Positioning system, method for a photovoltaic cleaning robot and photovoltaic cleaning robot

Abstract

This application discloses a positioning system, method, and photovoltaic cleaning robot, belonging to the field of photovoltaic power generation operation and maintenance technology. The positioning system for the photovoltaic cleaning robot includes: a photovoltaic module array with at least one type of contact plate arranged along a preset position; a photovoltaic cleaning robot configured to move along the photovoltaic module array; wherein the photovoltaic cleaning robot is equipped with sensors for collecting contact response signals triggered when it comes into contact with the contact plate; and a control unit, communicatively connected to the photovoltaic cleaning robot and configured to determine the position of the photovoltaic cleaning robot based on the contact response signals. This application improves the reliability and accuracy of photovoltaic cleaning robot positioning in complex environments.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic power generation operation and maintenance technology, and in particular relates to a positioning system, method and photovoltaic cleaning robot for a photovoltaic cleaning robot. Background Technology

[0002] With the widespread application of photovoltaic power generation technology, in order to maintain the high efficiency and stable power generation of photovoltaic modules, photovoltaic cleaning robots are usually deployed on photovoltaic module arrays to move along a planned path to clean the panels. Real-time and reliable positioning of the robots is crucial for accurately controlling their start-up, stopping, reversing, and brush movements.

[0003] Currently, the positioning of photovoltaic cleaning robots mainly relies on two methods: one is based on magnetic detection, which determines the position of the photovoltaic cleaning robot by identifying the metal bracket of the photovoltaic module; the other is based on wireless signal positioning, such as radio frequency identification or ultrasonic ranging, to obtain the position information of the photovoltaic cleaning robot.

[0004] However, magnetic detection methods are susceptible to interference in dusty or rainy / snowy weather, leading to signal failure. Wireless positioning solutions require the deployment of numerous sensors, resulting in higher costs. Furthermore, their positioning accuracy is greatly affected by environmental factors and signal stability, making it difficult to achieve stable and accurate positioning of photovoltaic cleaning robots in outdoor environments. Summary of the Invention

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a positioning system, method, and photovoltaic cleaning robot to improve the reliability and accuracy of positioning of the photovoltaic cleaning robot in complex environments.

[0006] In a first aspect, this application provides a positioning system for a photovoltaic cleaning robot, the system comprising: A photovoltaic module array, with at least one type of flap arranged at a preset position; A photovoltaic cleaning robot is configured to move along a photovoltaic module array; the photovoltaic cleaning robot is equipped with sensors to collect contact response signals triggered when it comes into contact with the photovoltaic panels. The control unit is connected in communication with the photovoltaic cleaning robot and is configured to determine the position of the photovoltaic cleaning robot based on contact response signals.

[0007] According to one embodiment of this application, determining the position of a photovoltaic cleaning robot based on a contact response signal specifically includes: identifying the type of paddle to which the triggered paddle belongs based on the signal characteristics of the contact response signal; and determining the position of the photovoltaic cleaning robot based on the number of times the contact response signal under the same paddle type is triggered.

[0008] According to one embodiment of this application, the paddle type includes a first paddle type; the control unit is configured to count the number of times the corresponding contact response signal is triggered when the first paddle type is identified, and obtain a first count value; based on the first count value and the number of photovoltaic panels in the photovoltaic module array, and based on the first count value and the number of photovoltaic panels in the photovoltaic module array, determine the traveling position of the photovoltaic cleaning robot in the photovoltaic module array.

[0009] According to one embodiment of this application, a photovoltaic cleaning robot is equipped with a cleaning component; the control unit is configured to determine the area type corresponding to the moving position based on a first count value and / or the parity attribute of the first count value; if the moving position is determined to be an area to be cleaned, the cleaning component is controlled to run; if the moving position is determined to be an area to be cleaned, the cleaning component is controlled to pause operation.

[0010] According to one embodiment of this application, the paddle type includes a second paddle type; the control unit is configured to count the number of times the corresponding contact response signal is triggered when the second paddle type is identified, to obtain a second count value; based on the second count value, the end position of the photovoltaic cleaning robot in the photovoltaic module array is determined; the end position is used to characterize the stopping position and / or reversing position of the photovoltaic cleaning robot.

[0011] According to one embodiment of this application, the control unit is further configured to determine the end position state corresponding to the photovoltaic cleaning robot based on a second count value; wherein the end position state includes at least one of a stopped state, a traveling state toward a reversing position, a reversing state, and a returning state toward a stopped position.

[0012] According to one embodiment of this application, the control unit is further configured to control the photovoltaic cleaning robot to enter an energy-saving charging mode when it is determined that the photovoltaic cleaning robot is in a stopped position; and to control the photovoltaic cleaning robot to perform a reversing operation when it is determined that the photovoltaic cleaning robot is in a reversing position.

[0013] According to one embodiment of this application, the first paddle type and the second paddle type are the same paddle type; or the first paddle type and the second paddle type are different paddle types, and the signal characteristics of the contact response signals triggered by the two when they come into contact with the sensor are different.

[0014] According to one embodiment of this application, a photovoltaic module array is formed by arranging multiple photovoltaic panels at intervals according to a preset arrangement. The preset positions include the inter-panel spacing area in the photovoltaic module array and the end positions of the photovoltaic module array. Wherein: when the photovoltaic module array is installed on a flat single-axis support structure, a connecting bridge is provided between adjacent photovoltaic panels, and the inter-panel spacing area is the spacing area corresponding to the connecting bridge; when the photovoltaic module array is installed on a fixed support structure, the inter-panel spacing area is the boundary area formed by splicing adjacent photovoltaic panels.

[0015] Secondly, this application provides a positioning method for a photovoltaic cleaning robot. The photovoltaic cleaning robot is used to perform cleaning operations on a photovoltaic module array. The photovoltaic module array is formed by multiple photovoltaic panels arranged at intervals according to a preset layout, and at least one type of lever is arranged at a preset position. The method includes: The photovoltaic cleaning robot is controlled to move along the photovoltaic module array and the contact response signal triggered when it comes into contact with the paddles is collected. The location of the photovoltaic cleaning robot is determined based on the contact response signal.

[0016] According to one embodiment of this application, determining the position of a photovoltaic cleaning robot based on a contact response signal specifically includes: identifying the type of paddle to which the triggered paddle belongs based on the signal characteristics of the contact response signal; and determining the position of the photovoltaic cleaning robot based on the number of times the contact response signal under the same paddle type is triggered.

[0017] Thirdly, this application provides a photovoltaic cleaning robot for performing cleaning operations on a photovoltaic module array, wherein at least one paddle is arranged along a preset position on the photovoltaic module array; the photovoltaic cleaning robot includes: a sensor for collecting a contact response signal triggered when it contacts the paddle; and a control unit, which is communicatively connected to the sensor and configured to implement the positioning method of the photovoltaic cleaning robot as described in the second aspect above.

[0018] Fourthly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the positioning method of the photovoltaic cleaning robot as described in the second aspect above.

[0019] Fifthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the positioning method of the photovoltaic cleaning robot as described in the second aspect above.

[0020] In a sixth aspect, this application provides a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the positioning method of the photovoltaic cleaning robot as described in the second aspect.

[0021] In a seventh aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the positioning method for the photovoltaic cleaning robot as described in the second aspect above.

[0022] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects: By detecting the physical contact between sensors mounted on the photovoltaic cleaning robot and preset levers along its running path, the robot's key position within the photovoltaic module array is identified. Through triggering structures with different mechanical configurations, contact response signals with varying characteristics are generated upon contact with the robot. Based on these contact response signals, the lever type is identified, accurately distinguishing between various position types such as photovoltaic panels, cable trays, parking positions, and reversing positions. The positioning logic is clear and robust, effectively avoiding interference from ambient light, dust, temperature, and humidity. Combined with counting logic, the robot's position information is determined. Using a simple hardware architecture instead of a complex electronic sensing system effectively avoids inaccurate positioning caused by environmental factors such as dust, rain, and snow. This strong environmental adaptability improves the reliability and accuracy of the photovoltaic cleaning robot's positioning in complex environments.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the positioning system structure of the photovoltaic cleaning robot provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of a photovoltaic module array installed on a flat single-axis support according to an embodiment of this application; Figure 3 This is a schematic diagram of a photovoltaic module array installed on a fixed support according to an embodiment of this application; Figure 4 This is a schematic diagram of the contact between the sensor and the contact structure provided in the embodiments of this application; Figure 5 This is a schematic diagram of the pressure signal triggering control logic provided in the embodiments of this application; Figure 6 This is a schematic flowchart of the positioning method for the photovoltaic cleaning robot provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the photovoltaic cleaning robot provided in the embodiments of this application; Figure 8 This is a schematic diagram of the electronic device structure provided in the embodiments of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0026] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0027] With the widespread application of photovoltaic power generation technology and the continuous expansion of power plant scale, the demand for efficient and automated cleaning of photovoltaic modules to maintain their power generation efficiency is increasing. As a key piece of equipment for cleaning photovoltaic modules, photovoltaic cleaning robots need to perform reciprocating motion along a preset path on photovoltaic module arrays composed of hundreds or thousands of photovoltaic panels to complete the cleaning operation.

