Positioning method for photovoltaic cleaning device, and system

Abstract

A positioning method for a photovoltaic cleaning device, and a system. The method comprises: reading an electronic tag detected by a photovoltaic cleaning device while traveling, and outputting card number information of the electronic tag (S101); on the basis of the card number information, determining current position information of the photovoltaic cleaning device, sending the position information to a monitoring system, and continuing to travel (S102); when alert information sent by the monitoring system is received, controlling the photovoltaic cleaning device to travel to the closest electronic tag position (S103); and when the closest electronic tag is detected, stopping the photovoltaic cleaning device, and waiting for a next instruction action (S104). By using the positioning method for a photovoltaic cleaning device and the system, an electronic tag can be quickly identified to achieve positioning; the success rate of identification is high, costs are low, and installation is simple.

Description

A positioning method and system for photovoltaic cleaning equipment Technical Field

[0001] The present invention belongs to the technical field of photovoltaic components, and in particular to a positioning method and system for photovoltaic cleaning equipment. Background Art

[0002] In the solar photovoltaic power generation industry, battery modules are the primary equipment for photovoltaic power generation. PV modules operate outdoors for extended periods, subject to frequent weather changes. When a cleaning robot encounters a high wind warning during cleaning, the robot's flat single-axis tracking bracket rotates to a windproof angle to prevent damage to the PV modules. At this point, the robot must stop cleaning and dock at a specific location.

[0003] Currently, existing technologies generally place mechanical markers at specific locations, and cleaning robots detect these markers and dock accordingly. However, mechanical markers are difficult to detect, and have high rates of misjudgment and missed detection, which is a problem that needs to be solved urgently.

[0004] Summary of the Invention

[0005] The purpose of the present invention is to provide a positioning method and system for photovoltaic cleaning equipment to address the deficiencies in the prior art, which can quickly identify electronic tags to achieve positioning, have a high recognition success rate, low cost, and easy installation.

[0006] An embodiment of the present application provides a method for positioning photovoltaic cleaning equipment, the method comprising:

[0007] Read the electronic tag detected by the photovoltaic cleaning equipment when it is moving, and output the card number information of the electronic tag;

[0008] Determine the current location information of the photovoltaic cleaning device based on the card number information, send the location information to the monitoring system, and continue to move forward;

[0009] When receiving the alarm information sent by the monitoring system, controlling the photovoltaic cleaning device to move toward the nearest electronic tag position;

[0010] When the nearest electronic tag is detected, the photovoltaic cleaning device is stopped and waits for the next instruction action.

[0011] Optionally, the method further includes:

[0012] In the case that no alarm information sent by the monitoring system is received, the step of reading the electronic tags detected when the photovoltaic cleaning device is moving is continued.

[0013] Optionally, the method further includes:

[0014] When receiving the alarm cancellation information sent by the monitoring system, the photovoltaic cleaning device is turned on, the next instruction action is executed, and the vehicle continues to move forward.

[0015] Optionally, the electronic tag includes: an RFID electronic tag.

[0016] Optionally, the monitoring system includes: a SCADA system.

[0017] Optionally, determining the current location information of the photovoltaic cleaning device according to the card number information includes:

[0018] The card number information is converted into the numbering information of the electronic tag as the current location information of the photovoltaic cleaning device, wherein the numbering information is a sequential number starting from a starting point.

[0019] Optionally, controlling the photovoltaic cleaning device to move toward the nearest electronic tag location includes:

[0020] According to the last detected electronic tag position and the next electronic tag position to be reached, the distance between the photovoltaic cleaning device and the two positions is determined;

[0021] The photovoltaic cleaning device is controlled to move toward the nearest electronic tag position according to a preset process.

[0022] Another embodiment of the present application provides a positioning system for photovoltaic cleaning equipment, the system comprising:

[0023] A reading module is used to read the electronic tag detected by the photovoltaic cleaning equipment when it is moving, and output the card number information of the electronic tag;

[0024] a determination module, configured to determine the current location information of the photovoltaic cleaning device according to the card number information, send the location information to the monitoring system, and continue to move forward;

[0025] A control module, configured to control the photovoltaic cleaning device to move toward the nearest electronic tag location upon receiving an alarm message sent by the monitoring system;

[0026] The shutdown module is used to shut down the photovoltaic cleaning device and wait for the next instruction action when the nearest electronic tag is detected.

