Posture adjusting method of photovoltaic hanging type sweeper

Abstract

The invention relates to the technical field of posture adjustment, in particular to a posture adjustment method of a photovoltaic hanging type sweeper, which comprises the following steps of: based on a photovoltaic module array, analyzing a pitch angle of the hanging type sweeper and data of a height sensor, judging front-end offset and adjusting a pitch motor, correcting a pitch posture in real time, and further collecting wind speed and pressure; and the fitting degree is optimized, angle adjustment of the supporting points is linked, and a master control attitude signal is output. According to the invention, parameter-associated dynamic attitude adjustment is realized through linkage of pitching angle change, hanger front end height, cleaning pressure change, wind speed influence and supporting point angle data, multi-level control judgment is carried out according to a change trend fed back by a sensor in real time, offset correction, resistance adjustment, fitting optimization and supporting coordination are brought into the same adjustment process, and the adjustment precision is improved. And effective control parameters are dynamically screened, and an execution component is driven to complete continuous compensation, so that the hanging type sweeper always keeps effective fit with the photovoltaic module under path sudden change, wind disturbance influence and structure change.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of posture adjustment, in particular to a posture adjustment method of a photovoltaic hanging cleaning machine. BACKGROUND

[0002] The field of posture adjustment involves the detection and adjustment of the orientation and position of mechanical devices or equipment in space, including the use of sensors to collect spatial pose information and the use of control devices to achieve automatic or semi-automatic posture correction. It is widely used in the fields of robots, drones, and automatic cleaning equipment. The traditional posture adjustment method of a photovoltaic hanging cleaning machine involves setting sensors to monitor the angle and distance changes of the cleaning machine relative to the surface of the photovoltaic module during cleaning. The use of motor-driven devices allows for the adjustment of the cleaning machine's elevation, pitch, or rotation. Typically, angle sensors are used in combination with microprocessors to control the movement trajectory of the motor, allowing the cleaning machine to adjust its posture to fit the surface of the photovoltaic panel, thereby adapting to different angles and positions for cleaning operations.

[0003] The adjustment method used in the prior art is mainly triggered by a single parameter. During the posture adjustment process, it is difficult to perceive the coupling relationship between height changes, resistance fluctuations, and wind speed disturbances. Problems such as delayed judgment of deviation, jumping of the cleaning brush head, and delayed response of the support structure often occur in the work site. When encountering differences in height between arrays, fluctuations in the surface of the module, or air flow disturbances, it can cause imbalance in the fitting pressure, missing cleaning in some areas, and abnormal operation of the device, affecting the continuity of the operation and thus the cleaning efficiency and maintenance safety. SUMMARY

[0004] The purpose of the present application is to solve the problems existing in the prior art and to provide a posture adjustment method for a photovoltaic hanging cleaning machine.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a posture adjustment method for a photovoltaic hanging cleaning machine, comprising the following steps: S1: Based on the photovoltaic module array, analyze the angle change data, detect the height of the front end of the hanging rack, compare the change rates of the pitch angle and the height, judge the front end deviation, and adjust the running state of the pitch motor to obtain the deviation correction factor; S2: Based on the deviation correction factor, analyze the resistance fluctuation rate by combining the cleaning resistance change detected by the pressure sensor, judge the influence of resistance change on pitch adjustment, drive the pitch execution motor to respond, and obtain the resistance linkage parameter; S3: Based on the resistance linkage parameter, call the wind speed change and pressure change, compare the pressure reduction rate and the wind speed rise rate, judge the influence of wind speed on the fitting pressure, link the pitch motor optimization action sequence, and obtain the fitting stability parameter; S4: Based on the fitting stability parameter, the data of the pressure sensor and the support point angle sensor are combined to judge the cooperation of pressure change and support point angle, drive the electric mechanism to adjust the support point angle, and obtain the support dynamic parameter; S5: Based on the support dynamic parameter, the resistance linkage parameter is combined to compare the influence of the two parameters on the posture change of the cleaning machine, screen the optimal parameter as the control signal, and obtain the main control posture signal.

[0006] The present application improves that the offset correction factor includes a correction angle, a correction action number, and a judgment label, the resistance linkage parameter includes a friction change identifier, a response classification, and a dynamic adjustment number, the fitting stability parameter includes a fitting state code, a wind pressure adaptation coefficient, and a pressure floating identifier, the support dynamic parameter includes a support state level, an angle adjustment code, and a structure coordination label, and the main control posture signal includes a control strategy number, a target action type, and a switching priority label.

[0007] The present application improves that the offset correction factor is obtained by the following steps: S111: Based on the photovoltaic module array, the continuous angle change of the pitch angle sensor in the photovoltaic module array cleaning operation process is analyzed, the change of the angle information of each time period is sorted and compared, the data flow accuracy is optimized, and the pitch angle rate sequence feature is obtained. S112: Based on the pitch angle rate sequence feature, the continuous height change collected by the vertical height sensor at the front end of the hanger is compared, the change trend of the height information of each stage is calculated, the change feature of the hanger dynamic state is identified, and the hanger height rate sequence feature is obtained. S113: The trend consistency of the hanger height rate sequence feature and the pitch angle rate sequence feature is judged, the change synchronization of the two groups of feature data is analyzed, the pitch driving motor operation action is adjusted, and the correction action category is marked, and the offset correction factor is obtained.

[0008] The present application improves that the resistance linkage parameter is obtained by the following steps: S211: Based on the offset correction factor, the continuous data sequence of the pitch angle sensor and the height sensor is analyzed, the change trend and fluctuation feature thereof are compared, the period when the angle change and the height change appear in inconsistent directions is judged, the data alignment mode is optimized, the key abnormal segment is screened, and the pitch height deviation sequence is obtained. S212: Based on the pitch height deviation sequence, the trend relationship between the continuous data of the pressure sensor is judged, the synchronization of the two in the same period is compared, the interval where the trend reversal or fluctuation coupling exists is analyzed, the fluctuation characteristic period is determined, and the posture resistance matching feature quantity is obtained. S213: Based on the attitude resistance matching feature quantity, adjust the response priority in the cleaning process, combine the change behavior detected in the pressure sensor sequence, optimize the action instruction output of the pitch driving motor, judge the action adjustment response, and obtain the resistance linkage parameter.