[0028] During the cleaning operation of photovoltaic cleaning robots, real-time acquisition of the robot's location information and perception of its current cleaning status are prerequisites for controlling the robot's start-up, shutdown, reversal, and brush movements, as well as ensuring the robot's operational safety. This directly affects the cleaning coverage of photovoltaic modules, the safety of photovoltaic equipment, and the overall operation and maintenance efficiency of photovoltaic power plants.

[0029] Traditional photovoltaic cleaning robots rely primarily on various non-contact electronic sensors for positioning. For example, proximity switches based on magnetic or photoelectric principles, radio frequency identification (RFID), or ultrasonic ranging are used to achieve robot positioning.

[0030] In the implementation and analysis of existing technical solutions, the inventors discovered that while these solutions can achieve a certain degree of positioning functionality, their inherent defects are significant in the complex and harsh environment of outdoor photovoltaic power stations. Specifically, photoelectric and ultrasonic sensors are susceptible to interference from environmental factors such as dust, rain, and snow, leading to signal attenuation or failure and insufficient reliability. Furthermore, radio frequency (RF)-based positioning methods, to achieve accurate positioning, often require the deployment of numerous high-precision sensors (such as multiple RF readers and tags) or complex ranging systems, resulting in high initial investment and subsequent replacement costs. In addition, optical components require regular cleaning, and ultrasonic sensors require repeated calibration, increasing the difficulty and workload of maintenance. These defects make it difficult for existing positioning systems to simultaneously guarantee high reliability and accuracy while also meeting the requirements of low cost and ease of maintenance.

[0031] Based on this understanding, we can shift from complex electronic sensing and signal processing to simpler physical interaction mechanisms. Low-cost sensors can replace expensive and fragile photoelectric / ultrasonic components, generating positioning signals through direct physical contact between the photovoltaic cleaning robot and specific mechanical structures pre-set along its path. This contact-based triggering method effectively avoids environmental interference with optical or radio frequency signals. Furthermore, by designing trigger structures with different mechanical properties (such as length and shape) to generate signals with significantly different characteristics upon contact with the robot, and combining this with simple counter logic for signal analysis and state management, precise positioning and intelligent control can be achieved.

[0032] In view of this, this application provides a positioning system for a photovoltaic cleaning robot, which aims to solve the problems of poor environmental adaptability, high cost and complex maintenance in existing positioning solutions. By setting sensors on the photovoltaic cleaning robot and having them interact with mechanical structures preset on the running path that can generate different contact signals, the system determines the traveling position of the photovoltaic cleaning robot by using the signal characteristics generated by the interaction and counting logic, thereby reducing hardware costs and improving the reliability and accuracy of the photovoltaic cleaning robot's positioning in complex environments.

[0033] Among them, photovoltaic cleaning robots include dry-hanging photovoltaic cleaning robots, which can attach to and move on the metal frame of the photovoltaic modules themselves without the need to lay additional ground tracks between photovoltaic module arrays or make any structural modifications to the existing photovoltaic support system.

[0034] The positioning system, method, and photovoltaic cleaning robot provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0035] Figure 1 This is a schematic diagram of the positioning system structure of the photovoltaic cleaning robot provided in the embodiments of this application, as shown below. Figure 1As shown, the positioning system of the photovoltaic cleaning robot includes: a photovoltaic module array 101, a lever 102, a photovoltaic cleaning robot 103, a sensor 104, and a control unit 105. The photovoltaic module array 101 is provided with at least one lever 102 arranged at a preset position; the photovoltaic cleaning robot 103 is configured to move along the photovoltaic module array 101, and the photovoltaic cleaning robot 103 is equipped with a sensor 104, which is used to collect contact response signals triggered when physical contact occurs with the lever 102; the control unit 105 is communicatively connected to the photovoltaic cleaning robot 103 and is configured to determine the position of the photovoltaic cleaning robot 103 based on the contact response signals. To enable... Figure 1 The structure of the photovoltaic cleaning robot 103 is clearer. The photovoltaic module array 101 in the figure has been omitted. In actual application, the photovoltaic module array 101 is a series of closely arranged photovoltaic panels.

[0036] Furthermore, during the process of the control unit 105 determining the position of the photovoltaic cleaning robot 103 based on the contact response signal, the control unit 105 identifies the type of the triggered paddle 102 based on the signal characteristics of the contact response signal, and determines the position of the photovoltaic cleaning robot 103 based on the number of times the contact response signal under the same paddle type is triggered.

[0037] In the positioning system of the photovoltaic cleaning robot, the photovoltaic module array is formed by multiple photovoltaic panels arranged at intervals according to a preset layout. The photovoltaic panels are connected to each other by metal brackets, aluminum alloy frames and cable support structures to form the operating plane of the photovoltaic cleaning robot. At least one type of lever is arranged along the preset position of the photovoltaic module array.

[0038] The preset location refers to the installation point determined in advance based on the physical layout of the photovoltaic module array, the operation path planning of the photovoltaic cleaning robot, and the positioning control requirements. This includes the inter-panel spacing area in the photovoltaic module array and the end position of the photovoltaic module array.

[0039] A triggering element is a pre-positioned elastic component on a photovoltaic module array that makes physical contact with the bottom of a photovoltaic cleaning robot and causes mechanical deformation when the robot passes by. When subjected to external pressure, the triggering element produces a recoverable elastic deformation, which, in conjunction with sensors on the photovoltaic cleaning robot, triggers a corresponding contact response signal.

[0040] For example, the paddle can be made of a material with elastic recovery capability, such as polyurethane elastomer, silicone or rubber, which are elastic materials with recoverable deformation capability, so that it can maintain stable mechanical response characteristics and consistent signal output characteristics during repeated triggering.

[0041] In some embodiments, the paddle includes a first paddle type and a second paddle type, and the first paddle type and the second paddle type are different paddle types, and the signal characteristics of the contact response signals triggered by the two types when in contact with the sensor are different. For example, the first paddle type and the second paddle type can be differentiated in terms of length, elastic coefficient, deformation stroke, or contact area, so that the first paddle type and the second paddle type can generate contact response signals that are distinguishable in amplitude, duration, or waveform characteristics when pressed by the photovoltaic cleaning robot.

[0042] For example, the first and second types of levers could be short elastic levers and long elastic levers, respectively. The short elastic lever is relatively short, resulting in a lower amplitude and shorter duration of the signal generated by the pressure sensor when the photovoltaic cleaning robot passes over it. The long elastic lever is longer than the short elastic lever, generating a higher amplitude or longer duration of the pressure signal when the robot passes over it, thus facilitating the control unit's differentiation between the two types of levers.

[0043] When the robot presses against the short elastic lever, the peak value of its pressure signal is low, the duration is short, and the signal pattern is highly consistent, which can be used as a counting marker for the photovoltaic panel boundary. The short elastic levers are arranged sequentially along the photovoltaic panel boundary positions of the photovoltaic module array. Each triggering of a short elastic lever indicates that the robot has crossed the boundary of a photovoltaic panel. The control unit can thus determine the robot's current position in the array by the number of triggering of the short elastic levers.

[0044] In contrast, long elastic paddles have a greater paddle length, resulting in higher pressure amplitude or longer duration when compressed, thus creating signal characteristics significantly different from short elastic paddles. In some implementations, by placing long elastic paddles at end functional positions (such as the end of the stroke, stop point, or reversing point), the control unit can immediately trigger the corresponding operating mode switch upon recognizing the long elastic paddle signal, achieving reliable control based on position semantics.

[0045] It should be noted that the correspondence between the types of levers and their placement locations in this application does not constitute a limitation on the scope of protection. For example, a reverse configuration can also be used, where the unique continuous high-voltage signal of the long elastic lever is used as the reference for conventional counting, while the short elastic lever is used to trigger a rapid response at a specific location. By using at least two mechanical triggering devices with distinguishable signal characteristics (such as amplitude differences, duration differences, or waveform differences), ordinary and functional positions in the photovoltaic module array can be respectively identified, thereby enabling robot positioning or mode switching.

