A method and system for scheduling an array of photovoltaic tracking systems

Abstract

The application discloses a scheduling method and system of a photovoltaic tracking system array, wherein the method comprises the following steps: acquiring the inclination angle of the photovoltaic tracking system and the signal of the cleaning robot entering or leaving each photovoltaic tracking system through the inclination sensor with a position trigger function installed at the head and tail of each photovoltaic tracking system; judging the inclination angle difference between the photovoltaic tracking system being cleaned currently and the adjacent next photovoltaic tracking system based on the signal of the cleaning robot entering each photovoltaic tracking system; judging whether the inclination angle difference meets the cleaning angle threshold value, and marking the photovoltaic tracking system which does not meet the cleaning angle threshold value as an abnormal photovoltaic tracking system; and adjusting the tracking angle of the abnormal photovoltaic tracking system, so that the cleaning robot performs the cleaning task along the adjusted photovoltaic tracking system. Through the application, the angle of the adjacent normal photovoltaic tracking system can be autonomously planned and adjusted, and conditions for the cleaning path of the cleaning robot are actively created, so that the cleaning efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and more particularly, to a scheduling method for a photovoltaic tracking system array. Background Art

[0002] Currently, the robot cleaning systems supporting photovoltaic tracking systems in the market generally adopt a relatively simple control mode, and there is a lack of in-depth coordination between them and the tracking systems. In the prior art, the control system of the cleaning robot and the tracker are basically independent of each other. Therefore, the cleaning robot can only start working after all trackers are uniformly positioned at a fixed cleaning angle at night. This severely limits the flexibility of the cleaning operation, making it impossible for the cleaning robot to clean during the day or when the trackers are out of sync, affecting the operation and maintenance efficiency of the power station.

[0003] Secondly, the system cannot achieve full-process position monitoring and real-time control of the robot. Once it starts working, the specific position and operating status of the robot cannot be known, and it is also impossible to remotely instruct it to pause or return, resulting in obvious management blind spots. More importantly, when the robot encounters a failure of the photovoltaic tracking system, a blocked path, or its own abnormality during travel, the system cannot detect and respond in a timely manner. If the cleaning operation is interrupted due to reasons, the robot will still continue to execute the preset instructions, which is extremely likely to cause serious accidents such as derailment and falling, resulting in equipment damage and safety risks. Summary of the Invention

[0004] To solve the above technical problems, this application discloses a scheduling method for a photovoltaic tracking system array. Through the scheduling method of this application, it is possible to autonomously plan and adjust the angles of adjacent normal photovoltaic tracking systems, actively create conditions for the cleaning path of the cleaning robot, eliminate the cleaning path condition restrictions, and improve the cleaning efficiency. Specifically, the technical solution of this application is as follows: In a first aspect, this application discloses a scheduling method for a photovoltaic tracking system array, which is executed by a scheduling system. The photovoltaic tracking system array includes at least two photovoltaic tracking systems arranged at intervals in the same row. Two adjacent photovoltaic tracking systems are connected by a bridge. Each photovoltaic tracking system includes a tracking bracket and a photovoltaic module. The scheduling method for the photovoltaic tracking system array includes: Obtaining the inclination angle of the photovoltaic tracking system and the signal of the cleaning robot entering or leaving each photovoltaic tracking system through inclination sensors with position triggering functions installed at the head and tail ends of each photovoltaic tracking system; Based on the signal of the cleaning robot entering each photovoltaic tracking system, determining the inclination angle difference between the currently cleaned photovoltaic tracking system and the adjacent next photovoltaic tracking system; Determining whether the inclination angle difference meets the cleaning angle threshold, and marking the photovoltaic tracking system that does not meet the cleaning angle threshold as an abnormal photovoltaic tracking system; The tracking angle of the abnormal photovoltaic tracking system is adjusted so that the cleaning robot performs the cleaning task along the adjusted photovoltaic tracking system.

[0005] In some implementations, determining the tilt angle difference between the currently being cleaned photovoltaic tracking system and the next adjacent photovoltaic tracking system based on the signal from the cleaning robot entering each photovoltaic tracking system includes: When the cleaning robot travels to the position of the tilt angle sensor at the beginning of each of the photovoltaic tracking systems, it is determined that the cleaning robot has entered the photovoltaic tracking system, and this moment is recorded as the first time. At the first moment, the first tilt angle value of the current photovoltaic tracking system and the second tilt angle value of the next adjacent photovoltaic tracking system to be cleaned are determined, and the tilt angle difference between the first tilt angle value and the second tilt angle value is calculated.

[0006] In some embodiments, the scheduling method for a photovoltaic tracking system array further includes: when the cleaning robot travels to the position of the end tilt sensor of each of the photovoltaic tracking systems, determining that the cleaning robot has left the photovoltaic tracking system, and recording the moment as a second time; In the second time interval, the tilt angle information of the current photovoltaic tracking system and the tilt angle information of the next adjacent photovoltaic tracking system to be cleaned are determined, and it is determined whether the difference between the two tilt angle information is within the threshold range.

[0007] In some embodiments, adjusting the tracking angle of the abnormal photovoltaic tracking system specifically includes: A first angle adjustment command is issued to the abnormal photovoltaic tracking system on the cleaning path; the first angle adjustment command is configured to adjust the tilt angle of the abnormal photovoltaic tracking system to the target cleaning angle. Receive real-time angle information from each of the abnormal photovoltaic tracking systems and determine whether the tilt angle of the abnormal photovoltaic tracking system is adjustable; If the tilt angle of the photovoltaic tracking system is adjustable, then it will be restored to its normal photovoltaic tracking system status.