[0009] The application improves that the acquisition step of the fitting stability parameter is specifically: S311: Based on the resistance linkage parameter, compare the wind speed change and pressure change collected by the wind speed sensor and the pressure sensor in the same time period, judge the consistency of the rate change of the two, optimize the data acquisition process, and obtain the wind pressure disturbance rate distribution feature; S312: Screen the wind speed change rising interval in the wind pressure disturbance rate distribution feature, analyze the contact bandwidth of the cleaning machine and the component, the response speed of the pitch motor and the pressure change trend, judge the synchronization performance of each data, and obtain the linkage response synchronization mode identifier; S313: Based on the linkage response synchronization mode identifier, adjust the mapping relationship with the wind pressure disturbance rate distribution feature, calculate the action adjustment sequence, optimize the pitch motor action instruction, and analyze the execution stability of the control instruction, and obtain the fitting stability parameter.

[0010] The application improves that the acquisition step of the support dynamic parameter is specifically: S411: Based on the fitting stability parameter, analyze the real-time data collected by the pressure sensor and the support point angle sensor, compare the direction of the pressure change trend and the angle change trend, judge the change consistency between them in time, classify the sections with consistent changes, screen the change interval with correlation characteristics, and obtain the trend coordination determination index; S412: Based on the trend coordination determination index, couple the amplitude and rate of pressure change and angle change, analyze the synchronization of each group of data in time sequence, and obtain the support matching response amplitude; S413: According to the support matching response amplitude, compare the matching of the current support point state and the normal adjustment interval, judge the deviation of the synchronous adjustment, drive the electric actuator to adjust the support point angle of the hanger, and obtain the support dynamic parameter.

[0011] The application improves that the acquisition step of the main control attitude signal is specifically: S511: Based on the support dynamic parameter, analyze the response relationship of the resistance linkage parameter in the pitch mechanism adjustment process, compare the action synchronization of the support mechanism and the friction response, judge the influence of the two on the attitude adjustment process of the cleaning machine, and obtain the attitude response synchronization parameter; S512: Based on the attitude response synchronization parameter, the cooperation stability between the support point change and the pitch execution action is compared, the coordination ability of the two groups of parameters in each control scene is optimized, and the attitude adjustment candidate is obtained; S513: Based on the attitude adjustment candidate, the corresponding target action type and priority order are judged, the control signal of the pitch and the support mechanism is adjusted, the attitude adjustment action flow is set, and the main control attitude signal is obtained.

[0012] The running state refers to the working mode and the current output angle of the pitch motor, including continuing to press down, lifting or keeping unchanged, the cleaning resistance change refers to the change of the frictional resistance of the cleaning brush head, the bottom plate and the surface of the photovoltaic module when they are in contact with each other over time, and the pressure reduction rate refers to the speed of the contact pressure between the cleaning machine and the surface of the module measured by the pressure sensor in unit time.

[0013] Compared with the prior art, the advantages and positive effects of the present application are that: In the present application, through the linkage of the pitch angle change, the front end height of the hanger, the cleaning pressure change, the wind speed influence and the support point angle data, the dynamic attitude adjustment of the parameter correlation is realized, the multi-level control judgment is made according to the change trend of the real-time feedback of the sensor, the offset correction, the resistance adjustment, the fitting optimization and the support coordination are included in the same adjustment process, the effective control parameters are dynamically screened, the execution components are driven to complete continuous compensation, so that the hanging cleaning machine always maintains effective fitting with the photovoltaic module under the conditions of path mutation, wind disturbance and structure change, the multi-environment adaptability and the consistency of cleaning operation are improved, and the attitude deviation and fitting imbalance phenomenon are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 The main step flowchart of the present application is shown in the figure; Figure 2 The flowchart for obtaining the offset correction factor in the present application is shown in the figure; Figure 3 The flowchart for obtaining the resistance linkage parameter in the present application is shown in the figure; Figure 4 The flowchart for obtaining the fitting stability parameter in the present application is shown in the figure; Figure 5 The flowchart for obtaining the support dynamic parameter in the present application is shown in the figure; Figure 6 The flowchart for obtaining the main control attitude signal in the present application is shown in the figure. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0016] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, in the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0017] Embodiment

[0018] Please refer to Figure 1 The present application provides a technical solution: a posture adjustment method of a photovoltaic hanging type cleaning machine, comprising the following steps: S1: Based on the photovoltaic module array, analyze the real-time angle change of the pitch angle sensor of the hanging type cleaning machine, call the height change of the front end of the hanging rack detected by the vertical height sensor, compare the pitch angle change rate with the height change rate, judge whether the front end of the hanging rack appears running deviation, and adjust the running state of the pitch driving motor to obtain the deviation correction factor; S2: Based on the deviation correction factor, compare the cleaning resistance change detected by the pressure sensor, analyze the resistance fluctuation rate recorded by the pressure sensor, judge the influence of the resistance change rate on the pitch adjustment action, and drive the pitch execution motor to respond in real time to obtain the resistance linkage parameter; S3: Based on the resistance linkage parameter, call the wind speed change and pressure change collected by the wind speed sensor and the pressure sensor, compare the pressure reduction rate with the wind speed rising rate, judge the influence of the wind speed change on the cleaning adhesion pressure, link the pitch motor adjustment action sequence to obtain the adhesion stability parameter; S4: Based on the adhesion stability parameter, combine the data recorded by the pressure sensor and the angle change feedback by the hanging rack support point angle sensor, judge the cooperation relationship between the pressure change trend and the support point angle change, drive the electric actuator to adjust the support point angle, and obtain the support dynamic parameter; S5: Based on the support dynamic parameter, combine the resistance linkage parameter, compare the actual effect of the two parameters on the posture change of the hanging type cleaning machine, select the parameter with the best response effect as the control signal, and output the adjustment instruction to obtain the main control posture signal.

[0019] The offset correction factor includes a correction angle, a correction action number, a judgment label, the resistance linkage parameter includes a friction change identification, a response classification, a dynamic adjustment number, the fitting stability parameter includes a fitting state code, a wind pressure adaptation coefficient, a pressure floating identification, the support dynamic parameter includes a support state level, an angle adjustment code, a structure coordination label, and the master control posture signal includes a control strategy number, a target action type, and a switching priority label.

[0020] In S1, the pitch angle change rate refers to the change speed of the pitch angle (the angle of the front and rear tilting / pressing down) of the cleaning machine hanger in unit time. The detection method is that the pitch angle sensor installed on the hanger outputs data in real time, and the rate is obtained by dividing the angle difference of two continuous time points by the time interval. The height change rate refers to the change speed of the vertical height of the front end (the cleaning end close to the photovoltaic panel) of the hanger relative to the reference surface in unit time. The detection method is that the height sensor (such as ultrasonic ranging / laser ranging) measures the height at multiple continuous time points, and then the rate is calculated. The running offset refers to the movement track deviation of the cleaning end of the cleaning machine due to angle or height abnormalities, which appears as one side pressing down or tilting. The judgment method is that when the pitch angle and height data change trends are out of sync, it is considered as offset. The running state refers to the working mode and current output angle of the pitch motor, such as continuing to press down, lift up or remain unchanged. The adjustment method is that according to the offset judgment, the motor changes the output angle to adjust the hanger to the target posture.