[0046] In some application scenarios, Figure 2 This is a schematic diagram of a photovoltaic module array installed on a flat single-axis support, as provided in an embodiment of this application. Figure 2 As shown in the diagram, parallelograms represent photovoltaic panels, and connecting bridges (represented by gray parallelograms) are installed between adjacent photovoltaic panels. These connecting bridges connect and support the photovoltaic panels on both sides, forming certain intervals. The intervals between the photovoltaic panels correspond to the intervals of the connecting bridges. Therefore, the operating plane of the photovoltaic cleaning robot alternately covers the surface of the photovoltaic panels (the area to be cleaned) and the surface of the connecting bridges (the area not to be cleaned). Figure 2 The black rectangle represents the long spring lever, and the shaded rectangle represents the short spring lever. Specifically, Figure 2 Scenario A represents a deployment method where short elastic levers are used to position the photovoltaic cleaning robot in a flat single-axis bracket scenario for photovoltaic module arrays; Scenario B represents a deployment method where long elastic levers are used for positioning; Scenario C represents a deployment method where long elastic levers are placed at the end positions of the photovoltaic module array to count the end position status of the robot, while short elastic levers are placed below the junction of the photovoltaic panel and the connecting bridge to count the position of the robot on the photovoltaic panel; Scenario D represents a deployment method where short elastic levers are placed at the end positions to count the end position status, while long elastic levers are placed below the junction of the photovoltaic panel and the connecting bridge to count the position of the photovoltaic panel.

[0047] In other application scenarios, Figure 3 This is a schematic diagram of a photovoltaic module array installed on a fixed support according to an embodiment of this application. Figure 3 As shown in the diagram, the parallelograms represent photovoltaic panels. The photovoltaic module array is mounted on a fixed support structure, and the photovoltaic panels are installed at a fixed tilt angle. No complex connecting bridges are needed between adjacent photovoltaic panels. In this case, the inter-panel gap is the naturally formed boundary area where adjacent photovoltaic panels are joined. In the fixed tilt support scenario, the operating path of the photovoltaic cleaning robot is relatively simplified, mainly consisting of the continuous photovoltaic panel surface and the stopping and reversing positions as start and end points. Figure 3 The black rectangles represent long elastic levers, and the shaded rectangles represent short elastic levers. Scenario A shows a deployment method where short elastic levers are used to position the photovoltaic cleaning robot in a fixed bracket environment for the photovoltaic module array; Scenario B shows a deployment method using long elastic levers for positioning; Scenario C shows a deployment method where long elastic levers are placed at the ends of the photovoltaic module array to count the robot's end position status, while short elastic levers are placed below the junction of adjacent photovoltaic panels to count the position of the photovoltaic panel where the robot is located; Scenario D shows a deployment method where short elastic levers are placed at the ends to count the end position status, while long elastic levers are placed below the junction of adjacent photovoltaic panels to count the position of the photovoltaic panel.

[0048] Furthermore, photovoltaic module arrays can also be composed of multiple fixed-tilt support units, each of which includes multiple photovoltaic panels. Adjacent fixed-tilt support units are connected by a fixed bridge or other connecting structure. In the fixed-tilt support scenario, the preset positions include, but are not limited to, the boundary between adjacent photovoltaic panels, and one or more of the following locations: below the boundary between the stop position, the commutation position, and the photovoltaic panel. It should be noted that the above scenarios and their paving arrangements are merely illustrative examples and do not constitute a limitation on the scope of protection of this application. In some embodiments, the first and second paddle types may have the same or similar physical structures (e.g., identical length and shape), but are distinguished by two independent sensors on the photovoltaic cleaning robot. These two sensors can be arranged side-by-side or front-and-back, with different triggering conditions (e.g., different triggering force thresholds, different installation heights, etc.). When the robot passes over a paddle, the two sensors may generate different response sequences or intensity combinations. By analyzing the timing, intensity combination, or cooperative triggering relationship of the two sensor signals, the control unit can determine which preset type of paddle is currently triggered, thereby achieving positioning and state control of the photovoltaic cleaning robot.

[0049] In other embodiments, the first and second lever types are the same. For example, both the first and second lever types can be long elastic levers, or both can be short elastic levers. In this implementation, the control unit can determine the robot's current position in the photovoltaic array based on the number of photovoltaic panels in the array and the number of lever triggers. If the number of lever triggers matches the number of photovoltaic panels in the array, the control unit can determine that the photovoltaic cleaning robot is currently located at an end position (e.g., a reversing position, a stopping position) of the photovoltaic array. For example, when the number of photovoltaic panels in the array is M, if the number of lever triggers is M, it indicates that the robot is currently located at a reversing position in the photovoltaic array; when the number of lever triggers is 0, it indicates that the robot is currently located at a stopping position in the photovoltaic array.

[0050] Unlike traditional methods that rely on natural gaps to trigger light sensor signals and calculate position through simple counting, this application deploys paddles with different structural characteristics at preset positions in the photovoltaic module array. This allows the cleaning robot to generate distinguishable pressure signals when passing over the paddles, enabling the robot to achieve absolute position recognition and switch working modes based on signal type and trigger count.

[0051] The photovoltaic cleaning robot uses sensors to collect the contact response triggered when it physically contacts the lever. For example, the sensors can be force sensors (such as pressure sensors, strain gauges, etc.), switch sensors (such as microswitches or limit switches, reed switches, etc.), motion sensors (such as vibration sensors, etc.).

[0052] Furthermore, the sensor can be located, for example, at the bottom of the photovoltaic cleaning robot. Exemplarily, it could be at a location where it can easily make effective physical contact with the levers along the operating path, such as the windproof hook at the bottom of the robot, the guide mechanical hook, or the contact probe position at the front of the chassis.

[0053] Here, signal features refer to one or more parameters extracted from the contact response signal that can characterize and distinguish different contact responses. For example, signal features include, but are not limited to, one or more of the following: duration, signal strength, waveform, spectrum, or sequence pattern.

[0054] In the positioning system of the photovoltaic cleaning robot, the control unit serves as the control center for positioning the photovoltaic cleaning robot, and can perform operations such as signal processing, signal feature recognition, logical judgment, and control command issuance.

[0055] For example, the control unit may be an embedded microcontroller unit (MCU), a programmable logic controller (PLC), an application processor, etc., or it may transmit commands wirelessly to a remote server, edge computing gateway, or power plant monitoring center. The wireless communication may be one or more of LoRa (Long Range), WiFi, cellular networks, etc.

[0056] Specifically, the control unit receives the contact response from the sensor and extracts one or more signal features. By comparing the extracted features with preset thresholds and other information, classification logic is executed to determine whether the current contact event was triggered by a preset corresponding type of paddle.

[0057] When the control unit identifies a paddle type that matches the specified paddle type, it triggers or updates an internal counter. Each time a paddle of that type is identified, the control unit updates the count value to obtain a count value that reflects the number of times the photovoltaic cleaning robot has passed through a specific location. In this embodiment, the count value obtained by triggering the count with the first paddle type is called the first count value; and the count value obtained by triggering the count with the second paddle type is called the second count value.

[0058] The control unit obtains a corresponding count value based on the number of triggers of the contact response signal under the same type of paddle, and determines the position of the photovoltaic cleaning robot by combining this count value with the number of photovoltaic panels in the photovoltaic module array. In some implementations, the control unit can, for example, directly map the count value to the sequence number of the photovoltaic panel passed, thereby inferring the photovoltaic panel where the robot is currently located; or determine whether the robot is located on the photovoltaic panel or the cable tray by judging the parity of the count value; or determine whether the photovoltaic cleaning robot is located in a clean area or a non-clean area by judging the parity of the count value, etc.

[0059] Once the location of the photovoltaic cleaning robot is determined, the control unit can control the robot based on that location. For example, it can control the robot's roller brush to start and stop in a specific area, or determine whether the robot has reached a critical position such as a reversing position or a stopping position.

[0060] The positioning system for the photovoltaic cleaning robot provided in this application identifies the key position of the photovoltaic cleaning robot in the photovoltaic module array by detecting the physical contact between the sensor installed on the photovoltaic cleaning robot and the preset lever on the running path. Through triggering structures with different mechanical structures, contact response signals with different signal characteristics are generated when the system contacts the photovoltaic cleaning robot. Based on the contact response signals, the lever type is identified, accurately distinguishing various position types such as photovoltaic panels, cable trays, parking positions, and reversing positions. The positioning logic is clear and robust, effectively avoiding interference from ambient light, dust, temperature, and humidity. Combined with counting logic, the position information of the photovoltaic cleaning robot is determined. Using a simple hardware architecture to replace a complex electronic sensing system effectively avoids positioning inaccuracies caused by environmental factors such as dust, rain, and snow. It has strong environmental adaptability, improving the reliability and accuracy of the photovoltaic cleaning robot's positioning in complex environments.

[0061] In some embodiments, the control unit is configured to count the number of times the corresponding contact response signal is triggered when the first paddle type is identified, to obtain a first count value; and to determine the traveling position of the photovoltaic cleaning robot in the photovoltaic module array based on the first count value and the number of photovoltaic panels in the photovoltaic module array.

[0062] The "moving position" refers to the location of the photovoltaic cleaning robot on the running path of the photovoltaic module array.

