleaning photovoltaic panels as described in any embodiment of this application.

[0142] In the embodiments of this application, the terms "first" and "second" (if they exist) are used only as name identifiers and do not represent the order of first and second.

[0143] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus a general-purpose hardware platform. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0144] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0145] The above description is merely an exemplary implementation of this application and is not intended to limit the scope of protection of this application.

Claims

1. A robot control method for cleaning photovoltaic panels, characterized in that, include: If the weather forecast indicates that there will be severe weather in the robot's location within the next six hours, determine the robot's current state. If the robot is in cleaning mode, the robot's location is obtained. When the time required for the robot to return to the warehouse from the location is compared with the time required to arrive in bad weather, and the first preset condition is met, the location is determined as the return point. If the robot is in a warehouse state, then if the robot's most recent departure time is at least four hours earlier than the arrival time of the severe weather, the robot's return point is determined by combining the robot's travel speed and planned path. The robot's operation is controlled based on the stated return point.

2. The method according to claim 1, characterized in that, The process of obtaining the location of the robot includes: At each first time interval, the location of the robot is obtained; The comparison of the time required for the robot to return to the warehouse from its current location with the time required to reach the warehouse in inclement weather, satisfying a first preset condition, includes: If the difference between the time required for the robot to return to the warehouse from its current location and the time required to reach the warehouse under the current severe weather is less than a preset time, then the first preset condition is met.

3. The method according to claim 2, characterized in that, The method for calculating the time required for the robot to return to the warehouse from its current location is as follows: Calculate the first distance between the current location and the charging compartment; Based on the first distance and the travel speed, the time required for the robot to return to the warehouse from its current location is determined.

4. The method according to claim 1, characterized in that, If the robot's most recent departure time is at least four hours earlier than the arrival time of the severe weather, the robot's return point is determined by combining its travel speed and planned path, including: Determine the safe time interval between the robot's most recent departure time from the warehouse and the arrival time of the severe weather. If the safe duration is greater than or equal to the fourth duration, it is determined whether the safe duration is less than the task duration; the task duration is the time required for the robot to successfully complete the cleaning task and return to the warehouse the most recent time. If the safe time is less than the task time, the travel path length of the robot over the safe time is determined based on the travel speed; according to the planned path, the position point corresponding to the robot cleaning less than or equal to half of the travel path length is taken as the return point. If the safe duration is longer than the task duration, then based on the planned path, the location where the robot last performed its cleaning task outside the warehouse ends will be used as the return point.

5. The method according to claim 4, characterized in that, The robot is in a warehouse-in state, and if the robot's most recent departure time is no earlier than at least four hours after the arrival of the severe weather, the method further includes: The robot's departure time is determined based on when the severe weather ends.

6. The method according to claim 1, characterized in that, Before controlling the robot's operation based on the return point, the method further includes: Every five preset time intervals, the weather forecast for the robot's location for the next six time intervals is retrieved again; If the weather forecast indicates that there will be severe weather in the robot's location within the next six hours, then the steps of determining the robot's return point and subsequent steps based on the arrival time of the severe weather and the robot's first parameters are executed, and the return point is updated if it changes. If the weather forecast indicates that the robot's location will have normal weather for the next six hours, then the return point will be updated to the cleaning point corresponding to the completion of this cleaning task.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: When the robot leaves the warehouse, the robot's current battery level is obtained once every seven preset time intervals; If the robot's current battery level is less than the preset battery level, the robot's current location is the return point, and the robot is controlled to return to the storage compartment.

8. The method according to claim 7, characterized in that, The method further includes: Based on local real-time dynamic positioning information, the robot's latitude and longitude are sent to the weather application programming interface to obtain the weather forecast for the robot's location within the next six hours. The weather forecast data is divided to determine whether the robot's location, as indicated by the weather forecast, will experience severe or normal weather within the next six hours. Specifically, if the weather forecast data shows one or more of the following: rainfall exceeding a first threshold, snowfall exceeding a second threshold, wind speed exceeding a third threshold, and condensation exceeding a fourth threshold, then the weather forecast indicates that the robot's location will experience severe weather within the next six hours.

9. A robot control device for cleaning photovoltaic panels, characterized in that, include: The judgment unit is used to determine the state of the robot when the weather forecast indicates that there will be severe weather in the robot's location within the next six hours. The first processing unit is configured to, if the robot is in a cleaning state, obtain the location of the robot, and determine the location as a return point when comparing the time required for the robot to return to the warehouse from the location with the time required to arrive in bad weather, which meets a first preset condition. The second processing unit is used to determine the robot's return point if the robot is in a warehouse state, and the robot's most recent departure time is at least four hours earlier than the arrival time of the severe weather, by combining the robot's travel speed and planned path. An execution unit is used to control the operation of the robot based on the return point.

10. A photovoltaic panel cleaning robot, characterized in that, The robot control method for cleaning photovoltaic panels described in any one of claims 1-8 is adopted.

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