[0008] In some other embodiments, the scheduling method for a photovoltaic tracking system array further includes: if the tilt angle of the photovoltaic tracking system is not adjustable, then further determining whether the tilt angle of the abnormal photovoltaic tracking system meets the obstacle crossing angle threshold, and marking the abnormal photovoltaic tracking system that does not meet the obstacle crossing angle threshold as a faulty photovoltaic tracking system.

[0009] In other embodiments, the scheduling method for a photovoltaic tracking system array further includes: if the tilt angle of the abnormal photovoltaic tracking system is not adjustable but meets the obstacle-crossing angle threshold; then, a second angle adjustment command is issued to the first and second photovoltaic tracking systems adjacent to the photovoltaic tracking system, wherein the second angle adjustment command is configured to adjust the photovoltaic tracking system so that the angles of the photovoltaic tracking system and the abnormal photovoltaic tracking system are consistent; so that the cleaning robot can cross the abnormal photovoltaic tracking system and stop after reaching the second photovoltaic tracking system from the first photovoltaic tracking system. A third angle adjustment command is issued to the second photovoltaic tracking system, the third angle adjustment command being configured to adjust the tilt angle of the second photovoltaic tracking system to the target cleaning angle.

[0010] In some embodiments, before the cleaning robot performs the cleaning task, the method further includes: determining whether the photovoltaic tracking system to be cleaned is in a stop mode; if not, issuing a stop command to the photovoltaic tracking system; and the photovoltaic tracking system entering a stop mode after receiving the stop command.

[0011] In some other embodiments, the scheduling method for a photovoltaic tracking system array further includes: issuing a bin command to the cleaning robot; Check whether the angle difference between the photovoltaic tracking system and the docking platform meets the cleaning angle threshold; If the threshold requirement is met, the cleaning robot will begin performing the cleaning task.

[0012] In other embodiments, the scheduling method for a photovoltaic tracking system array further includes: after the cleaning robot leaves the bin, receiving the current status data reported in real time by the cleaning robot and the real-time angle information of the photovoltaic tracking system, recording the current status data and the real-time angle information in real time, detecting the fault status of the cleaning robot and the photovoltaic tracking system, and recording them in the task list, and / or, when the cleaning robot malfunctions, sending a stop command to the cleaning robot and issuing a stop command to the photovoltaic tracking system corresponding to the current position of the cleaning robot.

[0013] The second invention, this application also discloses a scheduling system for a photovoltaic tracking system array, comprising: Tilt sensors are installed at the beginning and end of each photovoltaic tracking system to obtain the tilt angle of the photovoltaic tracking system and the signal of the cleaning robot entering or leaving each photovoltaic tracking system; The photovoltaic tracking controller is used to receive instructions from the background control system to execute corresponding actions, and based on the signal of the cleaning robot entering each photovoltaic tracking system, to determine the tilt angle difference between the currently being cleaned photovoltaic tracking system and the next adjacent photovoltaic tracking system; to determine whether the tilt angle difference meets the cleaning angle threshold, and to mark the photovoltaic tracking system that does not meet the cleaning angle threshold as an abnormal photovoltaic tracking system; and to adjust the tracking angle of the abnormal photovoltaic tracking system. The cleaning robot controller is used to receive instructions from the background control system and execute corresponding actions to control the cleaning robot to perform cleaning tasks. The background control system connects and coordinates the photovoltaic tracking controller and the cleaning robot controller.

[0014] Compared with the prior art, this application has at least one of the following beneficial effects: 1. This application achieves real-time status synchronization and collaborative control between the cleaning robot and the tracking system through data interconnection. During operation, it can dynamically identify path obstacles and autonomously execute angle adjustment strategies. It has the ability to adapt to anomalies and reconstruct paths, effectively reducing the need for manual intervention and improving the intelligent level of cleaning operation and maintenance of photovoltaic power plants.

[0015] 2. This application acquires the angle status of the tracking system in real time and performs intelligent scheduling and linkage control in conjunction with the operation path of the cleaning robot. In the event of an angle abnormality in a single or partial photovoltaic tracking system, the angle of other normal photovoltaic tracking systems on the same cleaning path can be adjusted to form a passable continuous cleaning path. This enables the cleaning robot to continuously complete the cleaning task of the entire path, significantly improving the actual output rate and component cleaning coverage of the cleaning robot, and reducing the risk of interruption of the entire path operation due to the abnormality of a local photovoltaic tracking system.

[0016] 3. This application establishes an interlocking mechanism between the robot and the photovoltaic tracking system. When an abnormal operation of the robot or a sudden change in the angle of the photovoltaic tracking system is detected, a stop command and a lock command for the photovoltaic tracking system can be issued immediately to avoid safety accidents such as equipment collision, jamming or falling. This not only improves the continuity of operation, but also effectively ensures the physical safety of the tracking system, the cleaning robot and the photovoltaic modules. Attached Figure Description

[0017] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of this application.

[0018] Figure 1 This is a schematic diagram of the structure of a dry-hung cleaning robot and photovoltaic modules in the existing technology. Figure 2A schematic diagram illustrating a situation where the angle of a certain tracking system on the cleaning path does not meet the cleaning angle requirements; Figure 3 This is a flowchart illustrating an embodiment of a scheduling method for a photovoltaic tracking system array according to this application; Figure 4 This is a flowchart illustrating another embodiment of a scheduling method for a photovoltaic tracking system array according to this application; Figure 5 A flowchart illustrating an embodiment of the photovoltaic tracking system adjustment task performed by the tracking system management module; Figure 6 A flowchart illustrating one embodiment of a cleaning robot management module performing cleaning tasks. Detailed Implementation

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0020] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of a descriptive feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or sets.