[0063] When photovoltaic (PV) module arrays are mounted on a fixed support structure, the fixed tilt support structure is relatively simple, with PV modules arranged sequentially and typically without long-distance bridge spacing. The task of a PV cleaning robot is often to clean an entire row of continuous PV modules. Therefore, in this application scenario, the key to the positioning of the PV cleaning robot is determining which PV module has been cleaned and whether and when it has reached the endpoint for reversal. The control unit counts the number of times the contact response signal triggered by the first type of latch in the inter-panel spacing area and the end positions of the PV module array is triggered, obtaining a first count value.

[0064] For example, the quantity information of photovoltaic panels could be the total number of photovoltaic panels. When the control unit detects the start of the task, it initializes the counter C used for counting short elastic levers to 0. After the photovoltaic cleaning robot leaves the stop position, as long as the counter C is greater than 0, it can be determined that the photovoltaic cleaning robot is on a photovoltaic panel. The photovoltaic cleaning robot moves towards the reversing position, and each time it contacts and identifies a short elastic lever located at the junction of the photovoltaic panels, the counter C is incremented by 1. Using the preset total number of photovoltaic panels M, when the value of the counter C increases to equal the preset value M, it can be determined that the robot has reached the reversing position. After performing the reversing operation at the reversing position, during the return journey, the photovoltaic cleaning robot decrements the counter C by 1 each time it contacts and identifies a short elastic lever. When the value of the counter C decreases to 0, it can be determined that the photovoltaic cleaning robot has returned to the stop position.

[0065] In single-axis tracking systems, to improve power generation efficiency, the photovoltaic panels are rigidly connected into a rotatable array via a continuous cable tray. This results in a cyclical alternation of the photovoltaic cleaning robot's path: photovoltaic panel (clean area) - continuous cable tray (non-clean area) - photovoltaic panel - continuous cable tray… Traditional photoelectric or magnetic sensors are easily interfered with by the cable tray structure, component frames, or metal parts of the rotating mechanism, making it difficult to reliably distinguish between the two areas.

[0066] In one embodiment, the number of photovoltaic panels may be one or more of the following: the number of photovoltaic panels contained in one or more flat single-axis support units, the total number of flat single-axis tracking supports that are preset to be cleaned for each photovoltaic cleaning robot, or the number of photovoltaic panels contained on each flat single-axis tracking support that is preset according to a partial area of ​​each photovoltaic module array.

[0067] For example, at each junction of photovoltaic panels, and at the junction of photovoltaic panels and fixed supports (or continuous cable trays), a first-type trigger structure is installed below its running path. Every time the photovoltaic cleaning robot passes the edge of a photovoltaic module or a structural junction, it will trigger a contact response corresponding to the first structural type.

[0068] During operation, the photovoltaic cleaning robot's sensors continuously collect contact response signals generated by its contact with the first-type contact structure. The control unit identifies and counts these contact response signals, updating the corresponding global counter C. Combining the number of photovoltaic panels and the current count value C, the robot's position is determined through a built-in mapping algorithm.

[0069] For example, the mapping algorithm may be a simple threshold comparison and state mapping algorithm, a region determination algorithm based on parity and modulo operation, or a multi-layer composite mapping algorithm. Thus, the control unit can calculate one or more of the following travel positions: the photovoltaic cleaning robot is located at the corresponding flat single-axis support, the corresponding photovoltaic panel, or at the junction of the photovoltaic panel and the fixed support (bridge).

[0070] For example, a photovoltaic cleaning robot starts from its parking position (usually located on a cable tray at the end of the array). As it moves onto the first photovoltaic panel from the cable tray, it passes over the first short, flexible lever. The control unit recognizes this signal and increments the corresponding counter C from its initial value (e.g., 0) to 1. Therefore, when the count C is odd, it means the photovoltaic cleaning robot is in a clean area (on the photovoltaic panel); when C is even, it means it is in a non-clean area (on the cable tray).

[0071] Furthermore, the photovoltaic cleaning robot can be located by setting the serial number of the photovoltaic panels. For example, if the count value C corresponding to the first photovoltaic panel the robot passes through from the parking position is 1, then the count value C corresponding to the second photovoltaic panel is 3, and so on, the photovoltaic cleaning robot can be located at the corresponding photovoltaic panel. It is easy to understand that in this case, when C is 2, it means that the photovoltaic cleaning robot is passing through the first continuous bridge from the parking position; when C is 4, it means that the photovoltaic cleaning robot is passing through the second continuous bridge from the parking position, and so on.

[0072] In the above embodiments, by utilizing the correspondence between the quantity information of photovoltaic panels and the count value, the specific position of the photovoltaic cleaning robot on the photovoltaic module array or the location of the non-disconnected bridge can be accurately determined, providing a data foundation for background monitoring, scheduling of cleaning tasks, and the cleaning completion of the photovoltaic module array.

[0073] Based on this, in some embodiments, a first type of paddle is disposed at the junction of each photovoltaic panel in the photovoltaic module array to count the travel position of the photovoltaic cleaning robot; the control unit is configured to determine the travel position of the photovoltaic cleaning robot in the photovoltaic module array based on the correspondence between the first count value and the number of photovoltaic panels in the photovoltaic module array.

[0074] During the operation of the photovoltaic cleaning robot, accidental strong vibrations or instantaneous collisions in the environment, or continuous slight friction caused by bumps, may generate response signals, leading to misjudgments by the robot's positioning system. These misjudgments directly affect the accuracy of the trigger response count, resulting in positioning errors. Therefore, in some embodiments, the signal characteristics include at least response intensity and response duration; the control unit is configured to determine the paddle type as the first paddle type when the response intensity of the contact response is greater than a preset intensity threshold and the response duration is within a preset duration range.

[0075] The response intensity reflects the amplitude or energy level of the response signal. For example, the response intensity can be the peak voltage (or current), average value, or root mean square value of the signal within a valid event window, or it can be the integral value of the signal energy within a certain time window. By comparing the response intensity with a preset intensity threshold (such as the equivalent electrical signal value corresponding to a 5N contact force), the control unit can filter out noise signals caused by slight environmental vibrations or non-contact interference, ensuring that only genuine contact responses reaching a certain force are determined to be triggered by the contact structure.

[0076] The response duration reflects the duration of the response signal. In some embodiments, the control unit is configured to sample the signal output by the sensor to obtain a discrete signal sequence; acquire the energy value of the signal sequence; determine the start time when the energy value is not lower than a preset energy threshold; and determine the end time when the energy value is lower than the preset energy threshold; and determine the response duration of the contact response based on the start time and the end time.

[0077] Specifically, the analog signal received by the sensor After sampling by an ADC (Analog to Digital Converter), it is converted into a discrete digital signal. To identify valid contact, the control unit calculates the signal energy E or root mean square (RMS) value within a short time window (i.e., k sampling points) and compares it with a preset intensity threshold. For comparison, see the following formula: (1) like If so, then a contact response is detected.

[0078] set up The signal exceeds the threshold The starting time point, For the pullback to less than The response time of the contact response signal is determined at the specified time point. for: (2) When response time The response time is determined to be within the preset time range and the paddle type is the first paddle type when the following conditions are met: (3) in, Used to filter noise pulses (e.g., it can be set to 100ms, etc.). Used to define the lower limit of sustained response (e.g., it can be set to 500ms, etc.). and This constitutes a preset duration range.

[0079] From the perspective of response time, different types of paddles (such as short-elastic paddles and long-elastic paddles) have significantly different effective contact durations with the photovoltaic cleaning robot due to differences in their mechanical design. Therefore, response time is a key criterion for the control unit to distinguish the first paddle type from other types. The control unit classifies the trigger event type by accurately measuring the response time and comparing it with a preset duration range.

[0080] In the above embodiments, by introducing signal characteristics such as signal response intensity and response duration, the control unit can more accurately judge the contact response of the contact structure, reducing erroneous counting caused by misjudgment due to a single signal feature. Furthermore, by digitizing the analog signal and introducing a mechanism based on short-time energy calculation, the impact of noise and jitter introduced during signal transmission and processing on the contact response judgment is effectively suppressed. This allows the control unit to accurately identify the contact structure even in complex photovoltaic module arrays, outdoor vibration, impact, and other noisy environments, thereby enabling subsequent counting and positioning.

[0081] In single-axis tracking support scenarios, photovoltaic cleaning robots typically use cleaning components to perform rolling cleaning on the surface of photovoltaic panels. If the cleaning components continue to operate in other areas that do not require cleaning (such as areas without disconnected cable trays), it not only wastes energy and accelerates the wear of the cleaning components, but may also cause additional resistance or damage due to friction between the high-speed rotating cleaning components and the cable tray surface. Therefore, in some embodiments, the photovoltaic cleaning robot is equipped with a cleaning component, and the control unit is configured to determine the area type corresponding to the movement position based on a first count value and / or the parity attribute of the first count value; if the movement position is determined to be an area to be cleaned, the control unit is controlled to run; if the movement position is determined not to be an area to be cleaned, the control unit is controlled to pause operation.