[0021] In S2, the cleaning resistance change refers to the change of the friction resistance between the brush head / plate of the cleaning machine and the surface of the photovoltaic module over time. The detection method is that the pressure or torque sensor installed on the brush head support obtains the resistance data and analyzes the change curve. The resistance fluctuation rate refers to the change speed of the resistance value in a short time, which represents the fluctuation of the cleaning process. The judgment method is to calculate the difference of continuous resistance data to obtain the change rate. The influence on pitch adjustment action refers to the need to increase or weaken the pitch adjustment when the resistance data fluctuates greatly or continuously increases or decreases to prevent problems such as jamming and slipping. Real-time response refers to that the controller obtains the resistance data and immediately drives the pitch motor to make adjustments without waiting or delay.

[0022] In S3, the pressure reduction rate refers to the speed of the pressure sensor measuring the contact pressure between the cleaning machine and the surface of the module in unit time. The detection method is to divide the difference between two pressure readings by the time interval. The wind speed rising rate refers to the speed of the wind speed value rising over time collected by the wind speed sensor. The influence of cleaning fitting pressure refers to that the sudden increase of wind speed makes the cleaning machine not fit tightly, which leads to the decline of cleaning effect or sliding. By comparing the speed of pressure drop and wind speed rise, it is judged whether the fitting adjustment needs to be strengthened. The adjustment action sequence refers to that the controller arranges the sequence or adjustment amplitude of the pitch motor action according to the comparison result of pressure / wind speed (such as preferentially pressing or first reducing pressure).

[0023] In S4, the recorded data refers to the continuous measurement values of the pressure sensor during the cleaning process, which is used to analyze the fitting state; the feedback angle change refers to the real-time angle value fed back by the angle sensor (such as a rotary encoder) at the hanging bracket support point, reflecting the actual rotation / adjustment of the hanging bracket support structure; the pressure change trend refers to the overall direction or regularity of the change of pressure data over time, such as continuous rise, fall or fluctuation; the support point angle change refers to the change of the angle of the hanging bracket connection point or shaft over time; the matching relationship refers to the correlation between the pressure change and the support point angle change (for example, when the pressure changes, whether the support point adjusts the angle in time to compensate); and the electric actuator refers to the physical components such as electric drivers and servo motors used to adjust the angle of the support point, which are directly driven by the control system.

[0024] In S5, the actual effect of the attitude change refers to the specific influence of different parameters (such as support point adjustment and resistance linkage) on the overall attitude (pitch, height, fitting state, etc.) of the cleaning machine, and the advantages and disadvantages are determined by comparing the states before and after the attitude correction; the parameter with the optimal response effect is the one that is most effective and actively fed back to the attitude correction of the cleaning machine under the current working condition among all the selectable parameters (such as support dynamic parameters and resistance linkage parameters); and the adjustment instruction specifically refers to the operation signal sent to the actuators (pitch motor, support motor, etc.) of the cleaning machine, such as increasing the pitch angle and adjusting the support point.

[0025] Please refer to Figure 2 The obtaining step of the offset correction factor is specifically: S111: Based on the photovoltaic module array, analyze the continuous angle change of the pitch angle sensor during the cleaning operation of the photovoltaic module array, and by organizing and comparing the angle information change in each time period, optimize the data flow accuracy, and obtain the pitch angle rate sequence characteristics; Before the hanging sweeper starts, the reference angle value of the pitch angle sensor at the initial position is first obtained, and the value is set as the reference point of subsequent dynamic changes. After starting the cleaning process, the pitch angle sensor automatically collects the tilt angle data of the current hanging rack every fixed time interval, forming a set of angle record data that changes continuously with time. The set of data is arranged in the order of collection time as a pitch angle time sequence, and then the angle change speed value between each continuous period is calculated, that is, the rate of increase or decrease of the pitch angle in each small period of time is analyzed. The rate value of all periods forms a pitch angle rate sequence, and the sequence is used as a parameter set that preliminarily reflects the dynamic characteristics of the hanging rack. To prevent local abnormal data from causing analysis deviation, the controller forms a data segment by combining multiple continuous rate values in a sliding period. The maximum value, minimum value and intermediate value in each segment are subjected to difference operation. If the maximum and minimum rate values in a certain data segment are found to be more than the standard limit value, such as a difference of more than 3 degrees per second, the segment of data is marked as abnormal and not used, but the previous period data is used instead. If the angles measured in a group are 10.5 degrees, 13.1 degrees and 15.8 degrees, and the time interval is 1 second, the rates generated are 2.6, 2.7 and 2.7 degrees per second, respectively, and it is judged that the fluctuations are uniform, so they can be retained as normal data. If the rates in a certain segment are 3.2, 6.4 and 9.9 degrees per second, the difference exceeds the preset upper limit, it is judged that the angle fluctuation is abnormal, and smoothing processing is required, to obtain a set of filtered pitch angle rate sequence characteristics with stable fluctuations.

[0026] S112: Based on the pitch angle rate sequence characteristics, the continuous height change collected by the vertical height sensor at the front end of the hanging rack is compared, the change trend of height information in each stage is calculated, the change characteristics of the hanging rack dynamic state are identified, and the hanging rack height rate sequence characteristics are obtained. Further call the data collected by the vertical height sensor to obtain the continuous height value of the front end of the cleaning machine hanger from the surface of the photovoltaic panel, and arrange it into a data queue in the same time period as the change of the angle, and record the corresponding time point for each group of height data, thereby analyze the height change trend between adjacent time periods, judge whether the hanger is gradually raised, lowered or kept stationary, classify the height change trend of each stage into three labels of lifting, pressing down or stable, and establish an identifier for each trend according to the actual cleaning state, for example, the trend of continuous lifting can represent that the cleaning machine encounters a raised part of the surface, the downward trend represents that the surface of the component is lower or there is a depression, and the stable state indicates that the hanger is running in the component area without obvious undulation. When the sensor detects that the same change trend appears for three consecutive periods, the trend is recorded as a stable trend segment, otherwise it is marked as a fluctuation segment. For example, if the height measured within five seconds is 122.3 cm, 122.7 cm, 123.2 cm, 123.7 cm and 124.0 cm, the average lifting amplitude is 0.4 cm per second, and this segment can be determined as a continuous lifting segment. For another example, if the height data is 124.0 cm, 123.5 cm, 123.0 cm, 122.6 cm and 122.5 cm, it is determined as a continuous downward trend segment. According to the trend segment start and end time and trend type, record the segment information and generate the hanger height rate sequence feature, which is used for subsequent trend consistency comparison with the pitch angle sequence.