[0021] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0022] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort.

[0026] Dry-mounted cleaning robots are a widely used and mature type of cleaning robot in large-scale ground-mounted photovoltaic power plants. They use the frame of the photovoltaic modules in the photovoltaic tracking system as a track, moving along the axis of the system via wheels or tracks. This allows them to traverse different photovoltaic tracking system units without contacting the edges of the photovoltaic modules. (Refer to the attached instruction manual.) Figure 1 , Figure 1 This is a schematic diagram of the structure of a dry-hung cleaning robot and photovoltaic modules in the existing technology.

[0027] In existing technologies, before a dry-hung sweeping robot operating in a photovoltaic system with a tracking system can perform normal cleaning operations, it needs to calculate the current angle of the photovoltaic tracking system and combine it with the sweeping robot's operating strategy and protection strategy to determine whether to execute the cleaning exit command. After the sweeping robot exits the enclosure, it assumes the cleaning path is safe, and the operators do not perform real-time calculations on the angle changes of the photovoltaic tracking system to dynamically adjust the sweeping robot's operating logic.

[0028] For example, in a certain operation, the cleaning robot needs to clean the first to the tenth photovoltaic (PV) tracking systems. During the initial path detection, it is determined that the angle of the second PV tracking system does not meet the requirements, causing all 10 PV tracking systems along the cleaning path to be unable to perform cleaning operations. This results in severe dust accumulation on the surface of the modules, significantly impacting the power output of the photovoltaic power station during peak electricity production periods. (Refer to the attached instruction manual.) Figure 2 As shown, Figure 2 This is a schematic diagram illustrating a situation where the angle of a certain tracking system on the cleaning path does not meet the cleaning angle requirement.

[0029] Faced with the current problem, the current control strategy of the cleaning robot cannot change the current situation. This application introduces a dedicated tracking system scheduling method to change the angle of adjacent normal photovoltaic tracking systems and eliminate the limitations of the cleaning path conditions, so that the cleaning robot can complete the cleaning of the surface of the tracking system components on the entire cleaning path.

[0030] Reference manual attached Figure 3 As shown, one embodiment of the scheduling method for a photovoltaic tracking system array according to this application is executed by a scheduling system. The photovoltaic tracking system array includes at least two photovoltaic tracking systems arranged at intervals in the same row. Adjacent photovoltaic tracking systems are connected by a bridge. Each photovoltaic tracking system includes a tracking bracket and a photovoltaic module. The scheduling method for the photovoltaic tracking system array includes: S1 obtains the tilt angle of the photovoltaic tracking system and the signal of the cleaning robot entering or leaving each photovoltaic tracking system by using tilt sensors with position triggering function installed at the beginning and end of each photovoltaic tracking system.

[0031] The method steps in this embodiment are executed by the scheduling system. Through data interconnection, the scheduling system realizes real-time status synchronization and collaborative control between the cleaning robot and the tracking system. During operation, it can dynamically identify path obstacles and autonomously execute angle adjustment strategies.

[0032] In practice, a tilt sensor with an integrated position trigger switch is fixed on the first and last photovoltaic tracking systems of each system. When the cleaning robot travels along the track to the beginning of a tracking system, the robot triggers a limit switch or magnetic induction switch. The sensor then records the real-time tilt angle of the current tracking system and generates an entry signal. When the robot leaves the end of the tracking system, the end sensor is also triggered, generating a departure signal.

[0033] S2, based on the signal of the cleaning robot entering each photovoltaic tracking system, determine the tilt angle difference between the photovoltaic tracking system currently being cleaned and the next adjacent photovoltaic tracking system.

[0034] Specifically, when the cleaning robot moves from the Nth tracking system to the N+1th tracking system, the entry signal emitted by the front sensor triggers the controller to read the tilt angle value of the current (N+1th) tracking system, and at the same time retrieves the end tilt angle value recorded by the previous (Nth) tracking system at the moment the robot leaves from the memory.

[0035] S3, determine whether the tilt angle difference meets the cleaning angle threshold, and mark the photovoltaic tracking system that does not meet the cleaning angle threshold as an abnormal photovoltaic tracking system.

[0036] By comparing the current tilt angle difference with a preset cleaning angle threshold, it is determined whether there are any obstacles on the cleaning path caused by the photovoltaic tracking system angle exceeding the cleaning angle threshold. The preset cleaning angle threshold is the angle range of the tracking system within which the cleaning robot can normally perform photovoltaic cleaning tasks. Optionally, the preset cleaning angle is when the angle between the photovoltaic panel and the horizontal plane is less than or equal to 20 degrees.

[0037] The system compares the angle data received in real time from each photovoltaic tracking system with the threshold range. If the real-time angle of a photovoltaic tracking system continuously exceeds the threshold range, the system identifies it as an abnormal photovoltaic tracking system and highlights it in the task list.

[0038] Optionally, specific judgment conditions include: whether the tracking angle is within the cleaning angle threshold, and whether there are abnormal states such as sudden angle changes or continuous exceeding of limits. If an abnormal state is identified in the angle value of a photovoltaic tracking system, the module will mark it as an abnormal photovoltaic tracking system.