[0027] Yet another embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any of the above methods when run.

[0028] Yet another embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute any of the above methods.

[0029] Compared with the prior art, the present invention provides a positioning method for photovoltaic cleaning equipment, which reads the electronic tag detected by the photovoltaic cleaning equipment when it is moving, and outputs the card number information of the electronic tag; according to the card number information, the current position information of the photovoltaic cleaning equipment is determined, and the position information is sent to the monitoring system, and the equipment continues to move; when the alarm information sent by the monitoring system is received, the photovoltaic cleaning equipment is controlled to move toward the position of the nearest electronic tag; when the nearest electronic tag is detected, the photovoltaic cleaning equipment is stopped and waits for the next instruction action, so that the electronic tag can be quickly identified to achieve positioning, with a high recognition success rate, low cost and easy installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a schematic flow chart of a method for positioning photovoltaic cleaning equipment provided by an embodiment of the present invention;

[0031] FIG2 is a schematic structural diagram of a positioning system for photovoltaic cleaning equipment provided by an embodiment of the present invention;

[0032] FIG3 is a hardware structure block diagram of a computer terminal for a positioning method for photovoltaic cleaning equipment provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention.

[0034] In the solar photovoltaic power generation industry, battery modules are the primary equipment for photovoltaic power generation. PV modules operate outdoors for extended periods, subject to frequent weather changes. When a high wind warning is triggered during cleaning, photovoltaic cleaning equipment, such as a robot cleaner, must rotate its flat single-axis tracking mount to a windproof angle to prevent damage to the PV modules. The robot must then stop cleaning and dock at a specific location, such as a bridge or the top of the tracking mount's foundation.

[0035] 1 , an embodiment of the present invention provides a method for positioning photovoltaic cleaning equipment, which may include:

[0036] S101, reading an electronic tag detected by a photovoltaic cleaning device while it is moving, and outputting the card number information of the electronic tag;

[0037] Specifically, electronic tags can include RFID tags. To identify specific locations, RFID tags can be attached to the bottom of photovoltaic modules at specific locations. When a cleaning robot detects the RFID tag signal, it stops and docks at the specific location. After the high wind warning is lifted, the cleaning robot resumes cleaning operations.

[0038] As the robot cleans, it can record its location information. Because each RFID tag has a unique code, the robot continuously detects RFID tag information during its movement and can determine its current location accordingly. Furthermore, RFID tags can be attached to any detectable location where a specific function is desired, allowing for the capture of specific information. This is extremely convenient.

[0039] In practice, when reading an electronic tag, the serial port is initialized and the reader is asked to output the card number. For example, the card number read is 00000010. An RFID reader is installed on the PV cleaning equipment and connected to the equipment's control system. Pre-numbered RFID tags are fixed within the PV area, and their numbers are entered into the monitoring system. As the PV cleaning equipment moves, the RFID reader continuously scans the surrounding electronic tags and reads their card numbers.

[0040] S102, determining the current location information of the photovoltaic cleaning device based on the card number information, sending the location information to the monitoring system, and continuing to move;

[0041] Specifically, the card number information can be converted into the serial number information of the electronic tag as the current location information of the photovoltaic cleaning device, wherein the serial number information is a sequential number starting from the starting point. The monitoring system may include: a SCADA (Supervisory Control And Data Acquisition) system, that is, a data acquisition and monitoring control system.

[0042] After receiving the card number from the electronic tag, the control system of the PV cleaning device sends it to the monitoring system. The monitoring system then determines the current location of the PV cleaning device based on the pre-set electronic tag location information. This information is converted to the corresponding physical address tag based on the card number. For example, a card number of 00000010 represents the 10th tag from the starting point. The monitoring system saves and records the current location of the PV cleaning device for subsequent monitoring and control. The control system then guides the PV cleaning device's movement, controlling its movement based on the current location information and the pre-set cleaning path or target.