[0082] As mentioned earlier, the arrangement order of the paddles corresponds to the actual travel path of the photovoltaic cleaning robot. During system initialization, the control unit can set the initial position of the photovoltaic cleaning robot to the beginning of the cleaning area, and the corresponding first count value can be initialized to 1, for example. The change in the first count value can fully reflect the number of times the photovoltaic cleaning robot crosses the boundary of the photovoltaic panels in the photovoltaic module array.

[0083] Furthermore, in this embodiment, the areas to be cleaned and the areas not to be cleaned are pre-divided alternately in the component array, so that the areas to be cleaned and the areas not to be cleaned are periodically alternating in the direction of travel. Under this layout rule: When the first count value is odd, it indicates that the photovoltaic cleaning robot is currently in the 1st, 3rd, 5th... module interval, corresponding to the pre-set area to be cleaned; When the first count value is even, it indicates that the photovoltaic cleaning robot is currently in the 2nd, 4th, 6th... module interval, corresponding to the pre-set non-clean area.

[0084] It is easy to understand that when the corresponding first count value is initialized to 0, the first count value is even, indicating that the photovoltaic cleaning robot is currently in the 1st, 3rd, 5th... component interval, corresponding to the pre-set area to be cleaned; When the first count value is even, it indicates that the photovoltaic cleaning robot is currently in the 2nd, 4th, 6th... module interval, corresponding to the pre-set non-clean area.

[0085] Based on the above correspondence, the control unit does not need to introduce an additional location information table or coordinate mapping. It can quickly determine the attribute of the current area by judging the parity of the first count value. That is, it can determine whether the photovoltaic cleaning robot is located on the surface of the photovoltaic module that needs to be cleaned (i.e., the area to be cleaned) or the photovoltaic cleaning robot is located on the cable tray or other places that do not need to be cleaned (i.e., the non-clean area). Based on the area it is located in, the control unit generates corresponding control commands for the photovoltaic cleaning robot to start or stop the cleaning component of the photovoltaic cleaning robot.

[0086] When the photovoltaic cleaning robot moves from the cable tray into the photovoltaic panel, it contacts the first type of trigger structure, causing the first count value to change from even to odd. The control unit automatically determines that the photovoltaic cleaning robot is in the area to be cleaned and controls the roller brush to start running. When the photovoltaic cleaning robot moves from the photovoltaic module into the cable tray, it contacts the next trigger structure, causing the first count value to change from odd to even. The control unit automatically determines that the photovoltaic cleaning robot is in the non-clean area and controls the cleaning module to stop running, thereby avoiding ineffective wear or structural interference to the cleaning module in non-clean areas (such as module supports, cable trays, or transition areas).

[0087] In other embodiments, the control unit can determine whether the photovoltaic cleaning robot is located in a cleaning area or a non-cleaning area based on the specific value of the first count. When the photovoltaic cleaning robot initially enters the photovoltaic panel, it contacts the first type of trigger structure, causing the first count to change from 0 to 1. The control unit automatically determines that the photovoltaic cleaning robot is located in the cleaning area (photovoltaic panel) numbered 1 and controls the cleaning component to start running. When the photovoltaic cleaning robot enters the cable tray from the cleaning area numbered 1, it contacts the next trigger structure, causing the first count to change from 1 to 2. The control unit automatically determines that the photovoltaic cleaning robot is located in the non-cleaning area numbered 2 and controls the cleaning component to stop running.

[0088] It should be noted that the first paddle type and the second paddle type can be the same type of paddle, and correspondingly, the first count value can be the second count value. The specific implementation method depends on the actual situation.

[0089] Since the counting is directly derived from real triggering events at physical boundary locations, the odd / even determination process does not rely on wheel speed calculations, does not accumulate slippage errors, and is not affected by factors such as ambient light or dust obstruction. Therefore, it can achieve stable and reliable clean area identification and clean component control in outdoor photovoltaic scenarios.

[0090] In the above embodiments, by judging the odd or even attribute of the contact structure count in the single-axis tracking bracket scenario to control the start and stop of the cleaning component of the photovoltaic cleaning robot, the roller brush works only in the cleaning area of ​​the photovoltaic module, avoiding the cleaning component from spinning in the non-clean area, reducing the operating energy consumption of the photovoltaic cleaning robot, and effectively reducing wear and motor load. The control logic is simple and highly adaptive, enhancing the robustness of the photovoltaic cleaning robot positioning system.

[0091] In the operation of photovoltaic cleaning robots, in addition to locating the cleaning area, reliable identification of key functional positions such as the "stop position" and "reversing position" of the photovoltaic cleaning robot is also crucial. These functional positions typically mark the start, end, and turning points of the robot's work cycle and are related to the automatic charging, task switching, and trip reset operations of the photovoltaic cleaning robot.

[0092] Based on this, in some embodiments, the paddle type also includes a second paddle type. The control unit is configured to count the number of times the corresponding contact response signal is triggered when the second paddle type is identified, and obtain a second count value. Based on the second count value, the end position of the photovoltaic cleaning robot in the photovoltaic module array is determined. The end position is used to characterize the stopping position and / or reversing position of the photovoltaic cleaning robot.

[0093] Specifically, when the photovoltaic cleaning robot comes into contact with the second type of lever on its running path, the sensor can detect this and generate a contact response signal, allowing the control unit to clearly identify it as a contact response originating from a critical functional position such as a stop position or a reversing position. For example, if the second type of lever is a long elastic lever, the response time of the contact response signal is... The following conditions must be met: (4) in, It is a preset duration used to define the lower limit of continuous response (for example, it can be set to 500ms).

[0094] The end position of a photovoltaic module array refers to the edge or boundary of the photovoltaic module array. Further, the stop position in the end position refers to the position used to indicate that the photovoltaic cleaning robot should perform the start or end of the charging operation. This position marks the turning point in the working cycle of the photovoltaic cleaning robot (such as the location of the charging pile); the reversing position in the end position refers to the specific physical position used to indicate that the photovoltaic cleaning robot should perform a change of direction.

[0095] When the photovoltaic cleaning robot moves to the stopping position and / or reversing position, it makes physical contact with the corresponding second type of paddle. Based on the contact response signal triggered by the paddle, the control unit identifies the stopping position and / or reversing position as the corresponding working state trigger node, and controls the photovoltaic cleaning robot to perform stopping, reversing, crossing the bridge or other preset work tasks accordingly.

[0096] Specifically, each time the control unit successfully identifies the second paddle type, it counts an independent second counter (e.g., counter B) to obtain a second count value. This second count value directly corresponds to the functional state of the photovoltaic cleaning robot during operation. For example, the functional state may be the end-position state of the photovoltaic cleaning robot, including but not limited to one or more of the following: the robot is in a stopped state, a reversing state, etc.

[0097] In some embodiments, the control unit is further configured to determine the end position state of the photovoltaic cleaning robot based on a second count value; wherein the end position state includes at least one of a stopped state, a traveling state toward a reversing position, a reversing state, and a returning state toward a stopped position.

[0098] Specifically, the control unit predefines a corresponding second count value for the end-position state of the photovoltaic cleaning robot during operation. Based on the current value of the second count value, the control unit can determine the functional state of the photovoltaic cleaning robot and trigger the corresponding execution action.

[0099] As mentioned earlier, the second type of lever is deployed at the stopping position at the start of the travel and the reversing position at the end of the travel in the photovoltaic module array, corresponding to the mode switching and operation execution of "charging" and "reversing," respectively. By recognizing the contact response with a longer response time generated by this type of lever, the control unit can accurately determine that the photovoltaic cleaning robot has reached these functional positions.

[0100] Furthermore, by establishing a separate second counter (B) for the contact event of the second type of paddle, the arrival event of the physical location is transformed into a discrete state code. The numerical sequence of this counter B is predefined as a precise mapping of the photovoltaic cleaning robot's state machine (SM). The logical framework is as follows: When the second count value B is the initial value 0, it indicates that the photovoltaic cleaning robot is in the stop position, and it is controlled to enter the energy-saving charging and standby mode; When the second count value B is incremented to 1, it indicates that the photovoltaic cleaning robot has left the parking position and is moving on the outbound cleaning path to the reversing position; When the second count value B accumulates to 2, it indicates that the photovoltaic cleaning robot has reached the reversing position and will trigger the reversing operation. When the second count value B is accumulated to 3, it indicates that the photovoltaic cleaning robot has completed the reversal and is traveling on the return path back to the stopping position; When the second count value B accumulates to 4, it indicates that the photovoltaic cleaning robot has safely returned to the stopping position.

[0101] In some embodiments, the control unit is configured to determine that the photovoltaic cleaning robot is in a stopped position when the second count value is an initial value; determine that the photovoltaic cleaning robot moves from the stopped position to a reversing position when the second count value is a first working value; determine that the photovoltaic cleaning robot is in a reversing position when the second count value is a second working value; determine that the photovoltaic cleaning robot moves from the reversing position to the stopped position when the second count value is a third working value; and determine that the photovoltaic cleaning robot returns to the stopped position when the second count value is a fourth working value.