[0039] S4, adjust the tracking angle of the abnormal photovoltaic tracking system so that the cleaning robot performs the cleaning task along the adjusted photovoltaic tracking system.

[0040] Specifically, for the identified abnormal photovoltaic tracking systems, the scheduling and management module generates a targeted tracking system angle adjustment task sequence based on the abnormal photovoltaic tracking system's position and continuity in the path and the status of adjacent photovoltaic tracking systems. This task is then sent to the tracking system management module for photovoltaic tracking system-by-photovoltaic tracking system control and execution. By coordinating the adjustment of the angles of adjacent tracking systems that are working normally in the path, a continuous passable path area is formed, thereby realizing the adjustment of the cleaning path.

[0041] After adjusting the angle of the photovoltaic tracking system and confirming that the cleaning path meets the robot's safe operating conditions, the scheduling management module and the cleaning robot management module work together to send an exit command to the corresponding cleaning robot and simultaneously issue cleaning task parameters including the adjusted path sequence, safe speed, and position verification points.

[0042] After receiving the instruction, the robot performs surface cleaning of the components according to the new path planned by the scheduling method, and reports its position and status information in real time during operation. After the cleaning task is completed, the scheduling method will re-coordinate the angles of the relevant photovoltaic tracking system based on the real-time passability judgment of the return path, and send a return command to guide the robot safely back to the docking platform.

[0043] Throughout the process, the system continuously monitors the path status and equipment feedback. If a new photovoltaic tracking system malfunction or robot malfunction occurs during operation, the scheduling and management module can interrupt or re-plan the task in real time, achieving dynamic scheduling and adaptive operation in case of malfunction.

[0044] Based on the above embodiments, this application discloses another embodiment of a scheduling method for a photovoltaic tracking system array, wherein step S2, based on the signal of the cleaning robot entering each photovoltaic tracking system, determines the tilt angle difference between the currently being cleaned photovoltaic tracking system and the next adjacent photovoltaic tracking system. Specifically, this includes: S211, when the cleaning robot travels to the position of the tilt sensor at the head end of each of the photovoltaic tracking systems, it is determined that the cleaning robot has entered the photovoltaic tracking system, and this moment is recorded as the first time.

[0045] Specifically, the cleaning robot travels along the track of the photovoltaic array. When the robot's front end touches the magnetic tilt sensor installed on the first photovoltaic tracking system of the Nth tracking system, the sensor generates a level transition signal. Upon receiving this signal, the controller immediately determines that the robot has entered the current photovoltaic tracking system and records the time at that moment. This initial time is used to determine whether the robot has entered normally according to the predetermined sequence, avoiding duplicate recordings due to sensor mis-triggers or robot reversal.

[0046] S212, at the first time, determine the first tilt angle value of the current photovoltaic tracking system and the second tilt angle value of the next adjacent photovoltaic tracking system to be cleaned, and calculate the tilt angle difference between the first tilt angle value and the second tilt angle value.

[0047] Specifically, while recording the first time point T1, the controller reads the first tilt angle value of the current tracking system from the tilt angle sensor at the head end. Subsequently, based on the length L of the current photovoltaic tracking system and the traveling speed V of the cleaning robot, the backend system calculates the second tilt angle value of the next adjacent photovoltaic tracking system after time T, based on the tracking algorithm, where T = L / V, and then calculates the tilt angle difference.

[0048] This application discloses another embodiment of a scheduling method for a photovoltaic tracking system array, wherein step S2, based on the signal of a cleaning robot entering each photovoltaic tracking system, determines the tilt angle difference between the currently being cleaned photovoltaic tracking system and the next adjacent photovoltaic tracking system. Specifically, this includes: S221, when the cleaning robot travels to the position of the end tilt sensor of each of the photovoltaic tracking systems, it is determined that the cleaning robot has left the photovoltaic tracking system, and this moment is recorded as the second time.

[0049] In practice, after the cleaning robot completes cleaning the Nth photovoltaic tracking system, it continues to move along the track. When its tail leaves the trigger-type tilt sensor on the end photovoltaic tracking system, the end tilt sensor generates a pulse. The controller determines that the robot has completely left the current tracking system based on this pulse and records this moment as the second time.

[0050] Considering that the robot may be accelerated away prematurely when it is tailwind, or delayed in leaving when it is stuck, the controller simultaneously monitors the robot's wheel speed encoder data. Only when the wheel speed integral mileage matches the track length and the trigger signal disappears is the validity of the second time confirmed, thus avoiding misjudgment.

[0051] S222, at the second time, determine the tilt angle information of the current photovoltaic tracking system and the tilt angle information of the next adjacent photovoltaic tracking system to be cleaned, and determine whether the difference between the two tilt angle information is within the threshold range.

[0052] Specifically, the controller reads the real-time tilt angle of the Nth tracking system's end sensor in the second time frame, and simultaneously obtains the real-time tilt angle of the next (N+1)th tracking system's head sensor via the communication bus. The difference is then calculated.

[0053] In other embodiments, based on any of the above embodiments, before executing step S1, the method further includes: pre-establishing a unified identification code for the tracking system, including a subarray code and a photovoltaic tracking system code. This is so that after a system is marked as an abnormal photovoltaic tracking system, its unified identification code is recorded and associated with its corresponding real-time angle information. Based on the real-time angle information of the abnormal photovoltaic tracking system, it is matched with the cleaning path model to determine the path number corresponding to the abnormal photovoltaic tracking system in the cleaning path model, and a task list is generated. The cleaning path model contains a mapping relationship between the photovoltaic tracking system number and position of each tracking system in the cleaning path.