[0027] S113: Determine the trend consistency of the hanger height rate sequence feature and the pitch angle rate sequence feature, analyze the change synchronization of the two groups of feature data, adjust the operation action of the pitch driving motor, and mark the correction action category to obtain the offset correction factor. The pitch angle rate sequence and the pylon front end height rate sequence are aligned according to the same time reference, the direction of the angle change and the direction of the height change in each time period are compared, and it is judged whether there is a synchronous characteristic, that is, whether the pylon front end rises when the pitch angle rises, or whether the height decreases when the pitch angle decreases. If it is found that the directions of the angle and the height change are consistent in most time periods, mark this stage as a trend synchronization state, otherwise, if the directions of the angle and the height change are opposite in most time periods, it is considered that the trends are inconsistent, and adjustment is needed. Subtract the change rate values of the two to obtain the trend deviation value of this period. If the value is greater than the set deviation reference range, such as a deviation value greater than 1.5, it is marked as serious deviation and high-intensity correction action is needed. The controller calls the current deviation value to calculate the amplitude of the correction angle, and then calls the pitch drive motor to adjust the output angle to approach the target synchronization state. At the same time, record the adjustment mode adopted by the current correction action, and generate the category number of the action, for example, the number of "down type correction" or "up type correction", and the judgment result "trend out of sync" is added as a label to the data packet. With the correction action category and the adjustment amplitude, it forms a deviation correction factor, which participates in the comparison decision in the subsequent attitude adjustment logic.

[0028] Please refer to Figure 3 The resistance linkage parameter acquisition step is specifically: S211: Based on the deviation correction factor, analyze the continuous data sequence of the pitch angle sensor and the height sensor, compare the change trend and fluctuation characteristics, judge the period when the direction of the angle change and the direction of the height change are inconsistent, optimize the data alignment method, screen the key abnormal segments, and obtain the pitch height deviation sequence; Under the premise that the cleaning machine posture has been identified as having a non-synchronous operation trend, first, the continuously recorded angle change sequence of the pitch angle sensor and the height change sequence of the height sensor recorded at the front end of the rack are called, and the two are aligned in time stamp order, then segmented every 2 seconds, the pitch angle change direction and the height change direction in each segment are extracted and assigned a direction marker, such as angle increase for upward, decrease for downward, height increase for lifting, and decrease for pressing down, if the angle is upward and the height is downward, it is recorded as a direction inconsistent interval, the time period of inconsistent direction is marked, and the angle amplitude and height amplitude in this segment are recorded, if the amplitude exceeds the corresponding reference difference value, it is considered as a key abnormal segment, wherein the reference difference value is set according to the maximum safe posture tolerance of the rack, such as pitch angle tolerance of ±4 degrees and height tolerance of ±1 centimeter, in a cleaning operation, if the sensor records that the angle continuously increases by 3.5 degrees and the height decreases by 1.4 centimeters between 8 seconds and 10 seconds, it is identified as a significant direction inconsistent period, because the height decrease value exceeds the 1 centimeter threshold, the time period is marked as a key abnormal segment, then all marked segments are combined into a deviation section list, and output as an abnormal association between pitch and height, next, the data alignment method is optimized, the pitch angle and height change data are reorganized in a multi-level alignment manner, such as first time synchronization, then trend direction synchronization, and the misaligned points caused by sensor lag are removed, the pitch height deviation sequence is output as the basis for subsequent linkage analysis with pressure sensor data.

[0029] S212: Based on the pitch height deviation sequence, the trend relationship between the continuous data of the pressure sensor is judged, by comparing the synchronicity of the two in the same period, the interval where the trend reverses or fluctuates is analyzed, the fluctuation characteristic period is determined, and the posture resistance matching characteristic quantity is obtained; On the basis of the delineated abnormal segments, further analyze the time synchronization relationship between the deviation segments and the pressure change data recorded by the pressure sensor, call the pressure data recorded every second during the cleaning process, and perform time period overlap comparison with each of the aforementioned pitch height deviation segments. If the start and end time of a certain deviation segment is highly consistent with the pressure data fluctuation interval, it is marked as a trend coupling interval. At the same time, the change direction of the pressure data in the overlapping interval is extracted. If the pressure value continuously decreases in a certain time period, and the angle rises and the height decreases at the same time, it is judged as a trend reversal behavior. If the pressure data fluctuates rapidly in this segment, mark this segment as a fluctuation coupling area. Trend reversal areas and fluctuation coupling areas are numbered independently, and the start time, end time, minimum pressure value, maximum pressure value and average change amplitude of each segment are recorded. In an actual cleaning, if the pitch angle continuously rises by 2.8 degrees and the height decreases by 0.9 centimeters during the 20th to 25th second, and the pressure value decreases from 12 newtons to 6 newtons and then rises to 11 newtons, the trend reversal and high-frequency fluctuation dual characteristics will be identified in this segment, and the time period is marked as a high-priority processing area. Extract the common characteristic parameters of all time periods with such characteristics, and establish a characteristic label according to the fluctuation frequency, change amplitude and direction synchrony in each segment. For example, a segment with more than 5 fluctuations and an amplitude of more than 5 newtons is defined as a high fluctuation segment. Extract all key time period characteristics representing the matching relationship between posture and pressure through this identification logic, and output as posture resistance matching characteristic quantity.

[0030] S213: Based on the posture resistance matching characteristic quantity, adjust the response priority in the cleaning process, combine the change behavior detected in the pressure sensor sequence, and optimize the action instruction output of the pitch driving motor. Judge the action adjustment response to obtain the resistance linkage parameter. Each high-volatility section or trend reversal section in the cleaning process is assigned a response priority level, and the pressure sensor's pressure change behavior in the corresponding time is determined, such as whether it is continuously decreasing, sharply rising, or short-term jittering, to determine whether the current pitch motor's adjustment response level needs to be raised. If the pressure value in a certain matching feature section continuously decreases beyond the set range, such as a 5-second continuous decrease of more than 6 Newtons, the section is marked as a first-level response period, and the current pitch motor output angle is immediately corrected. The correction direction is determined by the previous angle change trend. If the angle rises and the pressure decreases, the angle is adjusted to the downward direction, and vice versa. At the same time, the controller generates an action adjustment number according to the correction amplitude and compares it with the adjustment result of the previous period. If the adjustment direction of the continuous two actions is inconsistent, it is considered that there is an interference factor in the current state, and the angle adjustment is suspended and the current posture is maintained. The pressure data change trend is confirmed again. If the pressure value is stable for the next two seconds, the suspended state is canceled and the adjustment continues. Each response action records its start and end time, adjustment amplitude, angle correction direction, pressure change result, and whether it is stable, etc. Indicators, and all actions that are response effective and accurate are extracted for numbering to form the resistance linkage parameter. This parameter includes the pressure response level, pitch adjustment number, and the number of consecutive valid feedbacks, which is used for subsequent priority control judgment in the main control posture output module.