[0102] Among them, the initial value, the first working value, the second working value, the third working value, and the fourth working value are preset discrete values ​​that increase sequentially, corresponding to the evolution of the second count value (the value of counter B) within a complete working cycle of the photovoltaic cleaning robot.

[0103] For example, B=0 can represent the initial shutdown and charging state; B=1 indicates that the photovoltaic cleaning robot has just left the parking position and entered the cleaning cycle; B=2 indicates that the photovoltaic cleaning robot has arrived at the reversing position and should perform reversing; B=3 indicates that it has left the reversing position and started the return journey; B=4 indicates that the photovoltaic cleaning robot has returned to the parking position and completed a complete work cycle.

[0104] In some implementations, when the control unit determines that the photovoltaic cleaning robot is in the stopped position, it controls the photovoltaic cleaning robot to enter the energy-saving charging mode; when it determines that the photovoltaic cleaning robot is in the reversing position, it controls the photovoltaic cleaning robot to perform a reversing operation.

[0105] Specifically, before the photovoltaic cleaning robot starts working, the second count value is 0, that is, the initial value is 0, and the robot is in the stop position, in a stopped or standby state. Then, the photovoltaic cleaning robot begins to perform cleaning, leaves the stop position and makes contact with the second-paddle type contact structure, counting the number of triggers of the second-paddle type contact response. The second count value is 1, indicating that the photovoltaic cleaning robot is leaving the stop position and moving towards the reversing position. After the photovoltaic cleaning robot reaches the reversing position, it makes contact with the second-paddle type contact structure, and the second count value is 2, indicating that the photovoltaic cleaning robot should perform the reversing operation at the reversing position. After the photovoltaic cleaning robot leaves the reversing position, it makes contact with the second-paddle type contact structure again, and the second count value is 3, indicating that the photovoltaic cleaning robot has left the reversing position and is returning to the stop position. When the photovoltaic cleaning robot returns to the stop position, it makes contact with the second-paddle type contact structure at the stop position, and the second count value is 4, indicating that the photovoltaic cleaning robot has returned to the stop position and completed a complete work cycle.

[0106] In a single-axis tracking bracket scenario, a second type of counter can be installed at the bottom of the photovoltaic module array, positioned at functional locations (such as a stop position or a reversing position). A trigger structure of the first type of counter can be installed at the junction of the photovoltaic module and the continuous bridge frame. This allows the control unit to acquire a first count value C for the movement position of the photovoltaic cleaning robot and a second count value B for its functional position. In other words, the control unit can simultaneously use timer B and timer C to locate the photovoltaic cleaning robot. For example, timer B can be used to acquire the robot's functional position to determine if it has reached the stop or reversing position, while counter C determines if the robot is positioned on the photovoltaic module requiring cleaning, thus controlling the start and stop of the brush. The two counters coordinate with each other, making the positioning logic clearer and further increasing the intelligence level of the photovoltaic cleaning robot.

[0107] It should be noted that the first and second lever types can be the same lever type. That is, the first lever type used to indicate the photovoltaic panel boundary point and the second lever type used to indicate the functional position (such as the stop position or the reversing position) can be levers of the same physical structure type (e.g., both are short elastic levers or both are long elastic levers). In this case, the control unit's distinction of the position in the photovoltaic module array does not depend on the physical characteristics of the levers themselves, but rather on the operating state or logical context of the photovoltaic cleaning robot when it passes the lever. For example, the control unit can combine the cumulative count information of the photovoltaic cleaning robot to make a judgment. When the cumulative count has not yet reached the preset value and the lever is triggered, it is determined to be a normal boundary point. When the cumulative count has reached the preset travel value (i.e., expected to reach the end), the same type of lever signal detected again is determined to be a reversing or stop signal.

[0108] In other embodiments, the process of the first type of paddle counting the movement position of the photovoltaic cleaning robot can be triggered by the count value of the second type of paddle. For example, when the count value B of the second count value indicates that the photovoltaic cleaning robot is leaving the stop position and moving towards the reversing position, the photovoltaic cleaning robot activates the trigger response count C of the first type of paddle.

[0109] Taking pressure sensors as an example, Figure 4 This is a schematic diagram of the contact between the sensor and the contact structure provided in an embodiment of this application. For example... Figure 4 As shown, a pressure sensor is located at the bottom of the photovoltaic cleaning robot. Long elastic levers (second type) and short elastic levers (first type) are located at the bottom of the photovoltaic module array. The long elastic levers are positioned at the robot's stop position, while the short elastic levers are located at the junction of the photovoltaic module and the stop position. When the photovoltaic cleaning robot starts operating, it first contacts the long elastic lever. The control unit increments the corresponding count value B of the long elastic lever by 1. Since the initial value of B is 0, B=1 at this point. The control unit determines that the photovoltaic cleaning robot is moving from the stop position to the reversing position. Simultaneously, the count value corresponding to the short elastic lever begins to count. As the photovoltaic cleaning robot contacts the short elastic lever, the control unit increments the corresponding count value C of the long elastic lever by 1. Since the initial value of C is 0, and C is now an odd number, the control unit determines that the photovoltaic cleaning robot is in the cleaning area and controls the roller brush to open.

[0110] In other implementations, when the count value of the second type of paddle indicates that the photovoltaic cleaning robot has returned to the stop position and completed a full work cycle, the values ​​of counters B and C can be cleared to ensure that both count values ​​are in the initial state at the beginning of the next work cycle, thus ensuring the accuracy of the count and avoiding omissions or miscounts.

[0111] Taking the contact response of the pressure sensor to the contact structure as an example, Figure 5 This is a schematic diagram of the pressure signal triggering control logic provided in an embodiment of this application. Figure 5 As shown, when the positioning system of the photovoltaic cleaning robot starts operating, it first initializes the counter C of the short elastic lever (first type of lever). At this time, the photovoltaic cleaning robot is in the "ToTurnback" state, moving from the stopping position to the reversing position. The control unit monitors the pressure signal from the pressure sensor in real time. When the signal strength of the detected pressure signal exceeds the threshold, the duration of the signal is determined by the signal response time in the signal characteristics. When the duration of the signal... satisfy When the threshold condition is met, the contact structure type is determined to be a short elastic lever (first lever type). When the photovoltaic cleaning robot is in the "ToTurnback" state, moving from the stop position to the reversing position, the counter C corresponding to the short elastic lever executes the C=C+1 operation. When the photovoltaic cleaning robot is in the "ToHome" state, moving from the reversing position to the stop position, the counter C corresponding to the short elastic lever executes the C=C-1 operation. The control unit determines the parity of C. When C is odd, it is determined that the photovoltaic cleaning robot is located in the cleaning area, on the photovoltaic panel, and the roller brush is started for cleaning. When C is even, it is determined that the photovoltaic cleaning robot is located in the non-clean area, in a position such as a non-disconnecting bridge, and the roller brush is stopped.

[0112] When the duration of the signal satisfy When the threshold condition is met, the contact structure type is determined to be a long elastic lever (second lever type). When the photovoltaic cleaning robot is in the "ToTurnback" state (moving from the parking position to the reversing position) or the "ToHome" state (leaving the reversing position and returning to the parking position), the counter B corresponding to the long elastic lever performs the operation B=B+1. The control unit judges the value of counter B. When B=0, it means that the photovoltaic cleaning robot is in the parking position and enters the energy-saving charging mode; when B=1, it means that the photovoltaic cleaning robot has left the parking position, entered the cleaning stroke and turned on counter C; when B=2, it means that the photovoltaic cleaning robot has reached the reversing position and should perform the reversing; when B=3, it means that it has left the reversing position and started the return journey; when B=4, it means that the photovoltaic cleaning robot has returned to the parking position and the historical values ​​of counter B and counter C are cleared to 0.

[0113] In the above embodiments, by counting the contact response signals of the second type of paddle, the control unit can autonomously determine the functional status of the photovoltaic cleaning robot, and divide the working process of the photovoltaic cleaning robot into five stages: "starting point - outbound - midpoint - return - end point", which improves the efficiency of operation and maintenance. Furthermore, by discretizing the continuous running process into several working value states, fuzzy judgments are avoided, making the control logic simpler and more robust.

[0114] In the scenario of photovoltaic module arrays with fixed supports, since photovoltaic modules built with fixed supports usually do not need to be connected without disconnecting the bridge, and the photovoltaic modules are closely connected, in this application scenario, the count value triggered by the trigger at the junction of the photovoltaic panels can be used to determine which photovoltaic panel the photovoltaic cleaning robot is currently on.

[0115] In some implementations, in a fixed-support photovoltaic module array scenario, a lever can be installed below the junction of the stopping position, the reversing position, and the photovoltaic panel. The movement position of the photovoltaic cleaning robot can be determined by the value of the lever. In other words, the functional position positioning and movement position positioning of the photovoltaic cleaning robot can be achieved by using a preset type of lever. The preset type of lever can be, for example, a first type of lever or a second type of lever.

