A photovoltaic cleaning method, device and photovoltaic cleaning robot

Abstract

The embodiment of the present application provides a photovoltaic cleaning method, device and photovoltaic cleaning robot, and relates to the technical field of photovoltaic. The method is applied to a photovoltaic cleaning robot comprising a horizontal sensor and an RTK module, and comprises the following steps: acquiring the current position of the photovoltaic cleaning robot when the photovoltaic cleaning robot moves on a photovoltaic module; acquiring the first real-time angle of the photovoltaic cleaning robot at the current position through the horizontal sensor, and acquiring the second real-time angle of the photovoltaic cleaning robot at the current position through the RTK module; if the first real-time angle is greater than a first safety angle, and the second real-time angle is greater than a second safety angle, then controlling the photovoltaic cleaning robot to execute a safety strategy. Thus, the photovoltaic cleaning method provided by the embodiment of the present application can improve the cleaning safety of the photovoltaic cleaning robot.

Description

Technical Field

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

[0002] With the large-scale application of photovoltaic power generation technology worldwide, using automated photovoltaic cleaning robots to clean the surface of photovoltaic modules is a key means to ensure the continuous and efficient operation of photovoltaic modules.

[0003] Currently, the installation environment of photovoltaic modules is becoming increasingly diverse. Many photovoltaic modules are installed in environments with special geological conditions, such as soft sandy soil and soft soil foundations with low bearing capacity. Due to the harsh environment in which photovoltaic modules are located, the module clips are prone to aging and loosening, which may lead to problems such as local sinking or abnormal tilting of the photovoltaic modules.

[0004] However, when the photovoltaic cleaning robot cleans on the aforementioned photovoltaic module plane, it is prone to slipping, getting stuck, or even falling off the edge of the photovoltaic module, which seriously threatens the cleaning safety of the photovoltaic cleaning robot. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a photovoltaic cleaning method, apparatus, and photovoltaic cleaning robot, which can improve the cleaning safety of the photovoltaic cleaning robot.

[0006] The embodiments of this application disclose the following technical solutions: In a first aspect, this application discloses a photovoltaic cleaning method applied to a photovoltaic cleaning robot, the photovoltaic cleaning robot including a horizontal sensor and a real-time dynamic positioning (RTK) module, the method comprising: When the photovoltaic cleaning robot moves on the photovoltaic module, the current position of the photovoltaic cleaning robot is obtained; The first real-time angle of the photovoltaic cleaning robot at the current position is obtained by the horizontal sensor, and the second real-time angle of the photovoltaic cleaning robot at the current position is obtained by the RTK module. If the first real-time angle is greater than the first safety angle, and the second real-time angle is greater than the second safety angle, then the photovoltaic cleaning robot is controlled to execute a safety strategy.

[0007] Optionally, obtaining the second real-time angle of the photovoltaic cleaning robot at the current position through the RTK module includes: Based on the movement path of the photovoltaic cleaning robot on the photovoltaic module, the first RTK positioning point and the second RTK positioning point are determined. The RTK module determines the elevation and distance information between the first RTK positioning point and the second RTK positioning point. Based on the elevation information and the distance information, the second real-time angle of the photovoltaic cleaning robot at the current position is determined.

[0008] Optionally, the method by which the photovoltaic cleaning robot moves on the photovoltaic module is determined as follows: If the RTK module determines that the current position of the photovoltaic cleaning robot is within a preset range corresponding to the photovoltaic module, then the photovoltaic cleaning robot is determined to be moving on the photovoltaic module.

[0009] Optionally, the preset range corresponding to the photovoltaic module consists of a boundary range and a buffer range; the boundary range is the range enclosed by the polygonal boundary coordinates of the photovoltaic module; the buffer range is the range located outside the boundary range and adjacent to the boundary range.

[0010] Optionally, the photovoltaic cleaning robot further includes a distance sensor; the method further includes: The distance sensor is used to determine the real-time height difference between the photovoltaic module where the photovoltaic cleaning robot is located and the adjacent photovoltaic modules. If the real-time height difference is less than the preset height difference, then the photovoltaic cleaning robot is controlled to enter the adjacent photovoltaic module; If the real-time height difference is greater than or equal to the preset height difference, the photovoltaic cleaning robot is controlled to execute a safety strategy.

[0011] Optionally, controlling the photovoltaic cleaning robot to enter the adjacent photovoltaic module includes: The photovoltaic cleaning robot is controlled to enter the adjacent photovoltaic module at an access speed value; the access speed value is less than the moving speed value of the photovoltaic cleaning robot on the current photovoltaic module.