[0031] Please refer to Figure 4 The acquisition steps of the stability parameter are as follows: S311: Based on the resistance linkage parameter, compare the wind speed change and pressure change collected by the wind speed sensor and the pressure sensor in the same time period to determine the consistency of the rate change, optimize the data collection process, and obtain the wind pressure disturbance rate distribution characteristics; In the process of the pitch motor has carried on the multi-round response action, the wind speed sensor and the pressure sensor are called synchronously in the same time period to record the wind speed data and the pressure data, first of all, the wind speed data sequence and the pressure data sequence are aligned according to time with 1 second as a unit, and the numerical change of wind speed and pressure in each second is extracted, the wind speed rising amount and the pressure change amount are calculated every second, then the two groups of values are subtracted, the difference value list between wind speed change and pressure change is obtained, then the sign of the difference value list is judged, if the wind speed change is positive and the pressure change is negative in continuous multiple time periods, it shows that the pressure decreases when the wind speed increases, and the time period is marked as a disturbance reverse section, if the wind speed and the pressure change direction are consistent, and the amplitude difference is less than the set reference interval such as ± 2, it is marked as a trend synchronization section, the data is classified and stored according to the section characteristics, and the total length ratio of the trend synchronization section in the whole data is judged on this basis, if the ratio is greater than 65%, it is considered as high consistency data, if it is less than 40%, it is considered as low consistency section, take a group of actual data, if the wind speed rises from 2.4 meters per second to 5.2 meters per second in the 10th to 15th second, and the pressure value decreases from 13 newtons to 9 newtons, the change direction is completely opposite and the difference is greater than 4, the time period is marked as a disturbance reverse section, if the wind speed rises from 5.2 meters per second to 6.0 meters per second in the 16th to 20th second, and the pressure decreases from 9 newtons to 8.4 newtons, the amplitude is in the set range, it is marked as a trend synchronization section, then the fluctuation amplitude of all the marked sections is counted, the wind speed change rate distribution table is established, and then the representative data segment is extracted to form the wind pressure disturbance rate distribution characteristics.

[0032] S312: screening the wind speed change rising interval in the wind pressure disturbance rate distribution characteristics, analyzing the cleaning machine and the component contact bandwidth, the pitch motor response speed and the pressure change trend, judging the synchronization performance of each data, and obtaining the linkage response synchronization mode identification; All time segments with wind speed rising are located according to the segmented sequence, and whether there is a synchronous downward trend in the pressure value recorded by the pressure sensor in the period is compared. If the pressure downward trend is obvious, the action response data of the pitch motor in the time segment is further extracted, the starting time, action type and action amplitude of the motor response are read, and the set value of the contact bandwidth of the cleaning machine and the surface of the photovoltaic module is called again. It is judged whether the cleaning head remains effective in the action adjustment period within the bandwidth. If the pressure change trend coincides with the starting time of the motor response and the direction matches, such as the pressure data indeed shows an upward trend when the motor performs a downward action, it is determined that the time segment shows a synchronous response of action and pressure. Then, the response speed of the pitch motor, that is, the time required for the motor to start action to reach the target angle, is combined with the time interval of the pressure response to compare. If the motor response time does not exceed 2 seconds and the pressure response delay does not exceed 1 second, it is considered that the linkage response synchronization is good. If the pressure response delay exceeds 2 seconds or the direction is inconsistent, it is marked as an asynchronous segment. For example, in a certain cleaning action, the wind speed rises from 4.0 meters per second to 6.5 meters per second, and the pitch motor starts a 2.5-degree downward action from the initial angle. The starting time is the 22nd second, and the end is the 24th second. During the same period, the pressure rises from 7.8 Newton to 11.2 Newton, with a delay of 0.7 seconds. This segment is marked as a synchronous response segment. All such segments determined to be synchronous are marked as linkage response synchronization mode and are assigned an identification number for subsequent optimization of control instruction sequence.

[0033] S313: Based on the linkage response synchronization mode identification, adjust the mapping relationship with the wind pressure disturbance rate distribution characteristics, calculate the action adjustment sequence, optimize the pitch motor action instruction, and analyze the execution stability of the control instruction to obtain the fitting stability parameter. The linkage response identifiers corresponding to the characteristics of the wind pressure disturbance rate distribution are mapped and bound to construct a mapping table. The response results of the pitch motor corresponding to each wind speed rising section and the pressure feedback are included in the response matching list. Then, the execution time sequence of each list item is compared to determine whether there is an execution conflict or response overlap in the cleaning process. The action instruction sequence of the pitch motor is rearranged. The priority allocation standard is sorted by pressure change amplitude. The section with a pressure change amplitude exceeding 6 Newtons is set as the highest priority level. The medium priority level is for the section with a change amplitude of 4 to 6 Newtons and a delay of less than 1 second. The low priority level is for the section with a change amplitude lower than 4 Newtons and no clear delay pattern. The motor actions corresponding to each level are arranged in turn, and the shortest execution interval between instructions is reorganized so that high-priority actions are not disturbed by low-priority instructions. Then, according to the response feedback state of each type of instruction after it is issued in the historical record, it is determined whether the action can be completed within 2 seconds in the past ten executions. Actions with a success rate higher than 90% are marked as having high execution stability, and actions with a success rate lower than 70% are marked as having poor execution stability. The issuance frequency of the actions is adjusted in the next round of control process. In actual operation, if the instruction "pitch down 2 degrees" is completed within 1.8 seconds in 9 out of 10 executions, the stability is good, and it is selected as a key adjustment instruction and is preferentially configured as a fitting compensation instruction during the wind speed rising period. All control sequences with good stability and synchronization are combined into a fitting stability parameter output.