[0116] For example, when a first type of lever is installed below the junction of the fixed-support photovoltaic module array at the stopping position, the reversing position, and the photovoltaic module, the photovoltaic cleaning robot starts from the stopping position. At this time, the initial value of counter C is 0. When the photovoltaic cleaning robot leaves the stopping position, the sensor makes a contact response with the lever, and the value of counter C is 1, indicating that the photovoltaic cleaning robot has entered the first photovoltaic panel. When the sensor makes a contact response with the lever again, the value of counter C is 2, indicating that it is on the second photovoltaic panel, and so on. When the total number of photovoltaic panels M is known, the counter... When the value is M, it indicates that the photovoltaic cleaning robot has passed all the photovoltaic panels and is now in the reversing position, ready to perform a reversing operation. After the photovoltaic cleaning robot performs the reversing operation, when it makes contact with the lever, the control unit decrements the value of the counter C. When the sensor makes contact with the lever once, C is M-1, indicating that the photovoltaic cleaning robot has entered the last photovoltaic panel. After that, C is M-2, and so on, until the count value of the counter C is cleared to 0, indicating that the photovoltaic cleaning robot has completed the cleaning of all photovoltaic modules after performing the reversing operation and has returned to the reversing position.

[0117] In the above embodiments, by setting only a single type of lever in the photovoltaic module array of the fixed bracket, the functional position positioning and travel position positioning of the photovoltaic cleaning robot can be realized by a single counter. The logic is simple, the application scenarios are strong, and the position information of the photovoltaic cleaning robot can be obtained accurately and timely, thereby improving the operation and maintenance efficiency.

[0118] In some embodiments, the control unit is configured to control the photovoltaic cleaning robot to enter an energy-saving charging mode when the photovoltaic cleaning robot is in a stopped position, and to control the photovoltaic cleaning robot to perform a reversing operation when the photovoltaic cleaning robot is in a reversing position.

[0119] Among them, the energy-saving charging mode refers to the operating strategy triggered and executed by the control unit when the photovoltaic cleaning robot is determined to be in a stopped position by the control unit, which is used to reduce energy consumption and complete the energy replenishment of the photovoltaic cleaning robot.

[0120] For example, in energy-saving charging mode, the control unit can stop all cleaning and non-essential moving mechanisms, initiate connection with the charging pile or charging plug, and close the charging circuit to charge the built-in battery of the photovoltaic cleaning robot.

[0121] Reversal operation refers to a preset action triggered and executed by the control unit when the photovoltaic cleaning robot is determined to be in a reversal position, so as to change the robot's direction of travel and enable it to continue cleaning operations along adjacent photovoltaic panels or in the opposite direction.

[0122] For example, reversing operations can include stopping forward and controlling the drive wheels or tracks to perform steering at a specific angle, depending on the site layout (such as the rotational characteristics of a single-axis tracking bracket or the end space of a fixed bracket).

[0123] By defining the corresponding control logic between the second count value and the energy-saving charging mode and the reversing operation, the photovoltaic cleaning robot can automatically charge and rest when it reaches the stopping position, so as to store energy for the next cleaning cycle; when it reaches the reversing position, it can automatically and accurately adjust the direction of movement, so that the cleaning journey can be continuously covered.

[0124] In the above embodiments, the photovoltaic cleaning robot can autonomously complete the cycle of "working - returning to charge - working again", reducing the reliance on external monitoring and human intervention. This allows the photovoltaic cleaning robot to replenish its power in a timely and automatic manner, avoiding the interruption of its battery life due to forgetting to charge or scheduling delays. It also enables the photovoltaic cleaning robot to turn at the preset physical endpoints on each row of photovoltaic panels, ensuring accurate alignment of the reciprocating cleaning path and complete cleaning coverage.

[0125] Photovoltaic cleaning robots operate autonomously for extended periods on complex outdoor photovoltaic module arrays, and may experience various malfunctions such as jamming, slippage, mechanical failure, or navigation failure. In some embodiments, the control unit is configured to start a fault timer to count faults after the photovoltaic cleaning robot leaves its starting position, obtaining a fault time value; reset the fault time value to zero if physical contact with any type of lever is detected; and determine that the photovoltaic cleaning robot has malfunctioned if the fault time value exceeds a preset fault time value threshold.

[0126] A fault timer is a timing logic unit that is built into or configured and managed by the control unit to implement a fault counting function.

[0127] For example, fault timers include, but are not limited to, one or more of software counters, hardware timers, or real-time clock software applications.

[0128] Fault counting refers to the periodic accumulation of values ​​in the fault timer, reflecting the length of time elapsed since the last effective physical contact event occurred with the photovoltaic cleaning robot.

[0129] After the photovoltaic cleaning robot leaves its stationary position, the control unit starts a fault timer and begins to accumulate the count at fixed intervals (e.g., every minute) to obtain the fault time value. When the photovoltaic cleaning robot can move normally and make contact with the preset contact points, it proves that its operating status is basically normal. Therefore, each time the control unit successfully recognizes a valid contact response (i.e., completes one contact point type recognition), it immediately resets the fault timer to zero and restarts the timing.

[0130] Based on this, the control unit presets a fault timing threshold and continuously compares the current fault timing value with this threshold. If the photovoltaic cleaning robot fails to trigger any valid contact signal before reaching the fault timing threshold, indicating that the photovoltaic cleaning robot has not made contact with the contact structure for a long time, it is determined that its operation has malfunctioned.

[0131] It should be noted that the fault timing threshold can be adjusted according to the positioning requirements in the actual project. For example, when the positioning requirement for the photovoltaic cleaning robot is low, the fault timing threshold can be adjusted to a higher threshold, such as 20 minutes; when the positioning requirement is high, the fault timing threshold can be adjusted to a lower threshold, such as 5 minutes.

[0132] In some implementations, when a fault is detected, the photovoltaic cleaning robot can upload timer data and location information to the backend server via a wireless network, so that maintenance personnel can locate the faulty photovoltaic cleaning robot and avoid blind troubleshooting in large photovoltaic power plants.

[0133] In the above embodiments, the operating status of the photovoltaic cleaning robot is detected by a fault timer. Without relying on external networks or manual inspections, the photovoltaic cleaning robot can autonomously detect faults such as operational interruptions, enabling timely shutdown protection, sending alarms, and preventing secondary damage, thus reducing the difficulty and time cost of operation and maintenance.

[0134] Based on the same inventive concept, this application also provides a positioning method for a photovoltaic cleaning robot. The subject executing the positioning method of the photovoltaic cleaning robot can be the control unit of the photovoltaic cleaning robot or a functional module or functional entity in the control unit of the photovoltaic cleaning robot that can realize the positioning method of the photovoltaic cleaning robot.

[0135] The following description uses the control unit of the photovoltaic cleaning robot as an example to illustrate the positioning method of the photovoltaic cleaning robot provided in this application embodiment.

[0136] Figure 6 This is a schematic flowchart of the positioning method for the photovoltaic cleaning robot provided in the embodiments of this application, as shown below. Figure 6 As shown, the positioning method of the photovoltaic cleaning robot includes steps 610 to 620, wherein: Step 610: Control the photovoltaic cleaning robot to move along the photovoltaic module array and collect the contact response signal triggered when it comes into contact with the paddle.

[0137] A photovoltaic (PV) cleaning robot moves across the surface of a PV module array to clean the PV panels. Sensors on the robot monitor its physical contact with pre-set contact plates within the array in real time. When the robot makes physical contact with a contact plate, the sensor generates a physical response due to mechanical pressure or impact, and outputs a corresponding contact response signal. The control unit receives this signal and performs preprocessing such as sampling, digitization, and preliminary filtering to obtain the signal characteristics of the contact response signal.

[0138] Step 620: Determine the position of the photovoltaic cleaning robot based on the contact response signal.

[0139] The control unit extracts signal features from the contact response signal, including but not limited to one or more of signal response duration and signal strength. Using preset rules for determining the type of contact structure, such as based on signal response duration, the control unit extracts the response duration... Compare with the signal response time threshold.

[0140] For example, when the paddles are long-flex paddles and short-flex paddles, the short response time can be used as the reference. The corresponding threshold range identifies the type of paddle corresponding to the contact response.

[0141] By identifying signal characteristics, the control unit can distinguish whether the paddle that generated this contact response is of the first type used for position counting or the second type used for marking the end position status (stop / reversing position).

[0142] When the control unit determines that physical contact has occurred with the contact structure, the control unit first determines whether the type of the paddle that made physical contact with the photovoltaic cleaning robot is a preset paddle type, and counts the number of times the corresponding contact response belonging to the preset paddle type is triggered to obtain one or more count values, and determines the position information of the photovoltaic cleaning robot based on the count values.