[0012] Optionally, controlling the photovoltaic cleaning robot to execute a safety strategy includes: The photovoltaic cleaning robot is controlled to issue alarms, stop moving, and replan its movement path to bypass one or more of the photovoltaic modules.

[0013] Secondly, this application discloses a photovoltaic cleaning robot, which is applied to a photovoltaic cleaning robot. The photovoltaic cleaning robot includes a horizontal sensor and a real-time dynamic positioning technology (RTK) module. The device includes: a position acquisition module, an angle acquisition module, and a safety strategy module. The location acquisition module is used to acquire the current position of the photovoltaic cleaning robot when the photovoltaic cleaning robot moves on the photovoltaic module; The angle acquisition module is used to acquire the first real-time angle of the photovoltaic cleaning robot at the current position through the horizontal sensor, and to acquire the second real-time angle of the photovoltaic cleaning robot at the current position through the RTK module; The safety strategy module is used to control the photovoltaic cleaning robot to execute a safety strategy if the first real-time angle is greater than the first safety angle and the second real-time angle is greater than the second safety angle.

[0014] Optionally, the angle acquisition module is specifically used to: determine a first RTK positioning point and a second RTK positioning point based on the movement path of the photovoltaic cleaning robot on the photovoltaic module; determine the elevation information and distance information between the first RTK positioning point and the second RTK positioning point through the RTK module; and determine the second real-time angle of the photovoltaic cleaning robot at the current position based on the elevation information and the distance information.

[0015] Optionally, the unit for determining the movement of the photovoltaic cleaning robot on the photovoltaic module is specifically used to: if the RTK module determines that the current position of the photovoltaic cleaning robot is within a preset range corresponding to the photovoltaic module, then determine that the photovoltaic cleaning robot moves on the photovoltaic module.

[0016] Optionally, the preset range corresponding to the photovoltaic module consists of a boundary range and a buffer range; the boundary range is the range enclosed by the polygonal boundary coordinates of the photovoltaic module; the buffer range is the range located outside the boundary range and adjacent to the boundary range.

[0017] Optionally, the photovoltaic cleaning robot further includes a distance sensor; the device also includes: a height determination module, a first entry module, and a second safety module; The height determination module is used to determine the real-time height difference between the photovoltaic module where the photovoltaic cleaning robot is located and the adjacent photovoltaic modules through the distance sensor; The first entry module is used to control the photovoltaic cleaning robot to enter the adjacent photovoltaic module if the real-time height difference is less than the preset height difference; The second safety module is used to control the photovoltaic cleaning robot to execute a safety strategy if the real-time height difference is greater than or equal to the preset height difference.

[0018] Optionally, the first entry module is specifically used to: control the photovoltaic cleaning robot to enter the adjacent photovoltaic module at an entry speed value; the entry speed value is less than the moving speed value of the photovoltaic cleaning robot on the current photovoltaic module.

[0019] Optionally, the safety strategy module is specifically used to: control the photovoltaic cleaning robot to issue an alarm, stop moving, and replan its movement path to bypass one or more of the photovoltaic modules.

[0020] Thirdly, this application discloses a photovoltaic cleaning robot, which includes a horizontal sensor, a real-time dynamic positioning (RTK) module, a memory, and a processor. The horizontal sensor is used to obtain the first real-time angle of the photovoltaic cleaning robot at the current position; The RTK module is used to obtain the second real-time angle of the photovoltaic cleaning robot at the current position; The memory is used to store computer programs or computer instructions; The processor is configured to execute computer programs or computer instructions stored in the memory, causing the photovoltaic cleaning robot to perform the photovoltaic cleaning method as described in the first aspect.

[0021] Compared with the prior art, this application has the following beneficial effects: This application provides a photovoltaic cleaning method, apparatus, and photovoltaic cleaning robot. The method is applied to a photovoltaic cleaning robot including a horizontal sensor and an RTK module. It includes: when the photovoltaic cleaning robot moves on a photovoltaic module, obtaining the current position of the photovoltaic cleaning robot; obtaining a first real-time angle of the photovoltaic cleaning robot at the current position through the horizontal sensor, and obtaining a second real-time angle of the photovoltaic cleaning robot at the current position through the RTK module; if the first real-time angle is greater than a first safety angle, and the second real-time angle is greater than a second safety angle, then controlling the photovoltaic cleaning robot to execute a safety strategy. Therefore, the photovoltaic cleaning method provided by this application can control the photovoltaic cleaning robot to execute a safety strategy when the first real-time angle is greater than the first safety angle, and the second real-time angle is greater than the second safety angle, thereby avoiding slippage and jamming of the photovoltaic cleaning robot, reducing the risk of the photovoltaic cleaning robot falling from the edge of the photovoltaic module, and thus improving the cleaning safety of the photovoltaic cleaning robot. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments 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.