[0054] Specifically, the system first establishes a unified cleaning path model and a unified identification code based on the physical layout structure of the photovoltaic power station. The unified identification code adopts a hierarchical structure design, including subarray codes that identify the location of the area and photovoltaic tracking system codes that identify individual photovoltaic tracking systems. The two are combined to form a unique and structured identity for the photovoltaic tracking system.

[0055] When the system detects an angle anomaly or communication anomaly in a tracking system, the scheduling method records the complete coding information of that photovoltaic tracking system in real time to the task list based on its unified identification code, and synchronously associates it with the collected real-time angle data, the time of the anomaly, and the anomaly type. Optionally, the task list adopts a structured storage method, supporting fast querying and statistics by subarray, path, or time dimension. Simultaneously, the unified identification code model records the code, sequence number, and position mapping relationship of each photovoltaic tracking system along the path, using the path as the unit. The real-time angle information of the abnormal photovoltaic tracking system is matched and analyzed with the path model. The sequential position of the photovoltaic tracking system in the path is determined through code matching, thereby determining the specific position of each abnormal photovoltaic tracking system in the operation sequence. Subsequently, the system comprehensively considers multiple factors such as operation efficiency and the position of the abnormal photovoltaic tracking system to generate an executable task list.

[0056] In some embodiments, step S4 involves adjusting the tracking angle of the abnormal photovoltaic tracking system. (See attached specification.) Figure 4 As shown, it specifically includes: S41, a first angle adjustment command is issued to the abnormal photovoltaic tracking system on the cleaning path. The first angle adjustment command is configured to adjust the tilt angle of the abnormal photovoltaic tracking system to the target cleaning angle.

[0057] Specifically, after marking photovoltaic tracking systems that do not meet the cleaning angle threshold as abnormal, the system will first issue a first angle adjustment command to these abnormal photovoltaic tracking systems. After receiving the first angle adjustment command, the local control box of the corresponding photovoltaic tracking system adjusts the tracking angle. The first angle adjustment command is used to instruct the photovoltaic tracking system to adjust its tracking angle to a uniform and safe target cleaning angle, which is usually a pre-set angle that is most suitable for the robot to pass smoothly.

[0058] The cleaning angle threshold includes the target cleaning angle. Optionally, the cleaning angle threshold is equal to the target cleaning angle ± the error angle.

[0059] Optionally, the target cleaning angle is the tracking angle of the previous tracking system that has been cleaned on the current cleaning path. Accordingly, when the cleaning robot runs to the current tracking system to be cleaned, the first angle adjustment command is used to adjust the angle of the tracking system to match the angle of the previous tracking system, so that the cleaning robot can transfer from the previous tracking system to the target tracking system.

[0060] S42, receive real-time angle information from each of the abnormal photovoltaic tracking systems, and determine whether the tilt angle of the abnormal photovoltaic tracking system is adjustable.

[0061] Specifically, the system continuously receives real-time angle information from the controllers of these abnormal photovoltaic tracking systems, and uses this information to determine whether the angle of the photovoltaic tracking system is adjustable. The judgment logic is to monitor whether the angle of the photovoltaic tracking system begins to respond to the command and approaches the target angle. If the feedback angle can stably enter the preset cleaning angle threshold range within a certain time window, it indicates that the drive and actuator of the photovoltaic tracking system are functioning normally and the angle adjustment is successful.

[0062] S43, if the tilt angle of the photovoltaic tracking system is adjustable, then restore it to the status of a normal photovoltaic tracking system.

[0063] Specifically, once it is confirmed that the real-time angle of a photovoltaic tracking system is adjustable and stable within this threshold, the system will remove its abnormal status label, restore it to a normal tracking system, and allow the cleaning robot to safely pass through the area.

[0064] In another embodiment of this invention, please refer to the appendix to the specification. Figure 4 As shown, step S4 further includes: S44, if the tilt angle of the photovoltaic tracking system is not adjustable, then it is further determined whether the tilt angle of the abnormal photovoltaic tracking system meets the obstacle crossing angle threshold, and the abnormal photovoltaic tracking system that does not meet the obstacle crossing angle threshold is marked as a faulty photovoltaic tracking system.

[0065] Specifically, if the system determines that the tracking angle of the abnormal photovoltaic tracking system is not adjustable, that is, its actual angle neither responds nor stably enters the preset cleaning angle threshold range after receiving the first angle adjustment command, the system will further initiate the safety assessment process.

[0066] At this point, the system compares the real-time angle data currently fed back by the tracking system with the obstacle-crossing angle threshold. The obstacle-crossing angle threshold is the range of angles within which the cleaning robot can forcibly cross the abnormal photovoltaic tracking system and move to the next faulty photovoltaic tracking system. Optionally, the preset cleaning angle is that the angle between the photovoltaic panel and the horizontal plane is less than or equal to 45 degrees. If the stopping angle of the abnormal photovoltaic tracking system falls within the obstacle-crossing angle threshold range, the system allows the robot to attempt to cross the obstacle at a low speed. However, if the stopping angle of the cleaning robot exceeds this safety limit, the system will ultimately mark it as a faulty photovoltaic tracking system and prohibit the cleaning robot from entering that area.

[0067] At the same time, the system generates emergency alarm information containing the location and angle of the specific faulty photovoltaic tracking system, notifying maintenance personnel to conduct on-site inspections, thereby completely avoiding the risk of the robot getting stuck, colliding, or falling due to forcibly passing through extreme angles.