[0143] For example, if the control unit recognizes a first type of paddle, it triggers a count of the first counter value (counter C). The counting rule is usually related to the direction of travel of the photovoltaic cleaning robot. For example, C+1 is added when the photovoltaic cleaning robot moves from the stop position to the reversing position, and C-1 is added when it moves from the reversing position to the stop position. Subsequently, based on the first counter value and the number of photovoltaic panels (such as the total number of photovoltaic panels M), the control unit determines the specific travel position of the photovoltaic cleaning robot through mapping relationships (such as direct correspondence, parity judgment, or preset algorithms). For example, it determines which photovoltaic panel the robot is on, or the position in the inter-panel spacing area or the end position of the photovoltaic module array, and controls the roller brush and other actuators accordingly.

[0144] If the second paddle type is detected, the second counter value (counter B) is counted (e.g., B+1). Based on the current value of the second counter value, the functional state of the photovoltaic cleaning robot is determined (e.g., stopped, reversing, moving, etc.), and the corresponding control action sequence is triggered (e.g., entering charging mode, performing a reversing operation).

[0145] In some embodiments, determining the location of the photovoltaic cleaning robot based on the contact response signal specifically includes: identifying the type of the triggered lever based on the signal characteristics of the contact response signal; and determining the location of the photovoltaic cleaning robot based on the number of times the contact response signal under the same lever type is triggered.

[0146] According to the positioning method of the photovoltaic cleaning robot provided in this application embodiment, the key position of the photovoltaic cleaning robot in the photovoltaic module array is identified by the physical contact between the sensor set on the photovoltaic cleaning robot and the preset paddle on the running path. By using trigger structures with different mechanical structures, contact response signals with different signal characteristics are generated when they come into contact with the photovoltaic cleaning robot. Based on the contact response signals, the paddle type is identified, which can accurately distinguish various position types such as photovoltaic panels, bridges, parking positions, and reversing positions. The positioning logic is clear and robust, and it effectively avoids the interference of ambient light, dust, temperature and humidity on positioning. The position information of the photovoltaic cleaning robot is determined by combining counting logic. The simple hardware architecture replaces the complex electronic sensing system, which can effectively avoid the problem of inaccurate positioning caused by factors such as dust, rain and snow in the environment. It has strong environmental adaptability and improves the reliability and accuracy of the photovoltaic cleaning robot positioning in complex environments.

[0147] Based on the same inventive concept, this application also provides a photovoltaic cleaning robot. Figure 7 This is a structural schematic diagram of the photovoltaic cleaning robot provided in an embodiment of this application. Figure 7 As shown, the photovoltaic cleaning robot 103 includes a sensor 104 and a control unit 105. The sensor 104 is used to collect the contact response triggered when physical contact occurs with the lever, and the control unit 105 is communicatively connected to the sensor 104. The photovoltaic cleaning robot provided in this application embodiment can realize the various processes implemented in the above embodiments, and will not be described again here to avoid repetition.

[0148] In some embodiments, Figure 8 This is a schematic diagram of the electronic device structure provided in an embodiment of this application. For example... Figure 8 As shown, this application embodiment also provides an electronic device 800, including a processor 801, a memory 802, and a computer program stored in the memory 802 and executable on the processor 801. When the program is executed by the processor 801, it implements the various processes of the above-described photovoltaic cleaning robot positioning method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0149] This application provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described photovoltaic cleaning robot positioning method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0150] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable media, such as computer read-only memory (ROM), random-access memory (RAM), magnetic disks, or optical disks.

[0151] The computer-readable storage medium may include: read-only memory (ROM), random-access memory (RAM), magnetic disk or optical disk, etc.

[0152] This application provides a computer program product, including a computer program that, when executed by a processor, implements the aforementioned positioning method for a photovoltaic cleaning robot.

[0153] This application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described photovoltaic cleaning robot positioning method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0154] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0155] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0156] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0157] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0158] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0159] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A positioning system for a photovoltaic cleaning robot, characterized in that, include: A photovoltaic module array, with at least one type of flap arranged at a preset position; A photovoltaic cleaning robot is configured to move along the photovoltaic module array; wherein the photovoltaic cleaning robot is equipped with sensors for collecting contact response signals triggered when it comes into contact with the paddles; The control unit is communicatively connected to the photovoltaic cleaning robot and configured to determine the position of the photovoltaic cleaning robot based on the contact response signal.

2. The positioning system for the photovoltaic cleaning robot as described in claim 1, characterized in that, Determining the position of the photovoltaic cleaning robot based on the contact response signal includes: Based on the signal characteristics of the contact response signal, the type of paddle to which the triggered paddle belongs is identified; The position of the photovoltaic cleaning robot is determined based on the number of times the contact response signal under the same type of lever is triggered.

3. The positioning system for the photovoltaic cleaning robot as described in claim 2, characterized in that, The paddle type includes a first paddle type; the control unit is configured as follows: When it is identified as the first type of paddle, the number of times the corresponding contact response signal is triggered is counted to obtain the first count value; Based on the first count value and the number of photovoltaic panels in the photovoltaic module array, the travel position of the photovoltaic cleaning robot in the photovoltaic module array is determined.

4. The positioning system for the photovoltaic cleaning robot as described in claim 3, characterized in that, The photovoltaic cleaning robot is equipped with cleaning components; the control unit is configured as follows: Based on the parity of the first count value and / or the parity attribute of the first count value, the region type corresponding to the moving location is determined; If the moving position is determined to be an area to be cleaned, the cleaning component is controlled to operate; If it is determined that the moving location is not an area to be cleaned, the cleaning component is controlled to pause operation.

5. The positioning system for the photovoltaic cleaning robot as described in claim 2, characterized in that, The paddle type includes a second paddle type; the control unit is configured as follows: When it is identified as the second type of paddle, the number of times the corresponding contact response signal is triggered is counted to obtain a second count value; Based on the second count value, the position of the photovoltaic cleaning robot at the end of the photovoltaic module array is determined; the end position is used to characterize the stopping position and / or reversing position of the photovoltaic cleaning robot.

6. The positioning system for the photovoltaic cleaning robot as described in claim 5, characterized in that, The control unit is also configured to: Based on the second count value, the end position state of the photovoltaic cleaning robot is determined; The end position state includes at least one of the following: a stopped state, a traveling state toward a reversing position, a reversing state, and a returning state toward a stopped position.

7. The positioning system for the photovoltaic cleaning robot as described in claim 5 or 6, characterized in that, The control unit is also configured to: When it is determined that the photovoltaic cleaning robot is in the stopped position, the photovoltaic cleaning robot is controlled to enter the energy-saving charging mode; When it is determined that the photovoltaic cleaning robot is in the reversing position, the photovoltaic cleaning robot is controlled to perform a reversing operation.

8. The positioning system for the photovoltaic cleaning robot as described in claims 3 and 5, characterized in that, The first paddle type and the second paddle type are the same paddle type; or The first and second paddle types are different paddle types, and the signal characteristics of the contact response signals triggered when they come into contact with the sensor are different.

9. The positioning system for the photovoltaic cleaning robot as described in claim 1 or 2, characterized in that, The photovoltaic module array is formed by arranging multiple photovoltaic panels at intervals according to a preset arrangement. The preset positions include the inter-panel spacing areas and the end positions of the photovoltaic module array; wherein: When the photovoltaic module array is installed on a flat single-axis support structure, a connecting bridge is provided between adjacent photovoltaic panels, and the inter-panel spacing area is the spacing area corresponding to the connecting bridge. When the photovoltaic module array is installed on a fixed support structure, the inter-panel spacing area is the boundary area formed by splicing adjacent photovoltaic panels.

10. A positioning method for a photovoltaic cleaning robot, characterized in that, The photovoltaic cleaning robot is used to perform cleaning operations on a photovoltaic module array, which is formed by multiple photovoltaic panels arranged at intervals according to a preset layout, and at least one type of cleaning plate is arranged at a preset position; the method includes: The photovoltaic cleaning robot is controlled to move along the photovoltaic module array and to collect the contact response signal triggered when it comes into contact with the paddle. The position of the photovoltaic cleaning robot is determined based on the contact response signal.

11. The positioning method for the photovoltaic cleaning robot as described in claim 10, characterized in that, Determining the position of the photovoltaic cleaning robot based on the contact response signal includes: Based on the signal characteristics of the contact response signal, the type of paddle to which the triggered paddle belongs is identified; The position of the photovoltaic cleaning robot is determined based on the number of times the contact response signal under the same type of lever is triggered.

12. A photovoltaic cleaning robot, characterized in that, The photovoltaic cleaning robot is used to perform cleaning operations on a photovoltaic module array, wherein at least one type of plate is arranged along a preset position on the photovoltaic module array; the photovoltaic cleaning robot includes: A sensor is used to collect a contact response signal triggered when the sensor comes into contact with the paddle. The control unit, which is communicatively connected to the sensor, is configured to perform the positioning method of the photovoltaic cleaning robot as described in any one of claims 10-11.

Images