[0023] Figure 1 A flowchart of a photovoltaic cleaning method provided in this application embodiment; Figure 2 A flowchart illustrating the second photovoltaic cleaning method provided in this application embodiment; Figure 3 A schematic diagram of a photovoltaic power station provided as an embodiment of this application; Figure 4 This is a schematic diagram of a photovoltaic cleaning device provided in an embodiment of this application. Detailed Implementation

[0024] First, let me explain the technical terms used in this application: Real-Time Kinematic (RTK) is a high-precision satellite navigation and positioning technology. Through joint calculations by a base station and a rover (RTK module on the photovoltaic cleaning robot), it can improve the positioning accuracy of the photovoltaic cleaning robot to the centimeter level.

[0025] As described earlier, the installation environment for photovoltaic (PV) modules is becoming increasingly diverse. Many PV modules are installed in environments with unique geological conditions, such as soft sand or soft soil foundations with low bearing capacity. Due to the harsh environment, the module clips are prone to aging and loosening, which can lead to problems such as localized sinking or abnormal tilting. However, when PV cleaning robots clean the surface of these PV modules, they are prone to slipping, getting stuck, and even falling off the edges of the modules, seriously threatening the cleaning safety of the PV cleaning robots.

[0026] Through research, the inventors have proposed a photovoltaic cleaning method, device, and photovoltaic cleaning robot. The photovoltaic cleaning method provided in this application can control the photovoltaic cleaning robot to execute a safety strategy when the first real-time angle is greater than the first safety angle and the second real-time angle is greater than the second safety angle, thereby avoiding the slippage and jamming of the photovoltaic cleaning robot, reducing the risk of the photovoltaic cleaning robot falling from the edge of the photovoltaic module, and thus improving the cleaning safety of the photovoltaic cleaning robot.

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0028] See Figure 1The figure is a flowchart of a photovoltaic cleaning method provided in an embodiment of this application. This method is applied to a photovoltaic cleaning robot, which includes a horizontal sensor (e.g., a level, tilt sensor, inertial measurement unit) and an RTK module. The method includes: S101: When the photovoltaic cleaning robot moves on the photovoltaic module, obtain the current position of the photovoltaic cleaning robot.

[0029] In the photovoltaic cleaning method provided in this application, "movement" refers to all positional changes of the photovoltaic cleaning robot within the photovoltaic power station, such as movement when returning to the charging dock, movement when performing cleaning tasks, and backward or turning movement when avoiding faults. This application does not limit this aspect.

[0030] The current position of the photovoltaic cleaning robot can be its two-dimensional coordinates within the photovoltaic power station. Specifically, the current position of the photovoltaic cleaning robot can be obtained through the RTK module integrated inside the robot.

[0031] S102: Obtain the first real-time angle of the photovoltaic cleaning robot at the current position through the horizontal sensor, and obtain the second real-time angle of the photovoltaic cleaning robot at the current position through the RTK module.

[0032] The first real-time angle θ1 refers to the tilt angle of the photovoltaic cleaning robot's body relative to the horizontal plane, that is, the instantaneous attitude angle of the photovoltaic cleaning robot at the current moment. In one specific implementation, the first real-time angle θ1 of the photovoltaic cleaning robot can be determined by a horizontal sensor integrated inside the photovoltaic cleaning robot.

[0033] Understandably, the first real-time angle θ1 focuses on reflecting instantaneous attitude changes at a point and is more sensitive to local anomalies (such as small stones or tiny depressions).

[0034] The second real-time angle θ2 refers to the local slope on the movement path of the photovoltaic cleaning robot, that is, the tilt angle of the photovoltaic module passed by the photovoltaic cleaning robot in a very short distance. It reflects the macroscopic tilt trend of the photovoltaic module surface, rather than the instantaneous shaking of the photovoltaic cleaning robot itself. In a specific implementation, the second real-time angle θ2 of the photovoltaic cleaning robot can be determined as follows: There are multiple RTK positioning points preset on the photovoltaic module. First, during the movement of the photovoltaic cleaning robot, a very short time window (e.g., 0.1 seconds) is set. Within this time window, the first RTK positioning point and the second RTK positioning point are determined according to the movement path of the photovoltaic cleaning robot on the photovoltaic module. Then, the horizontal coordinates X1, X2 and the elevation coordinates Z1, Z2 of the first RTK positioning point and the second RTK positioning point are collected by the RTK module. Finally, the second real-time angle θ2 is determined by the following trigonometric function formula (1): θ2=arctan(Z2-Z1 / X2-X1)(1) Wherein, Z2-Z1 is the difference in elevation coordinates between the first RTK positioning point and the second RTK positioning point, i.e., elevation information, and X2-X1 is the difference in horizontal coordinates between the first RTK positioning point and the second RTK positioning point, i.e., distance information.