[0034] Please refer to Figure 5 The support dynamic parameter acquisition step is specifically: S411: Based on the fitting stability parameter, analyze the real-time data collected by the pressure sensor and the support point angle sensor, compare the direction of the pressure change trend and the angle change trend, and determine the consistency of the change in time between the two. Classify the sections with consistent changes, and select the change intervals with correlation characteristics to obtain the trend coordination determination index. With pitch adjustment and wind pressure disturbance optimized simultaneously, the cleaning contact pressure value collected in real time by the pressure sensor and the support angle data fed back in real time by the angle sensor installed on the bracket support point are used. First, the two types of data are collected once per second and organized into a synchronous time series. Then, within each time period, it is determined whether the direction of pressure change and the direction of angle change are consistent. That is, when the pressure value rises continuously, does the support point angle show a synchronous upward trend? If the two change in the same direction, the segment is marked as a positive correlation segment; if the directions are opposite, it is a negative correlation segment; if there is no significant change, it is a stable segment. Then, each type of segment is numbered and classified. Finally, the ratio of positively correlated segments to the total number of time segments is counted. If the ratio exceeds 60%, it is considered a high synergy. If the synergy is below 40%, it is considered low. Further, the pressure and angle changes in each segment are archived separately to determine if there is a high degree of consistency in amplitude. For example, if the pressure in a segment increases from 9 Newtons to 13 Newtons and the support point angle increases from 15 degrees to 19 degrees, with both pressure and angle changes differing by 4, this segment is considered to have a strong correlation. Based on this characteristic, only segments with amplitude differences within 2 and consistent change directions are retained and categorized by time period number. All segments that meet the criteria of consistent direction, similar amplitude, and change duration exceeding 3 seconds are recorded as effective trend synergy segments. A trend synergy judgment index is constructed for subsequent judgment of the synchronicity between support structure movement and pressure changes.

[0035] S412: Based on trend-coordinated judgment indicators, the magnitude and rate of pressure changes and angle changes are coupled to analyze the temporal synchronization of each data set, using the following formula: ; Obtaining support and response amplitude ,in, Indicates the first Pressure change at each sampling node Indicates the first The change in the angle of the support point of each sampling node Indicates the first Pressure changes over time periods Indicates the first Rate of angle change over time period Indicates the first The change in angle over a period of time Represents the total number of sampled data; The support coordination response amplitude is a quantitative index for measuring the cooperation, synchronization and adjustment efficiency between the angle adjustment action of the support point of the photovoltaic hanging type cleaning machine hanging rack and the pressure change of the cleaning end within a certain time range. The index can be used as a key performance quantitative output of the attitude adjustment link for supporting point dynamic control, cleaning stability self-adaptive adjustment, abnormality discrimination and the like. The numerator part measures the coupling effect of the direction and amplitude of the pressure change and the angle change, and the denominator part considers the pressure change amplitude and the complexity of the angle adjustment action, normalizes and amplitude-constrains the result, and the greater the absolute value of the formula result is, the closer the cooperation between the angle adjustment of the support point and the pressure change is, and the more efficient the adjustment is. On the contrary, if the amplitude is small, it indicates that the support action and the pressure change are out of synchronization, lag or have insufficient adjustment capacity.

[0036] Extract the pressure change amount of each sampling point 、 、 、 and the corresponding angle change amount 、 、 、 , the corresponding angle change rate is 、 、 、 , perform data normalization processing, and the normalization method adopts maximum normalization. The original dimension parameters participating in the calculation are dimensionally converted so as to facilitate subsequent operation under a unified scale. The original data and the normalized data correspond to the following, respectively, 2.1, 1.8, 2.5, 2.0 kPa, respectively, and after normalization, 0.84, 0.72, 1, 0.8, respectively, 0.05, 0.04, 0.06, 0.05 rad, respectively, and after normalization, 0.83, 0.67, 1, 0.83, respectively, 0.02, 0.015, 0.025, 0.02 rad / s, respectively, and after normalization, 0.8, 0.6, 1, 0.8, respectively, then the normalized data are substituted into the support coordination response amplitude formula for calculation. First, the sum of the numerator part is executed: ; ; The first term of the denominator part executes the square sum of the pressure change amount: ; ; The second term of the denominator part executes the square sum of the product of the angle change rate and the angle change amount: ; ; ; Substitute the sample size , the result is: ; When ≥ 0.45, it is determined as "high response interval", indicating that there is a significant synchronous linkage feature between the support point angle change and the pressure change. In each sampling segment, the angle adjustment action can timely and continuously match the pressure fluctuation trend. The system identifies the current support state as a stable adjustment state. When 0.2≤ < 0.45, it is determined as "medium response interval", indicating that the adjustment action of the support point and the pressure fluctuation exist preliminary cooperation, but have not reached complete synchronization. There are intermittent response or insufficient amplitude in the adjustment process, which needs to be transmitted to the next control logic for deviation compensation judgment. When < 0.2, it is determined as "low response interval", indicating that the support point adjustment and the pressure change lack effective coupling, the response is lagging or inconsistent, which is considered as a disordered state of the support system, and the posture correction instruction needs to be triggered immediately and the period data is marked as an incompatible section.

[0037] The calculated = 0.32 falls into the "medium response interval", which indicates that there is a certain linkage between the adjustment of the support point angle of the rack and the contact pressure monitored by the pressure sensor in the current data segment, but the adjustment matching degree is insufficient to maintain a stable fitting state. Therefore, the response amplitude result needs to be input as a matching adjustment quantitative index into the subsequent steps, and cross compared with the real-time angle state of the support point to judge whether it is outside the normal adjustment interval. If there is deviation, a correction control command is generated based on this value, and finally the support trend information and angle action data are integrated to obtain the support dynamic parameters.

[0038] S413: According to the support matching response amplitude, compare the matching of the current support point state and the normal adjustment interval, and judge the deviation of synchronous adjustment. Drive the electric actuator to adjust the rack support point angle to obtain the support dynamic parameters. The current time support point angle sensor feedback value is called and compared with the previously set normal adjustment angle interval. The normal adjustment interval is set to 10-20 degrees according to the pylon structure limit and the cleaning state range. If the current angle value of the sensor is outside the range, it is directly marked as an angle deviation state. If the angle is within the range but deviates from the historical mean value of the trend coordination segment by more than 2 degrees, it is also marked as a deviation behavior. Then the controller combines the angle deviation amplitude and the current pressure change direction to determine whether to perform support point adjustment. If the support point angle is lower than the lower limit of the normal range and the pressure value continues to decrease, it is determined to be an insufficient support state. At this time, the drive electric actuator sends a lifting command to adjust the angle to 3-5 degrees. Then the comparison process is entered again. If the angle enters the normal interval after the angle is raised and the pressure rises by more than 3 Newtons, it is determined that the adjustment is effective. If the support point angle is higher than the upper limit of the normal range and the pressure continues to rise, it is determined to be an over-support state, and a downward angle command is issued. The angle is adjusted to decrease by 2-4 degrees. The angle and pressure feedback changes are observed again during all adjustment processes. The control system records and organizes the actual adjustment amplitude, the number of executed actions, the angle change value before and after adjustment, and the pressure response change value. If two consecutive adjustments are effective in controlling the pressure within the target range, the current state of the support point is marked as "structure coordination" and assigned a response level of 1. If the adjustment effect is insufficient or the fluctuation is enlarged, it is marked as "need to be continuously corrected" and the response level is marked as 3. The support dynamic parameters including the state level, angle adjustment code, and structure coordination label are output to comprehensively judge the matching degree of the overall support posture of the cleaning machine.