[0068] S45, if the tilt angle of the abnormal photovoltaic tracking system is not adjustable, but meets the obstacle-crossing angle threshold, then a second angle adjustment command is issued to the first and second photovoltaic tracking systems adjacent to the photovoltaic tracking system. This second angle adjustment command is configured to adjust the angles of the photovoltaic tracking systems to be consistent with the angle of the abnormal photovoltaic tracking system. This allows the cleaning robot to cross the abnormal photovoltaic tracking system and stop after reaching the second photovoltaic tracking system from the first photovoltaic tracking system.

[0069] In practice, the scheduling method first obtains the real-time angle information of the abnormal photovoltaic tracking system as a reference value for subsequent angle adjustments. Then, the system issues a second angle adjustment command to the first and second controlled photovoltaic tracking systems adjacent to the abnormal photovoltaic tracking system on the cleaning path. This second angle adjustment command aims to adjust the tracking angles of the first and second controlled photovoltaic tracking systems to match the current angle of the abnormal photovoltaic tracking system. This creates a temporary planar connection area between the abnormal photovoltaic tracking system and the normal photovoltaic tracking systems on either side, ensuring the cleaning robot can safely and smoothly cross the abnormal photovoltaic tracking system, moving from the first controlled photovoltaic tracking system through the abnormal photovoltaic tracking system area to the second controlled photovoltaic tracking system.

[0070] S46, issue a third angle adjustment command to the second photovoltaic tracking system, the third angle adjustment command being configured to adjust the tilt angle of the second photovoltaic tracking system to the target cleaning angle.

[0071] Once the cleaning robot successfully crosses the abnormal photovoltaic tracking system and arrives at the second controlled photovoltaic tracking system, it issues a third angle adjustment command to the second controlled photovoltaic tracking system. This command gradually adjusts the tracking angle from a temporary angle aligned with the abnormal photovoltaic tracking system to the system's preset target cleaning angle, enabling the cleaning robot to continue performing subsequent component cleaning operations along the adjusted cleaning path.

[0072] The adjustment mechanism in this application can minimize path interruptions caused by malfunctions of a single photovoltaic tracking system while ensuring robot passage safety, and support the continuous execution of cleaning tasks under local obstacle conditions.

[0073] In some other embodiments of this example, based on the above embodiments, before performing step S45, the method further includes the following steps, as detailed in the appendix to the specification. Figure 5 As shown.

[0074] S451: Determine if the abnormal photovoltaic tracking system is the last photovoltaic tracking system. If so, the task ends and there is no need to continue with step S45. If it is not the last photovoltaic tracking system, proceed with step S45.

[0075] In some other embodiments of this example, based on the above embodiments, the method further includes the following steps before performing step S45.

[0076] S452, determine whether the tracking angles of the first controlled photovoltaic tracking system and the second controlled photovoltaic tracking system on both sides of the abnormal photovoltaic tracking system are adjustable.

[0077] S453, if the angle is not adjustable, then determine again whether the angles of the first controlled photovoltaic tracking system, the second controlled photovoltaic tracking system and the abnormal photovoltaic tracking system are consistent.

[0078] S454. If the angles are inconsistent and cannot be adjusted, this indicates that the photovoltaic tracking system for this cleaning task is a continuously abnormal photovoltaic tracking system. The performance calculation submodule then determines that the cleaning path cannot be adjusted. Accordingly, a prohibition on leaving the cleaning area command is issued to the cleaning robot, and the current task is skipped or deleted from the task list.

[0079] If the angle is not adjustable but the angles are the same, or the angles are not the same but the angles are adjustable, then continue to step S45.

[0080] In another embodiment of this example, based on the above embodiment, refer to the appendix to the specification. Figure 4 As shown, step S4 of this application also includes: S47, canceling the cleaning tasks of the faulty photovoltaic tracking system and subsequent tracking systems on the cleaning path, and issuing a return instruction to the cleaning robot.

[0081] Specifically, if the tracking angle of an abnormal photovoltaic (PV) tracking system is not adjustable and does not meet the obstacle-crossing angle threshold, the abnormal PV tracking system is identified as a faulty PV tracking system. Subsequently, the system will mark the geographical location of the faulty PV tracking system and all subsequent tracking systems along the preset cleaning path behind the fault point as faulty in its global path planning. All cleaning tasks originally planned to traverse these PV tracking systems will be canceled, and a return-to-basket instruction will be issued to the current cleaning robot. Optionally, the return-to-basket instruction may include the optimal return path.

[0082] This application discloses another embodiment of a scheduling method for a photovoltaic tracking system array, based on any of the above embodiments, with reference to the appendix to the specification. Figure 6As shown, before the cleaning robot performs the cleaning task, the process includes: S4381, determining whether the tracking system to be cleaned is in stop mode; if not, executing S482, sending a stop command to the current tracking system. The tracking system enters stop mode upon receiving the stop command.

[0083] In practice, the first step is to determine whether the tracking system to be cleaned is already in a stopped mode. If the photovoltaic tracking system is still in tracking motion or other non-stop state, the system will issue a stop command to the photovoltaic tracking system through the scheduling and management module, causing its drive mechanism to lock and enter a stopped mode. This provides a stable and safe working platform for the cleaning robot and prevents positioning deviations or equipment collision risks caused by the rotation of the photovoltaic tracking system.

[0084] In some other embodiments, during step S48, the cleaning task execution process also includes: step S483, where the cleaning robot continuously monitors whether the cleaning task of the current tracking system has been completed.