[0035] Understandably, the second real-time angle θ2 focuses on reflecting the trend of slope changes along the line and is more sensitive to structural anomalies (such as overall component sinking or twisting).

[0036] S103: If the first real-time angle is greater than the first safety angle, and the second real-time angle is greater than the second safety angle, then control the photovoltaic cleaning robot to execute the safety strategy.

[0037] The first safety angle refers to the maximum allowable tilt angle of the photovoltaic cleaning robot relative to the horizontal plane when it moves normally on the surface of the photovoltaic module. In one specific implementation, the first safety angle is determined as follows: Before moving on the photovoltaic module, the photovoltaic cleaning robot pre-constructs a digital map of the photovoltaic array. The digital map is essentially a two-dimensional grid or point cloud data that stores the tilt angle (i.e., the first safety angle) of the photovoltaic module at each location in the photovoltaic array. When the photovoltaic cleaning robot moves on the photovoltaic module, it can determine the corresponding first safety angle from the digital map based on its current position. Furthermore, the digital map is constructed as follows: when the photovoltaic cleaning robot moves along the planned cleaning path, it collects the tilt angle of the photovoltaic module at each cleaning point along the path using a horizontal sensor, thereby constructing the digital map.

[0038] The second safety angle refers to the maximum permissible slope change in a localized area on the surface of the photovoltaic module. In one specific implementation, the second safety angle is determined as follows: First, during the construction of the digital map, the RTK module of the photovoltaic cleaning robot collects the horizontal coordinate (X) and elevation coordinate (Z) of each RTK positioning point on the photovoltaic module. Then, based on the horizontal coordinate (X) and elevation coordinate (Z) of each RTK positioning point, the tangent value (i.e., the local slope of that RTK positioning point) is calculated. Finally, the maximum value among the tangent values ​​of each RTK positioning point is selected as the second safety angle. It is understood that selecting the maximum value here is to match the most stringent safety conditions, ensuring that the photovoltaic cleaning robot will not be in danger due to abnormal local slopes throughout the entire module area.

[0039] It is understandable that the first safety angle (single-point attitude) and the second safety angle (local slope) describe the geometric characteristics of photovoltaic modules in a safe state from different dimensions. Therefore, theoretically, the first safety angle and the second safety angle should be equal.

[0040] If the first real-time angle is greater than the first safety angle, it means that the actual posture of the photovoltaic cleaning robot does not match the ideal posture. If the second real-time angle is greater than the second safety angle, it means that the actual slope of the photovoltaic module does not match the ideal slope. Only when the photovoltaic module itself under the photovoltaic cleaning robot undergoes structural deformation (such as severe twisting or breakage of the photovoltaic panel, collapse of the support, or local collapse caused by loose bolts), will both the actual posture of the photovoltaic cleaning robot and the actual slope of the photovoltaic module become abnormal. Therefore, if the first real-time angle is greater than the first safety angle, and the second real-time angle is greater than the second safety angle, the photovoltaic cleaning robot is controlled to execute a safety strategy. Thus, this dual anomaly eliminates the possibility of false alarms from a single sensor or minor local interference, improving the accuracy and reliability of fault detection.

[0041] Safety strategies include: issuing alarms, halting movement, and replanning the movement path to bypass one or more of the photovoltaic modules. Issuing alarms refers to immediately notifying relevant technicians via audio-visual devices (e.g., onboard horn, alarm lights) or wireless networks (e.g., sending alarm messages to the maintenance platform or mobile app). Halting movement means immediately stopping all movement, especially the rotation of the brushes and the movement of the photovoltaic cleaning robot, keeping it stationary to prevent it from falling, getting stuck, or further damaging the photovoltaic modules. Replanning the movement path to bypass the photovoltaic modules involves marking the photovoltaic module as a "no-go zone" or "obstacle" on a digital map and calculating a new path to bypass it, continuing to complete other normal photovoltaic module cleaning tasks or other tasks.