[0043] By reading the card number information of the electronic tag and communicating with the monitoring system, the photovoltaic cleaning equipment can determine its own location information and make the next step of movement based on this information. This can achieve accurate positioning and control of the photovoltaic cleaning equipment.

[0044] S103, when receiving the alarm information sent by the monitoring system, controlling the photovoltaic cleaning device to move toward the nearest electronic tag location;

[0045] Specifically, the distance between the photovoltaic cleaning device and the two positions can be determined based on the last detected electronic tag position and the next electronic tag position to be reached; and the photovoltaic cleaning device can be controlled to move toward the nearest electronic tag position according to the preset process. Among them, the preset process refers to the process in which the photovoltaic cleaning device moves toward the nearest electronic tag position through a series of control steps based on the last detected electronic tag position and the next electronic tag position to be reached in the control of the photovoltaic cleaning device. The actual preset process can be defined and designed according to the specific application scenario and requirements. The purpose of the preset process is to perform corresponding control and actions so that the photovoltaic cleaning device can move accurately and efficiently and perform the required operations, thereby realizing the automation and optimization of photovoltaic cleaning work.

[0046] The monitoring system continuously monitors the environment of the PV cleaning equipment and, based on certain conditions, determines whether an alarm should be issued. When the monitoring system determines an alarm is necessary, it transmits this information to the PV cleaning equipment's control system. Upon receiving this alarm, the PV cleaning equipment's control system controls the equipment to move toward the nearest electronic tag. Based on the last detected electronic tag location and the next expected electronic tag location, the control system calculates the distances between the PV cleaning equipment and these two locations. The control system determines the relative distances between the PV cleaning equipment and these two locations and selects the closest electronic tag location as the target. The control system then sends instructions to the PV cleaning equipment to move toward the nearest electronic tag location and continue its cleaning mission.

[0047] Through the above steps, when the monitoring system sends an alarm, the PV cleaning device's control system determines the location of the nearest electronic tag based on the distance between the PV cleaning device and the target location, and controls the device to move toward that location. This implementation helps the PV cleaning device avoid potential hazards or obstacles and ensures that the device reaches the designated location in the shortest possible time.

[0048] In actual applications, if no alarm information is received from the monitoring system, steps S101 and S102 are continued until an alarm information is received from the monitoring system. This embodiment ensures that even if the photovoltaic cleaning device does not receive an alarm information, it can still continue to understand the electronic tags it passes by and record their card numbers. This helps the monitoring system use this information in subsequent analysis to monitor the operation and location of the cleaning device.

[0049] S104, when the nearest electronic tag is detected, the photovoltaic cleaning device is stopped and waits for the next instruction action.

[0050] Specifically, when a PV cleaning device detects the nearest electronic tag, the control system receives this information. The control system then sends a command to the PV cleaning device, instructing it to stop. The PV cleaning device then stops according to the command and awaits the next instruction. This secures the PV cleaning device in its current position, preventing it from moving further. A locking mechanism can also be added to the preset stop position for further locking.

[0051] Through the above steps, when the photovoltaic cleaning equipment detects the nearest electronic tag, the control system sends a stop command and fixes the equipment at its current position, preventing it from moving further. This implementation ensures that the equipment stops and remains stable after reaching the target location, achieving precise positioning and control.

[0052] In actual application, when the alarm cancellation information sent by the monitoring system is received, the photovoltaic cleaning device is turned on, the next instruction action is executed, and the vehicle continues to move forward.

[0053] When the monitoring system sends an alarm clear message, the control system receives this information. The control system then sends a command to the PV cleaning device to power on. Following this command, the PV cleaning device powers on and resumes operation. The control system also sends an instruction to execute the next action, which the PV cleaning device then executes.

[0054] Through the above steps, when the PV cleaning equipment receives the alarm clear message from the monitoring system, the control system will send a power-on command, allowing it to continue moving and proceed to the next step. This implementation ensures that the PV cleaning equipment resumes normal operation and continues its cleaning task after receiving the alarm clear message.