[0085] S484: After the cleaning task is completed and the cleaning robot leaves the current tracking system, the completed task number is deleted from the task list.

[0086] After the tracking system stops and is at a safe cleaning angle, the system controls the cleaning robot to move onto the tracking system and begin cleaning the component surface. During this process, the robot management module and sensor feedback continuously monitor the execution status of the cleaning task, including cleaning progress, robot position, and equipment operating parameters, until the cleaning task corresponding to the photovoltaic tracking system is marked as complete.

[0087] Once the cleaning task is completed and the cleaning robot has completely left the current photovoltaic tracking system area, the system, based on the task execution feedback, removes the completed task number corresponding to the photovoltaic tracking system from the task list under maintenance and updates the task status to "executed".

[0088] Optionally, after the task is completed, the tracking system should be restored to automatic tracking mode, or kept in a stopped state to facilitate subsequent path scheduling.

[0089] In other embodiments, the continuous monitoring of whether the cleaning task of the current tracking system is completed specifically includes: after the cleaning robot leaves the compartment, receiving the current status data reported in real time by the cleaning robot and the real-time angle information of the photovoltaic tracking system, recording the current status data and the real-time angle information in real time, detecting the fault status of the cleaning robot and the photovoltaic tracking system, and recording them in the task list.

[0090] Specifically, during execution, the scheduling and management module continuously collects status feedback from each subsystem. If a task fails or times out, it can be retried, skipped, or terminated according to preset strategies, and the execution results will be updated to the task list. At the same time, it will trigger exception statistics or log recording to ensure the traceability of the task execution process.

[0091] Optionally, when the cleaning robot malfunctions, a stop command is sent to the cleaning robot, and a stop command is sent to the photovoltaic tracking system corresponding to the current location of the cleaning robot.

[0092] Specifically, during operation, the system continuously monitors the status feedback of the cleaning robot and the tracking system. When a malfunction is detected in the cleaning robot, such as running timeout, communication interruption, abnormal posture, or collision alarm, the module immediately initiates the abnormal interlock response process. First, the module sends an emergency stop command to the malfunctioning robot through the cleaning robot management module, forcing it to stop all movement and enter a safety lock state to prevent the abnormality from escalating or the equipment from being damaged.

[0093] Optionally, the module simultaneously uses the real-time location information reported by the cleaning robot, combined with the preset cleaning path and the position mapping relationship between the photovoltaic tracking system, to quickly locate the specific tracking system the robot is currently in. It then issues a stop command to the photovoltaic tracking system through the tracking system management module, causing its drive mechanism to immediately stop rotating and maintain its current fixed position. This prevents the robot from slipping, falling, or interfering with adjacent equipment due to continued movement of the photovoltaic tracking system. The interlocking mechanism of this application achieves collaborative protection between the robot and the photovoltaic tracking system at both the hardware and software levels, ensuring rapid risk isolation in the event of any equipment malfunction, and providing a stable on-site condition for subsequent anomaly diagnosis and manual intervention.

[0094] Based on the same technical concept, this application also discloses a scheduling system for a photovoltaic tracking system array, comprising: Tilt sensors are installed at the beginning and end of each photovoltaic tracking system. Specifically, the tilt sensors can be mounted on the cantilevered main shaft via purlins to obtain the tilt angle of the photovoltaic tracking system and signals of the cleaning robot entering or leaving each photovoltaic tracking system.

[0095] The photovoltaic tracking controller receives instructions from the backend control system and executes corresponding actions. Based on signals from the cleaning robot entering each photovoltaic tracking system, it determines the tilt angle difference between the currently being cleaned photovoltaic tracking system and the next adjacent photovoltaic tracking system. It then determines whether the tilt angle difference meets a cleaning angle threshold, marking photovoltaic tracking systems that do not meet the threshold as abnormal. The tracking angle of the abnormal photovoltaic tracking systems is then adjusted.

[0096] The cleaning robot controller is used to receive instructions from the background control system and execute corresponding actions to control the cleaning robot to perform cleaning tasks.

[0097] The background control system connects and coordinates the photovoltaic tracking controller and the cleaning robot controller.

[0098] The scheduling method and system of the photovoltaic tracking system array of this application have the same technical concept, and the technical details of the embodiments of the two are applicable to each other. In order to reduce repetition, they will not be repeated here.

[0099] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of program modules is merely an example. In practical applications, the above functions can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program units or modules to complete all or part of the functions described above. The program modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software program unit. Furthermore, the specific names of the program modules are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0100] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A scheduling method for a photovoltaic tracking system array, characterized in that, The scheduling of the photovoltaic tracking system array, executed by a scheduling system, comprises at least two photovoltaic tracking systems arranged at intervals in the same row. Adjacent photovoltaic tracking systems are connected by a cable tray. Each photovoltaic tracking system includes a tracking bracket and a photovoltaic module. The scheduling method for the photovoltaic tracking system array includes: The tilt angle of each photovoltaic tracking system and the signal of the cleaning robot entering or leaving each photovoltaic tracking system are obtained by tilt sensors with position triggering function installed at the beginning and end of each photovoltaic tracking system. Based on the signals from the cleaning robot entering each photovoltaic tracking system, the tilt angle difference between the photovoltaic tracking system currently being cleaned and the next adjacent photovoltaic tracking system is determined. Determine whether the tilt angle difference meets the cleaning angle threshold, and mark the photovoltaic tracking system that does not meet the cleaning angle threshold as an abnormal photovoltaic tracking system; The tracking angle of the abnormal photovoltaic tracking system is adjusted so that the cleaning robot performs the cleaning task along the adjusted photovoltaic tracking system.