[0042] In summary, this application provides a photovoltaic cleaning method. The photovoltaic cleaning method provided in this application can control the photovoltaic cleaning robot to execute a safety strategy when the first real-time angle is greater than the first safety angle and the second real-time angle is greater than the second safety angle. This avoids the photovoltaic cleaning robot from slipping or getting stuck, reduces the risk of the photovoltaic cleaning robot falling from the edge of the photovoltaic module, and thus improves the cleaning safety of the photovoltaic cleaning robot and extends the service life of the photovoltaic array.

[0043] See Figure 2 The figure is a flowchart of a second photovoltaic cleaning method provided in an embodiment of this application. This method is applied to a photovoltaic cleaning robot including a horizontal sensor (e.g., a level, tilt sensor, inertial measurement unit), an RTK module, and a distance sensor. The method includes: S201: When the photovoltaic cleaning robot moves on the photovoltaic module, obtain the current position of the photovoltaic cleaning robot.

[0044] As is understandable, step S201 is similar to step S101, and will not be repeated here. For ease of understanding, the following explanation will use movement during the cleaning task as a scenario.

[0045] S202: Determine whether the current position of the photovoltaic cleaning robot is within the preset range corresponding to the photovoltaic module using the RTK module. If so, proceed to step S203.

[0046] Photovoltaic power plants typically consist of multiple photovoltaic modules arranged together, with gaps, tracks, or bridge structures between the modules. When a photovoltaic cleaning robot moves from one photovoltaic module to another, its walking mechanism traverses these uneven areas (such as gaps and edge steps), causing tilting, vibration, and other posture changes. Therefore, subsequent steps should only be performed when the photovoltaic cleaning robot is completely inside a photovoltaic module. This application effectively filters out interference data during cross-module movement, thereby improving robustness and reliability.

[0047] See Figure 3 The figure is a schematic diagram of a photovoltaic power station provided in an embodiment of this application. The photovoltaic cleaning robot pre-stores a digital map of the photovoltaic power station, and each photovoltaic module corresponds to a preset range. The preset range corresponding to the photovoltaic module consists of a boundary range and a buffer range.

[0048] The boundary range is the area enclosed by the polygonal boundary coordinates of the photovoltaic module, precisely corresponding to the physical outline of the photovoltaic module itself. For example, the boundary range of a rectangular photovoltaic module is the rectangular area enclosed by the lines connecting the coordinates of its four vertices in sequence. When the photovoltaic cleaning robot is located within the boundary range of a photovoltaic module, it indicates that the photovoltaic cleaning robot is completely on top of the photovoltaic module, and subsequent steps can be performed.

[0049] The buffer range is the peripheral area located outside and adjacent to the boundary range. This buffer range typically extends outwards along the module boundary by a small distance (e.g., 5-10 cm). The buffer range is primarily used to compensate for centimeter-level signal drift that may occur during RTK positioning. In actual operation, even if the photovoltaic cleaning robot is physically located at the edge of the photovoltaic module, its current position calculated by the RTK module may fall outside the boundary range (e.g., offset by a few centimeters) due to instantaneous signal fluctuations. Without a buffer range, the robot may be mistakenly judged to have left the photovoltaic module, thus preventing subsequent steps or triggering unnecessary state transitions. Therefore, the buffer range provides tolerance for such minute drifts, ensuring that the normal operation of the photovoltaic cleaning robot at the edge is not affected.

[0050] It should be noted that the width of the buffer range should not be too large, so as to prevent the photovoltaic cleaning robot from performing subsequent steps even when it is actually in a gap (which may cause danger). For example, the width of the buffer range can be 1.5 to 2 times the upper limit of the positioning error of the RTK module. This application does not limit this.

[0051] If the current position is within the preset range corresponding to any photovoltaic module, it is determined that the robot is currently in the effective working area related to that photovoltaic module, and then step S203 is executed.

[0052] S203: Obtain the first real-time angle of the photovoltaic cleaning robot at the current position through the horizontal sensor, and obtain the second real-time angle of the photovoltaic cleaning robot at the current position through the RTK module.

[0053] It is understandable that step S203 is similar to step S102, so it will not be described again here.

[0054] S204: Determine whether the following conditions are met: the first real-time angle is greater than the first safe angle, and the second real-time angle is greater than the second safe angle. If yes, proceed to step S205; otherwise, proceed to step S206.

