CN113290007A - Cleaning method, device and system for photovoltaic module and storage medium - Google Patents
Cleaning method, device and system for photovoltaic module and storage medium Download PDFInfo
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- CN113290007A CN113290007A CN202110569746.4A CN202110569746A CN113290007A CN 113290007 A CN113290007 A CN 113290007A CN 202110569746 A CN202110569746 A CN 202110569746A CN 113290007 A CN113290007 A CN 113290007A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 443
- 238000000034 method Methods 0.000 title claims abstract description 81
- 238000001514 detection method Methods 0.000 claims description 106
- 230000005856 abnormality Effects 0.000 claims description 26
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- 230000002159 abnormal effect Effects 0.000 claims description 21
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- 238000004891 communication Methods 0.000 claims description 17
- 230000001960 triggered effect Effects 0.000 claims description 6
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- 238000010586 diagram Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 8
- 238000010248 power generation Methods 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
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- 239000000428 dust Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The embodiment of the invention discloses a cleaning method, a device and a system of a photovoltaic module and a storage medium. Wherein, the method comprises the following steps: when the cleaning robot is on the ferry vehicle, sending a command to the ferry vehicle to the target photovoltaic module row; when the ferry vehicle detects the positioning sensor trigger points corresponding to the target photovoltaic module row, the ferry vehicle stops advancing and reports the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger points are arranged on a ferry vehicle track; and after the cleaning robot receives the current position information and determines that the current position information corresponds to the target photovoltaic module row, cleaning the target photovoltaic module row, and returning to the ferry vehicle after cleaning is finished. According to the technical scheme provided by the embodiment of the invention, all photovoltaic module rows can be cleaned, the stability and the reliability of a cleaning system of the photovoltaic modules are improved, and the generated energy of the photovoltaic module rows is favorably improved.
Description
Technical Field
The embodiment of the invention relates to a photovoltaic module cleaning technology, in particular to a photovoltaic module cleaning method, a photovoltaic module cleaning device, a photovoltaic module cleaning system and a storage medium.
Background
With the rapid development of new energy, particularly photovoltaic power generation, the photovoltaic power generation will occupy important seats of energy consumption, not only can replace part of conventional energy, but also will become the main body of energy supply, and the photovoltaic power generation industry receives wide attention. However, the photovoltaic power station is constructed outdoors and is often covered or polluted by dust, snow, bird droppings, fallen leaves and the like, which greatly reduces the power generation amount and shortens the service life of the photovoltaic module. Therefore, cleaning of the photovoltaic module becomes especially important.
Aiming at the problems, related photovoltaic operation and maintenance cleaning robots are provided in China to clean dust of photovoltaic components, but the robots of the type rely on corresponding control systems, and stability and reliability are poor.
At present, no better photovoltaic module cleaning method exists.
Disclosure of Invention
The embodiment of the invention provides a cleaning method, a cleaning device, a cleaning system and a storage medium of a photovoltaic module, which can clean all photovoltaic module rows, improve the stability and the reliability of the cleaning system of the photovoltaic module and are beneficial to improving the power generation capacity of the photovoltaic module rows.
In a first aspect, an embodiment of the present invention provides a method for cleaning a photovoltaic module, which is applied to a cleaning system for a photovoltaic module, the cleaning system for a photovoltaic module includes a cleaning robot, a ferry vehicle and a ferry vehicle track, the cleaning robot is in communication connection with the ferry vehicle, the ferry vehicle is installed on the ferry vehicle track, and the ferry vehicle track is installed on the ground on the same side of all rows of photovoltaic modules, the method includes:
when the cleaning robot is on the ferry vehicle, sending an instruction to the ferry vehicle to a target photovoltaic module row;
the ferry vehicle stops advancing when detecting the positioning sensor trigger points corresponding to the target photovoltaic module rows, and reports the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger points are arranged on the ferry vehicle track;
and after the cleaning robot receives the current position information and determines that the current position information corresponds to the target photovoltaic module row, the cleaning robot cleans the target photovoltaic module row and returns to the ferry vehicle after cleaning is finished.
In a second aspect, an embodiment of the present invention provides a cleaning device for a photovoltaic module, which is integrated in a cleaning system for a photovoltaic module, the cleaning system for a photovoltaic module includes a cleaning robot, a ferry vehicle and a ferry vehicle track, the cleaning robot is in communication connection with the ferry vehicle, the ferry vehicle is mounted on the ferry vehicle track, and the ferry vehicle track is mounted on the ground on the same side of all photovoltaic module rows, the cleaning device includes:
the instruction sending module is configured in the cleaning robot and used for sending an instruction to a target photovoltaic module row to the ferry vehicle when the cleaning robot is on the ferry vehicle;
an information reporting module configured in the ferry vehicle, configured to detect a positioning sensor trigger point corresponding to the target photovoltaic module row, stop advancing, and report current position information of the ferry vehicle to the cleaning robot, where the positioning sensor trigger point is set on a rail of the ferry vehicle;
and the cleaning module is configured in the cleaning robot and used for receiving the current position information, cleaning the target photovoltaic module row after determining that the current position information corresponds to the target photovoltaic module row, and returning to the ferry vehicle after cleaning.