2. The scheduling method for a photovoltaic tracking system array as described in claim 1, characterized in that, Based on the signals from the cleaning robot entering each photovoltaic tracking system, the tilt angle difference between the currently being cleaned photovoltaic tracking system and the next adjacent photovoltaic tracking system is determined, including: When the cleaning robot travels to the position of the tilt angle sensor at the beginning of each of the photovoltaic tracking systems, it is determined that the cleaning robot has entered the photovoltaic tracking system, and this moment is recorded as the first time. At the first moment, the first tilt angle value of the current photovoltaic tracking system and the second tilt angle value of the next adjacent photovoltaic tracking system to be cleaned are determined, and the tilt angle difference between the first tilt angle value and the second tilt angle value is calculated.

3. A scheduling method for a photovoltaic tracking system array as described in claim 1 or 2, characterized in that, It also includes: when the cleaning robot travels to the position of the end tilt sensor of each of the photovoltaic tracking systems, it is determined that the cleaning robot has left the photovoltaic tracking system, and the moment is recorded as the second time; In the second time interval, the tilt angle information of the current photovoltaic tracking system and the tilt angle information of the next adjacent photovoltaic tracking system to be cleaned are determined, and it is determined whether the difference between the two tilt angle information is within the threshold range.

4. The scheduling method for a photovoltaic tracking system array as described in claim 1, characterized in that, The adjustment of the tracking angle of the abnormal photovoltaic tracking system specifically includes: A first angle adjustment command is issued to the abnormal photovoltaic tracking system on the cleaning path; the first angle adjustment command is configured to adjust the tilt angle of the abnormal photovoltaic tracking system to the target cleaning angle. Receive real-time angle information from each of the abnormal photovoltaic tracking systems and determine whether the tilt angle of the abnormal photovoltaic tracking system is adjustable; If the tilt angle of the photovoltaic tracking system is adjustable, then it will be restored to its normal photovoltaic tracking system status.

5. The scheduling method for a photovoltaic tracking system array as described in claim 4, characterized in that, Also includes: If the tilt angle of the photovoltaic tracking system is not adjustable, it is further determined whether the tilt angle of the abnormal photovoltaic tracking system meets the obstacle crossing angle threshold. The abnormal photovoltaic tracking system that does not meet the obstacle crossing angle threshold is marked as a faulty photovoltaic tracking system.

6. The scheduling method for a photovoltaic tracking system array as described in claim 4, characterized in that, Also includes: If the tilt angle of the abnormal photovoltaic tracking system is not adjustable, but meets the obstacle crossing angle threshold, then a second angle adjustment command is issued to the first and second photovoltaic tracking systems adjacent to the photovoltaic tracking system. The second angle adjustment command is configured to adjust the photovoltaic tracking system so that the angles of the photovoltaic tracking system and the abnormal photovoltaic tracking system are consistent, so that the cleaning robot can cross the abnormal photovoltaic tracking system and stop after reaching the second photovoltaic tracking system from the first photovoltaic tracking system. A third angle adjustment command is issued to the second photovoltaic tracking system, the third angle adjustment command being configured to adjust the tilt angle of the second photovoltaic tracking system to the target cleaning angle.

7. A scheduling method for a photovoltaic tracking system array as described in any one of claims 1-6, characterized in that, Before the cleaning robot performs the cleaning task, the method further includes: determining whether the photovoltaic tracking system to be cleaned is in stop mode; if not, issuing a stop command to the photovoltaic tracking system; and the photovoltaic tracking system entering stop mode after receiving the stop command.

8. The scheduling method for a photovoltaic tracking system array as described in claim 1, characterized in that, Also includes: The cleaning robot is given a bin control command; Check whether the angle difference between the photovoltaic tracking system and the docking platform meets the cleaning angle threshold; If the threshold requirement is met, the cleaning robot will begin performing the cleaning task.

9. The scheduling method for a photovoltaic tracking system array as described in claim 8, characterized in that, Also includes: After the cleaning robot leaves the compartment, it receives the current status data reported by the cleaning robot in real time and the real-time angle information of the photovoltaic tracking system, records the current status data and the real-time angle information in real time, detects the fault status of the cleaning robot and the photovoltaic tracking system, and records it in the task list, and / or, when the cleaning robot malfunctions, sends a stop command to the cleaning robot and sends a stop command to the photovoltaic tracking system corresponding to the current position of the cleaning robot.

10. A scheduling system for a photovoltaic tracking system array, characterized in that, include: Tilt sensors are installed at the beginning and end of each photovoltaic tracking system to obtain the tilt angle of the photovoltaic tracking system and the signal of the cleaning robot entering or leaving each photovoltaic tracking system; The photovoltaic tracking controller is used to receive instructions from the background control system to execute corresponding actions, and based on the signal of the cleaning robot entering each photovoltaic tracking system, to determine the tilt angle difference between the currently being cleaned photovoltaic tracking system and the next adjacent photovoltaic tracking system; to determine whether the tilt angle difference meets the cleaning angle threshold, and to mark the photovoltaic tracking system that does not meet the cleaning angle threshold as an abnormal photovoltaic tracking system; and to adjust the tracking angle of the abnormal photovoltaic tracking system. The cleaning robot controller is used to receive instructions from the background control system and execute corresponding actions to control the cleaning robot to perform cleaning tasks; The background control system connects and coordinates the photovoltaic tracking controller and the cleaning robot controller.

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