[0055] In the first scenario, when the photovoltaic cleaning robot runs over a small pebble or encounters a minor bump during its movement, the first real-time angle determined by the horizontal sensor will momentarily change, causing it to exceed the first safe angle. However, since this bump does not change the structural slope of the photovoltaic module itself, the second real-time angle determined by the RTK module is unaffected by the bump. Therefore, it can be determined that this bump is a short-term disturbance, and step S206 needs to be executed.

[0056] In the second scenario, due to satellite signal obstruction, multipath effects, and other reasons, the second real-time angle determined by the RTK module experiences a momentary positioning jump, causing it to exceed the second safe angle. However, since the robot's body posture has not actually changed, the first real-time deviation determined by the horizontal sensor is unaffected. Therefore, it can be determined that the robot does not need to make a large posture adjustment and step S206 needs to be executed.

[0057] In the third scenario, when the photovoltaic module itself undergoes structural deformation (e.g., loose support causing localized sinking, photovoltaic panel twisting or breakage), the photovoltaic cleaning robot's body posture will tilt accordingly, resulting in a first real-time angle greater than a first safe angle. Furthermore, since the surface slope of the photovoltaic module has changed, the second real-time angle calculated based on the RTK positioning points will also be greater than a second safe angle. Therefore, it can be determined that the actual posture of the photovoltaic cleaning robot does not match the ideal posture, and the actual slope of the photovoltaic module does not match the ideal slope. Therefore, step S205 needs to be executed.

[0058] S205: Control the photovoltaic cleaning robot to execute safety strategies.

[0059] It is understandable that step S205 is similar to step S103, so it will not be described again here.

[0060] S206: Control the photovoltaic cleaning robot to continue performing the cleaning task.

[0061] After all safety checks on the photovoltaic modules have been passed, the photovoltaic cleaning robot is controlled to continue performing cleaning tasks, such as moving at a constant speed at a preset cleaning speed value (e.g., 0.3 m / s).

[0062] In one specific implementation, to further improve the safety of the photovoltaic cleaning robot when crossing different photovoltaic modules, the photovoltaic cleaning method provided in this application embodiment can also perform steps A1-A3: A1: Using the distance sensor, determine whether the real-time height difference between the photovoltaic module where the photovoltaic cleaning robot is located and the adjacent photovoltaic modules is less than the preset height difference. If yes, proceed to step A2; otherwise, proceed to step A3.

[0063] Distance sensors (such as ultrasonic sensors, lidar, etc.) are usually installed at the front of the photovoltaic cleaning robot and tilted downwards, pointing in the cleaning direction ahead, so as to collect the real-time height difference between the photovoltaic module where the photovoltaic cleaning robot is located and the adjacent photovoltaic modules.

[0064] The preset height difference is set based on a combination of factors, including the ground clearance of the photovoltaic cleaning robot's chassis, the obstacle-crossing ability of its wheels / tracks, and its center of gravity. For example, if the maximum obstacle-crossing height of the photovoltaic cleaning robot is 3 centimeters, then the preset height difference can be 2 centimeters.

[0065] It should be noted that, in order to improve the accuracy of real-time height difference, three real-time height differences can be continuously collected by a distance sensor and the average value can be taken, thereby eliminating random noise and accidental errors in a single measurement.

[0066] A2: Control the photovoltaic cleaning robot to enter the adjacent photovoltaic module.

[0067] If the real-time height difference is less than the preset height difference, it indicates that the height difference between adjacent photovoltaic modules is within the robot's safe obstacle-crossing capability. Therefore, in one specific implementation, the photovoltaic cleaning robot can be controlled to enter the adjacent photovoltaic module at an entry speed lower than its current moving speed on the photovoltaic module, thereby avoiding sudden attitude changes caused by the robot's high-speed entry into the adjacent photovoltaic module. For example, the current moving speed of the photovoltaic cleaning robot on the photovoltaic module can be 0.3 m / s, and the entry speed can be 0.05 m / s. This application does not limit this aspect.

[0068] A3: Control the photovoltaic cleaning robot to execute safety policies.

[0069] If the real-time height difference is greater than or equal to the preset height difference, it indicates that there is a large drop between adjacent photovoltaic modules. Directly crossing over may cause excessive impact on the photovoltaic cleaning robot, loss of posture, or even the risk of falling. Therefore, the photovoltaic cleaning robot is controlled to execute safety strategies, including controlling the photovoltaic cleaning robot to issue alarms, stop moving, and replan its movement path to bypass one or more of the adjacent photovoltaic modules.