[0055] It can be seen that by reading the electronic tag detected by the photovoltaic cleaning equipment when it is moving, the card number information of the electronic tag is output; according to the card number information, the current position information of the photovoltaic cleaning equipment is determined, and the position information is sent to the monitoring system, and the equipment continues to move forward; when the alarm information sent by the monitoring system is received, the photovoltaic cleaning equipment is controlled to move toward the nearest electronic tag position; when the nearest electronic tag is detected, the photovoltaic cleaning equipment is stopped and waits for the next instruction action, so that the electronic tag can be quickly identified to achieve positioning, with a high recognition success rate, low cost and easy installation.

[0056] Another embodiment of the present invention provides a positioning system for photovoltaic cleaning equipment. Referring to FIG. 2 , the system may include:

[0057] The reading module 201 is used to read the electronic tag detected by the photovoltaic cleaning device when it is moving, and output the card number information of the electronic tag;

[0058] The determination module 202 is used to determine the current location information of the photovoltaic cleaning device according to the card number information, send the location information to the monitoring system, and continue to move;

[0059] The control module 203 is configured to control the photovoltaic cleaning device to move toward the nearest electronic tag location upon receiving the alarm information sent by the monitoring system;

[0060] The shutdown module 204 is used to shut down the photovoltaic cleaning device and wait for the next instruction action when the nearest electronic tag is detected.

[0061] It can be seen that by reading the electronic tag detected by the photovoltaic cleaning equipment when it is moving, the card number information of the electronic tag is output; according to the card number information, the current position information of the photovoltaic cleaning equipment is determined, and the position information is sent to the monitoring system, and the equipment continues to move forward; when the alarm information sent by the monitoring system is received, the photovoltaic cleaning equipment is controlled to move toward the nearest electronic tag position; when the nearest electronic tag is detected, the photovoltaic cleaning equipment is stopped and waits for the next instruction action, so that the electronic tag can be quickly identified to achieve positioning, with a high recognition success rate, low cost and easy installation.

[0062] The following is a detailed description of it by taking the operation on a computer terminal as an example. Figure 3 is a hardware structure block diagram of a computer terminal for a positioning method of a photovoltaic cleaning device provided by an embodiment of the present invention. As shown in Figure 3, the computer terminal may include one or more (only one is shown in Figure 3) processors 302 (the processor 302 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 304 for storing data. Optionally, the above-mentioned computer terminal may also include a transmission device 306 for communication functions and an input and output device 308. It will be understood by those skilled in the art that the structure shown in Figure 3 is only for illustration and does not limit the structure of the above-mentioned computer terminal. For example, the computer terminal may also include more or fewer components than those shown in Figure 3, or have a configuration different from that shown in Figure 3.

[0063] The memory 304 can be used to store software programs and modules of application software, such as the program instructions / modules corresponding to the positioning method of the photovoltaic cleaning equipment in the embodiment of the present application. The processor 302 executes various functional applications and data processing by running the software programs and modules stored in the memory 304, that is, implementing the above-mentioned method. The memory 304 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 304 may further include a memory remotely located relative to the processor 302, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0064] Transmission device 306 is used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by a communications provider of a computer terminal. In one embodiment, transmission device 306 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, transmission device 306 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0065] An embodiment of the present invention further provides a storage medium storing a computer program, wherein the computer program is configured to execute the steps of any one of the above method embodiments when running.

[0066] Specifically, in this embodiment, the above-mentioned storage medium may be configured to store a computer program for performing the following steps:

[0067] S101, reading an electronic tag detected by a photovoltaic cleaning device while it is moving, and outputting the card number information of the electronic tag;

[0068] S102, determining the current location information of the photovoltaic cleaning device based on the card number information, sending the location information to the monitoring system, and continuing to move;

[0069] S103, when receiving the alarm information sent by the monitoring system, controlling the photovoltaic cleaning device to move toward the nearest electronic tag location;

[0070] S104, when the nearest electronic tag is detected, the photovoltaic cleaning device is stopped and waits for the next instruction action.

[0071] Specifically, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0072] It can be seen that by reading the electronic tag detected by the photovoltaic cleaning equipment when it is moving, the card number information of the electronic tag is output; according to the card number information, the current position information of the photovoltaic cleaning equipment is determined, and the position information is sent to the monitoring system, and the equipment continues to move forward; when the alarm information sent by the monitoring system is received, the photovoltaic cleaning equipment is controlled to move toward the nearest electronic tag position; when the nearest electronic tag is detected, the photovoltaic cleaning equipment is stopped and waits for the next instruction action, so that the electronic tag can be quickly identified to achieve positioning, with a high recognition success rate, low cost and easy installation.