[0039] Please refer to Figure 6 The acquisition steps of the main control posture signal are as follows: S511: Based on the support dynamic parameters, analyze the response relationship between the resistance linkage parameters in the adjustment process of the pitch mechanism, and judge the influence of the support mechanism and the friction response on the adjustment process of the cleaning machine posture by comparing the action synchronization of the two, to obtain the posture response synchronization parameter; The resistance linkage parameter data in the corresponding time period is called, the friction resistance change response curve caused by the action of the pitch mechanism is analyzed, the angle adjustment data of the support structure in the same period is extracted, the time points between the support action and the friction feedback are paired at 1 second intervals, whether the support point angle is adjusted in each corresponding period is first judged, whether the pitch motor is in the action execution state is then judged, if both are in the change process at the same time, it is recorded as a synchronous period, if only one of the two actions or the action start time interval is more than 1.5 seconds, it is recorded as a non-synchronous period, the above classification method is used to statistically summarize all the execution periods, if 60 seconds of cleaning action is identified in a complete cleaning cycle, among which 45 seconds of support point and pitch are adjusted and feedback friction response change at the same time, the synchronous ratio is recorded as 75%, which meets the high synchronization determination standard, then the resistance change amplitude and the support point action amplitude in each synchronous period are further extracted, if the friction resistance drop and the angle adjustment show a positive correlation trend, such as the resistance decreases by more than 5 Newtons when the angle increases by 3 degrees, the segment is recorded as a positive action segment, if the support angle adjustment has no significant relationship with the resistance change, it is recorded as an invalid segment, in all positive action segments, the start and end time, support angle change, friction resistance change and delay response time of each segment are recorded in time sequence, and a data set is constructed according to the above indexes, whether the support point action is the key influencing factor of the friction linkage is judged, the average adjustment time of the support point angle in the overall linkage trend is compared with the resistance change effective time, if the average delay between them is not more than 1 second, and the synchronous reaction frequency accounts for more than 70%, the posture response synchronization parameter is generated, which is used to reflect the linkage coordination degree between the current pitch and support system.

[0040] S512: Based on the posture response synchronization parameter, the coordination stability between the support point change and the pitch execution action is compared, the coordination ability of the two groups of parameters in each control scene is optimized, and the posture adjustment candidate is obtained. On the basis of the obtained support pitch linkage synchronization rate and response time difference statistics, the starting time, target angle, completion time and other sequence data of the pitch actuator in the past cleaning period are called, and the real-time angle adjustment behavior of the support mechanism is time axis corresponding, the cooperation relationship of each instruction pair is analyzed, first of all, whether the support action appears within 1 second after each pitch action starts is used as the preliminary judgment of whether there is linkage response, then the response time difference, pitch angle change value, support angle change value are recorded, whether there is consistent adjustment direction and amplitude complementary relationship between the two is judged, if the pitch angle is lifted and the support angle presents a downward trend, and the pressure sensor feedback pressure value is stable, it is recorded as structure complementary matching section, if the direction is consistent but the pressure continues to fluctuate after adjustment, it is recorded as direction cooperation but effect deviation section, if the direction itself is opposite, it is recorded as non-cooperation section, the above three types of paragraphs are counted respectively, the proportion and the corresponding state label, if the cooperation matching section accounts for more than 50%, record the pitch and support action combination as the preferred cooperation mode, at the same time, the combination of pressure fluctuation range within ±2 Newton in the above paragraph is marked as high stability candidate combination, and sorted by the action response speed in the combination, if the pitch angle completion adjustment time is less than 1.5 seconds and the support action is completed within 0.5 seconds after that, it is recorded as high response combination in priority, the action combination of high stability, high response, direction matching and good effect is selected into the posture adjustment candidate, for the subsequent posture control process to select.

[0041] S513: Based on the posture adjustment candidate, the corresponding target action type and priority are judged, the control signal of the pitch and support mechanism is adjusted, the main posture adjustment action process is set, and the main control posture signal is obtained; After obtaining multiple sets of support-pitch action combinations and assigning matching levels and response characteristics, the controller analyzes the action type represented by each candidate group by group, and archives its functional classification, such as whether it is a fitting strengthening action, a posture restoring action or a support readjusting action, etc. Each set of action combinations is associated with a functional type label and set with an execution priority order. The priority order is determined by three indicators, namely response speed, pressure stabilization effect and action interval control ability. The three indicators are respectively evaluated by the corresponding combination data performance in previous execution, such as response speed, less than 2 seconds for first-level response, 2-3 seconds for second-level response, and more than 3 seconds for third-level response. The pressure stabilization effect is that the pressure fluctuation within 3 seconds after cleaning is not more than 2 Newtons, and the action interval control is that the interval between consecutive instructions is not less than 1.5 seconds. Add the corresponding levels of the three indicators of each candidate group to obtain the total priority level score of the combination, and set the one with the lowest score as the preferred combination for the main posture instruction. Then write the corresponding pitch and support execution signals of the combination into the control queue in a numbered way, and distribute them in time sequence. If it is detected that the current cleaning surface wind speed is unstable, the first instruction is adjusted to a support strengthening and pitch slow pressure combination. If the surface pressure is insufficient for a long time, the pitch down pressure and support fine adjustment combination is issued as the preferred combination. In the cleaning task process, the optimal combination is dynamically selected as the execution unit, and the main posture signal structure body is constructed.

[0042] The above is only a preferred embodiment of the present application, and does not limit the form of the present application. Any skilled person in the art can modify or change the above disclosed technology content to equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification made according to the technical essence of the present application to the above embodiments without departing from the technical solution content of the present application still belongs to the protection scope of the present application.