[0070] In summary, this application provides a photovoltaic cleaning method. The photovoltaic cleaning method provided in this application can control the photovoltaic cleaning robot to execute a safety strategy when a first real-time angle is greater than a first safety angle and a second real-time angle is greater than a second safety angle. This avoids slippage and jamming of the photovoltaic cleaning robot, reduces the risk of the photovoltaic cleaning robot falling from the edge of the photovoltaic module, thereby improving the cleaning safety of the photovoltaic cleaning robot and extending the service life of the photovoltaic array.

[0071] See Figure 4This figure is a schematic diagram of a photovoltaic cleaning device provided in an embodiment of this application. The photovoltaic cleaning device 400 is applied to a photovoltaic cleaning robot, which includes a horizontal sensor and a real-time dynamic positioning (RTK) module. The photovoltaic cleaning device 400 includes: a position acquisition module 401, an angle acquisition module 402, and a safety strategy module 403. The location acquisition module 401 is used to acquire the current position of the photovoltaic cleaning robot when it moves on the photovoltaic module; Angle acquisition module 402 is used to acquire the first real-time angle of the photovoltaic cleaning robot at the current position through a horizontal sensor, and to acquire the second real-time angle of the photovoltaic cleaning robot at the current position through an RTK module; The safety strategy module 403 is used to control the photovoltaic cleaning robot to execute a safety strategy if the first real-time angle is greater than the first safety angle and the second real-time angle is greater than the second safety angle.

[0072] In one specific implementation, the angle acquisition module 402 is specifically used to: determine the first RTK positioning point and the second RTK positioning point based on the movement path of the photovoltaic cleaning robot on the photovoltaic module; determine the elevation information and distance information between the first RTK positioning point and the second RTK positioning point through the RTK module; and determine the second real-time angle of the photovoltaic cleaning robot at the current position based on the elevation information and distance information.

[0073] In one specific implementation, the unit that determines the movement of the photovoltaic cleaning robot on the photovoltaic module is specifically used to: if the RTK module determines that the current position of the photovoltaic cleaning robot is within the preset range corresponding to the photovoltaic module, then the photovoltaic cleaning robot is determined to move on the photovoltaic module.

[0074] In one specific implementation, the preset range corresponding to the photovoltaic module consists of a boundary range and a buffer range; the boundary range is the range enclosed by the polygonal boundary coordinates of the photovoltaic module; the buffer range is the range located outside the boundary range and adjacent to the boundary range.

[0075] In one specific implementation, the photovoltaic cleaning robot also includes a distance sensor; the photovoltaic cleaning device 400 also includes: a height determination module, a first entry module, and a second safety module; The height determination module is used to determine the real-time height difference between the photovoltaic module where the photovoltaic cleaning robot is located and the adjacent photovoltaic modules through a distance sensor; The first entry module is used to control the photovoltaic cleaning robot to enter the adjacent photovoltaic module if the real-time height difference is less than the preset height difference. The second safety module is used to control the photovoltaic cleaning robot to execute a safety strategy if the real-time height difference is greater than or equal to the preset height difference.

[0076] In one specific implementation, the first entry module is specifically used to: control the photovoltaic cleaning robot to enter the adjacent photovoltaic module at an entry speed value; the entry speed value is less than the moving speed value of the photovoltaic cleaning robot on the current photovoltaic module.

[0077] In one specific implementation, the security policy module 403 is specifically used to control the photovoltaic cleaning robot to issue an alarm, stop moving, and replan its movement path to bypass one or more photovoltaic modules.

[0078] In summary, this application provides a photovoltaic cleaning device. The photovoltaic cleaning device provided in this application can control the photovoltaic cleaning robot to execute a safety strategy when a first real-time angle is greater than a first safety angle and a second real-time angle is greater than a second safety angle. This avoids slippage and jamming of the photovoltaic cleaning robot, reduces the risk of the photovoltaic cleaning robot falling from the edge of the photovoltaic module, thereby improving the cleaning safety of the photovoltaic cleaning robot and extending the service life of the photovoltaic array.

[0079] This application discloses a photovoltaic cleaning robot, which includes a memory and a processor; the memory is used to store computer programs or computer instructions; the processor is used to execute the computer programs or computer instructions stored in the memory, so that the photovoltaic cleaning robot performs the photovoltaic cleaning method as described in the first aspect.

[0080] The photovoltaic cleaning robot provided in this application embodiment has the beneficial effects of the photovoltaic cleaning method described above.