[0073] An embodiment of the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments.

[0074] Specifically, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0075] Specifically, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0076] S101, reading an electronic tag detected by a photovoltaic cleaning device while it is moving, and outputting the card number information of the electronic tag;

[0077] S102, determining the current location information of the photovoltaic cleaning device based on the card number information, sending the location information to the monitoring system, and continuing to move;

[0078] S103, when receiving the alarm information sent by the monitoring system, controlling the photovoltaic cleaning device to move toward the nearest electronic tag location;

[0079] S104, when the nearest electronic tag is detected, the photovoltaic cleaning device is stopped and waits for the next instruction action.

[0080] Specifically, the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0081] It can be seen that by reading the electronic tag detected by the photovoltaic cleaning equipment when it is moving, the card number information of the electronic tag is output; according to the card number information, the current position information of the photovoltaic cleaning equipment is determined, and the position information is sent to the monitoring system, and the equipment continues to move forward; when the alarm information sent by the monitoring system is received, the photovoltaic cleaning equipment is controlled to move toward the nearest electronic tag position; when the nearest electronic tag is detected, the photovoltaic cleaning equipment is stopped and waits for the next instruction action, so that the electronic tag can be quickly identified to achieve positioning, with a high recognition success rate, low cost and easy installation.

[0082] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the scope of implementation of the present invention is not limited to what is shown in the drawings. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which do not exceed the spirit covered by the description and drawings, should be within the scope of protection of the present invention.

Claims

1. A method for positioning a photovoltaic cleaning device, characterized in that: The method comprises: Read the electronic tag detected by the photovoltaic cleaning equipment when it is moving, and output the card number information of the electronic tag; According to the card number information, determine the current location information of the photovoltaic cleaning device, send the location information to the monitoring system, and continue to move forward; When receiving the alarm information sent by the monitoring system, controlling the photovoltaic cleaning device to move toward the nearest electronic tag position; When the nearest electronic tag is detected, the photovoltaic cleaning device is stopped to wait for the next instruction action.

2. The method according to claim 1, characterized in that The method further comprises: In case that the alarm information sent by the monitoring system is not received, the step of reading the electronic tags detected when the photovoltaic cleaning device is moving is continued.

3. The method according to claim 1, characterized in that: The method further comprises: When receiving the alarm cancellation information sent by the monitoring system, the photovoltaic cleaning device is turned on, the next instruction action is executed, and the vehicle continues to move forward.

4. The method according to claim 3, characterized in that The electronic tag includes: an RFID electronic tag.

5. The method according to claim 4, characterized in that The monitoring system includes: a SCADA system.

6. The method according to claim 5, characterized in that Determining the current location information of the photovoltaic cleaning device according to the card number information includes: The card number information is converted into the serial number information of the electronic tag as the current position information of the photovoltaic cleaning device, wherein the serial number information is a sequential number starting from a starting point.

7. The method according to claim 6, characterized in that The controlling the photovoltaic cleaning device to move toward the nearest electronic tag position includes: According to the last detected electronic tag position and the next electronic tag position to be reached, the distance between the photovoltaic cleaning device and the two positions is determined; The photovoltaic cleaning device is controlled to move toward the nearest electronic tag position according to a preset process.

8. A positioning system for photovoltaic cleaning equipment, characterized in that: The system comprises: A reading module is used to read the electronic tag detected by the photovoltaic cleaning device when it is moving, and output the card number information of the electronic tag; A determination module, used to determine the current location information of the photovoltaic cleaning device according to the card number information, send the location information to the monitoring system, and continue to move forward; A control module, used to control the photovoltaic cleaning device to move toward the nearest electronic tag position when receiving the alarm information sent by the monitoring system; The shutdown module is used to shut down the photovoltaic cleaning device and wait for the next instruction action when the nearest electronic tag is detected.

9. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 7 when executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 7.

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