Claims

1. A method for adjusting the posture of a photovoltaic hanging cleaning machine, characterized in that, The method comprises the following steps: S1: based on the photovoltaic module array, analyzing the angle change data, detecting the height of the front end of the rack, comparing the change rate of the pitch angle and the height, judging the front end deviation, adjusting the operation state of the pitch motor, and obtaining the deviation correction factor; S2: based on the deviation correction factor, combining the cleaning resistance change detected by the pressure sensor, analyzing the resistance fluctuation rate, judging the influence of resistance change on pitch adjustment, driving the pitch execution motor to respond, and obtaining the resistance linkage parameter; S3: based on the resistance linkage parameter, calling the wind speed change and pressure change, comparing the pressure reduction rate and the wind speed rising rate, judging the influence of wind speed on adhesion pressure, linking the pitch motor optimization action sequence, and obtaining the adhesion stability parameter; S4: based on the adhesion stability parameter, combining the data of the pressure sensor and the support point angle sensor, judging the cooperation of pressure change and support point angle, driving the electric mechanism to adjust the support point angle, and obtaining the support dynamic parameter; S5: based on the support dynamic parameter, combining the resistance linkage parameter, comparing the influence of the two parameters on the cleaning machine posture change, selecting the parameter with the best effect as the control signal, and obtaining the main control posture signal.

2. The attitude adjustment method of a photovoltaic hanging type cleaning machine according to claim 1, characterized by, The deviation correction factor includes correction angle, correction action number, judgment label, the resistance linkage parameter includes friction change identification, response classification, dynamic adjustment number, the adhesion stability parameter includes adhesion state code, wind pressure adaptation coefficient, pressure floating identification, the support dynamic parameter includes support state level, angle adjustment code, structure coordination label, and the main control posture signal includes control strategy number, target action type, switching priority label.

3. The attitude adjustment method of a photovoltaic hanging type cleaning machine according to claim 1, characterized by, The obtaining step of the deviation correction factor is specifically: S111: based on the photovoltaic module array, analyzing the continuous angle change of the pitch angle sensor in the photovoltaic module array cleaning operation process, arranging and comparing the change of angle information in each time period, optimizing the data flow accuracy, and obtaining the pitch angle rate sequence feature; S112: based on the pitch angle rate sequence feature, comparing the continuous height change collected by the vertical height sensor at the front end of the rack, calculating the change trend of height information in each stage, identifying the change feature of the rack dynamic state, and obtaining the rack height rate sequence feature; S113: judging the trend consistency of the rack height rate sequence feature and the pitch angle rate sequence feature, analyzing the change synchronization of two groups of feature data, adjusting the operation action of the pitch driving motor, and marking the correction action category, and obtaining the deviation correction factor.

4. The attitude adjusting method of the photovoltaic hanging type cleaning machine according to claim 1, characterized by, The obtaining step of the resistance linkage parameter is specifically: S211: based on the deviation correction factor, analyzing the continuous data sequence of the pitch angle sensor and the height sensor, comparing the change trend and fluctuation feature, judging the period when the angle change and the height change appear in different directions, optimizing the data alignment mode, screening the key abnormal segments, and obtaining the pitch height deviation sequence; S212: Determine the trend relationship between the continuous data of the pressure sensor based on the pitch height deviation sequence, analyze the interval where the trend reversal or fluctuation coupling exists by comparing the synchronization of the two in the same time period, determine the fluctuation characteristic period, and obtain the attitude resistance matching feature quantity; S213: Based on the attitude resistance matching feature quantity, adjust the response priority in the cleaning process, combine the change behavior detected in the pressure sensor sequence, optimize the action instruction output of the pitch driving motor, judge the action adjustment response, and obtain the resistance linkage parameter.

5. The attitude adjustment method of a photovoltaic hanging type cleaning machine according to claim 1, characterized by, The acquisition step of the fitting stability parameter is specifically: S311: Based on the resistance linkage parameter, compare the wind speed change and pressure change collected by the wind speed sensor and the pressure sensor in the same time period, judge the consistency of the rate change of the two, optimize the data acquisition process, and obtain the wind pressure disturbance rate distribution feature; S312: Screen the wind speed change rising interval in the wind pressure disturbance rate distribution feature, analyze the cleaning machine and component contact bandwidth, pitch motor response speed and pressure change trend, judge the synchronization performance of each data, and obtain the linkage response synchronization mode identifier; S313: Based on the linkage response synchronization mode identifier, adjust the mapping relationship with the wind pressure disturbance rate distribution feature, calculate the action adjustment sequence, optimize the pitch motor action instruction, and analyze the execution stability of the control instruction, and obtain the fitting stability parameter.

6. The attitude adjusting method of the photovoltaic hanging type cleaning machine according to claim 1, characterized by, The acquisition step of the support dynamic parameter is specifically: S411: Based on the fitting stability parameter, analyze the real-time data collected by the pressure sensor and the support point angle sensor, compare the direction of the pressure change trend and the angle change trend, judge the consistency of the change between them in time, classify and organize the change intervals with correlation characteristics, and obtain the trend coordination judgment index; S412: Based on the trend coordination judgment index, couple the amplitude and rate of pressure change and angle change, analyze the synchronization of each group of data in time sequence, and obtain the support matching response amplitude; S413: According to the support matching response amplitude, compare the matching of the current support point state and the normal adjustment interval, judge the deviation of the synchronous adjustment, drive the electric actuator to adjust the support point angle of the hanging rack, and obtain the support dynamic parameter.

7. The attitude adjusting method of the photovoltaic hanging type cleaning machine according to claim 1, characterized by, The acquisition step of the main control attitude signal is specifically: S511: Based on the support dynamic parameter, analyze the response relationship between the resistance linkage parameter in the pitch mechanism adjustment process, compare the action synchronization of the support mechanism and the friction response, judge the influence of the two on the attitude adjustment process of the cleaning machine, and obtain the attitude response synchronization parameter; S512: Based on the attitude response synchronization parameter, compare the matching stability between the support point change and the pitch execution action, optimize the coordination ability of the two parameters in each control scene, and obtain the attitude adjustment candidate; S513: Based on the attitude adjustment candidate, judge the corresponding target action type and priority, set the attitude adjustment action process by adjusting the control signals of the pitch and support mechanisms, and obtain the main control attitude signal.

8. The attitude adjusting method of the photovoltaic hanging type cleaning machine according to claim 1, characterized by, The operating state refers to the working mode and current output angle of the pitch motor, including continuing to press down, lifting up or remaining unchanged, the cleaning resistance change refers to the change of the frictional resistance between the cleaning brush head, the bottom plate and the surface of the photovoltaic module with time, and the pressure reduction rate refers to the speed of the pressure sensor measured contact pressure of the cleaning machine and the surface of the module in unit time.

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