[0081] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0082] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A photovoltaic cleaning method, characterized in that, Applied to a photovoltaic cleaning robot, the photovoltaic cleaning robot including a horizontal sensor and a real-time dynamic positioning (RTK) module, the method includes: When the photovoltaic cleaning robot moves on the photovoltaic module, the current position of the photovoltaic cleaning robot is obtained; The first real-time angle of the photovoltaic cleaning robot at the current position is obtained by the horizontal sensor, and the second real-time angle of the photovoltaic cleaning robot at the current position is obtained by the RTK module. If the first real-time angle is greater than the first safety angle, and the second real-time angle is greater than the second safety angle, then the photovoltaic cleaning robot is controlled to execute a safety strategy.

2. The method according to claim 1, characterized in that, The step of obtaining the second real-time angle of the photovoltaic cleaning robot at the current position through the RTK module includes: Based on the movement path of the photovoltaic cleaning robot on the photovoltaic module, determine the first RTK positioning point and the second RTK positioning point; The RTK module determines the elevation and distance information between the first RTK positioning point and the second RTK positioning point. Based on the elevation information and the distance information, the second real-time angle of the photovoltaic cleaning robot at the current position is determined.

3. The method according to claim 1, characterized in that, The method by which the photovoltaic cleaning robot moves on the photovoltaic modules is determined as follows: If the RTK module determines that the current position of the photovoltaic cleaning robot is within a preset range corresponding to the photovoltaic module, then the photovoltaic cleaning robot is determined to be moving on the photovoltaic module.

4. The method according to claim 3, characterized in that, The preset range corresponding to the photovoltaic module consists of a boundary range and a buffer range; the boundary range is the range enclosed by the polygonal boundary coordinates of the photovoltaic module; the buffer range is the range located outside the boundary range and adjacent to the boundary range.

5. The method according to any one of claims 1-4, characterized in that, The photovoltaic cleaning robot also includes a distance sensor; the method further includes: The distance sensor is used to determine the real-time height difference between the photovoltaic module where the photovoltaic cleaning robot is located and the adjacent photovoltaic modules. If the real-time height difference is less than the preset height difference, then the photovoltaic cleaning robot is controlled to enter the adjacent photovoltaic module; If the real-time height difference is greater than or equal to the preset height difference, the photovoltaic cleaning robot is controlled to execute a safety strategy.

6. The method according to claim 5, characterized in that, The control of the photovoltaic cleaning robot to enter the adjacent photovoltaic module includes: The photovoltaic cleaning robot is controlled to enter the adjacent photovoltaic module at an access speed value; the access speed value is less than the moving speed value of the photovoltaic cleaning robot on the current photovoltaic module.

7. The method according to claim 1, characterized in that, The control of the photovoltaic cleaning robot to execute the safety strategy includes: The photovoltaic cleaning robot is controlled to issue alarms, stop moving, and replan its movement path to bypass one or more of the photovoltaic modules.

8. A photovoltaic cleaning device, characterized in that, An application is made in a photovoltaic cleaning robot, which includes a horizontal sensor and a real-time dynamic positioning (RTK) module. The device includes a position acquisition module, an angle acquisition module, and a safety strategy module. The location acquisition module is used to acquire the current position of the photovoltaic cleaning robot when the photovoltaic cleaning robot moves on the photovoltaic module; The angle acquisition module is used to acquire the first real-time angle of the photovoltaic cleaning robot at the current position through the horizontal sensor, and to acquire the second real-time angle of the photovoltaic cleaning robot at the current position through the RTK module; The safety strategy module is used to control the photovoltaic cleaning robot to execute a safety strategy if the first real-time angle is greater than the first safety angle and the second real-time angle is greater than the second safety angle.

9. The apparatus according to claim 8, characterized in that, The angle acquisition module is specifically used for: determining a first RTK positioning point and a second RTK positioning point based on the movement path of the photovoltaic cleaning robot on the photovoltaic module; determining the elevation information and distance information between the first RTK positioning point and the second RTK positioning point through the RTK module; and determining the second real-time angle of the photovoltaic cleaning robot at the current position based on the elevation information and the distance information.

10. A photovoltaic cleaning robot, characterized in that, The photovoltaic cleaning robot includes a horizontal sensor, a real-time dynamic positioning (RTK) module, a memory, and a processor. The horizontal sensor is used to obtain the first real-time angle of the photovoltaic cleaning robot at the current position; The RTK module is used to obtain the second real-time angle of the photovoltaic cleaning robot at the current position; The memory is used to store computer programs or computer instructions; The processor is configured to execute computer programs or computer instructions stored in the memory, causing the photovoltaic cleaning robot to perform the photovoltaic cleaning method as described in any one of claims 1 to 7.

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