In a third aspect, an embodiment of the present invention provides a cleaning system for a photovoltaic module, including:
the device comprises a cleaning robot, a ferry vehicle and a ferry vehicle track, wherein the cleaning robot is in communication connection with the ferry vehicle, the ferry vehicle is installed on the ferry vehicle track, and the ferry vehicle track is installed on the ground on the same side of all photovoltaic module rows;
the cleaning system of the photovoltaic module is used for executing the cleaning method of the photovoltaic module.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a method for cleaning a photovoltaic module according to any of the embodiments of the present invention.
The embodiment of the invention provides a method, a device, a system and a storage medium for cleaning photovoltaic modules, firstly, when a cleaning robot is on a ferry vehicle, the cleaning robot sends an instruction for going to a target photovoltaic module row to the ferry vehicle, then the ferry vehicle detects the trigger point of the positioning sensor corresponding to the target photovoltaic component row, stops advancing, reports the current position information of the ferry vehicle to the cleaning robot, wherein, the trigger point of the positioning sensor is arranged on the track of the ferry vehicle, and finally, after the cleaning robot receives the current position information and determines that the current position information corresponds to the target photovoltaic module row, the cleaning robot can clean all the photovoltaic module rows, improves the stability and reliability of a cleaning system of the photovoltaic modules and is beneficial to improving the generating capacity of the photovoltaic module rows.
Drawings
Fig. 1A is a flowchart of a cleaning method for a photovoltaic module according to a first embodiment of the present invention;
FIG. 1B is a schematic diagram illustrating an anomaly detection method for a cleaning robot according to an embodiment of the present invention;
FIG. 1C is a flowchart illustrating the motion control of the cleaning robot in the method according to one embodiment of the present invention;
fig. 1D is a flowchart illustrating a control process of a ferry vehicle according to a method provided in an embodiment of the present invention;
fig. 1E is a block diagram of the cleaning robot and the ferry vehicle in the method according to the first embodiment of the present invention;
fig. 2A is a flowchart of a cleaning method for a photovoltaic module according to a second embodiment of the present invention;
fig. 2B is a schematic layout diagram of the end limit sensor and the limit sensor trigger points on the ferry vehicle in the method according to the second embodiment of the present invention;
fig. 2C is a flowchart illustrating the movement control of the ferry vehicle in the method according to the second embodiment of the present invention;
FIG. 2D is a flowchart illustrating the overall control of the cleaning system in the method according to the second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a cleaning apparatus for a photovoltaic module according to a third embodiment of the present invention;
fig. 4A is a schematic structural diagram of a cleaning system for a photovoltaic module according to a fourth embodiment of the present invention;
fig. 4B is a schematic view of an installation position of a cleaning system for a photovoltaic module according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1A is a flowchart of a method for cleaning a photovoltaic module according to an embodiment of the present invention, which is applicable to a case where a plurality of rows (i.e., a plurality of rows) of photovoltaic modules are cleaned. The cleaning method for the photovoltaic module provided by the embodiment of the invention can be performed by the cleaning device for the photovoltaic module provided by the embodiment of the invention, and the device can be realized in a software and/or hardware manner and is integrated in the cleaning system for the photovoltaic module performing the method.
Referring to fig. 1A, the method of the present embodiment includes, but is not limited to, the following steps:
s110, when the cleaning robot is on the ferry vehicle, sending an instruction of going to the target photovoltaic module row to the ferry vehicle.
Wherein, the target photovoltaic module row can be understood as the photovoltaic module row which needs to be cleaned currently by the cleaning robot. The photovoltaic power generation is a technology for directly converting light energy into electric energy by utilizing a photovoltaic effect of a semiconductor interface, mainly comprises a solar cell panel (namely a photovoltaic module), a controller and an inverter, wherein the solar cell panel is connected in series and then packaged and protected to form a large-area solar cell module, and then the photovoltaic power generation device is formed by matching with components such as a power controller and the like. A photovoltaic module row is to be understood as a row of devices formed by a plurality of photovoltaic modules connected in series, and a photovoltaic power generation device may be formed by a plurality of photovoltaic module rows.
The cleaning robot in the embodiment of the present invention may configure a cleaning robot control system in its own electronic control box, and the control system may include: the system comprises a power supply system, an Advanced Risc Machines (ARM) system, a direct current motor, a position sensor, a wireless communication module and the like. Therefore, the cleaning robot control system can control the operation of the cleaning robot and the operation of the ferry vehicle through the wireless communication interface.
In order to clean all the photovoltaic module rows, when the cleaning robot is arranged on the ferry vehicle, the cleaning robot can carry the ferry vehicle to any photovoltaic module row so as to clean the photovoltaic modules, and at the moment, the cleaning robot can detect whether the cleaning robot is arranged on the ferry vehicle or not through the position sensor of the cleaning robot. When the cleaning robot determines that the cleaning robot is on the ferry vehicle, the cleaning robot sends an instruction of going to the target photovoltaic module row to the ferry vehicle so as to control the ferry vehicle to go to the target photovoltaic module row.
And S120, stopping advancing when the ferry vehicle detects the positioning sensor trigger points corresponding to the target photovoltaic module rows, and reporting the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger points are arranged on the ferry vehicle track.
The ferry vehicle starts to operate after receiving an instruction of going to a target photovoltaic module row, and whether the ferry vehicle reaches a position corresponding to the target photovoltaic module row or not can be inquired in real time in the operation process, when the ferry vehicle detects a positioning sensor trigger point corresponding to the target photovoltaic module row, the ferry vehicle is explained to reach the position corresponding to the target photovoltaic module row, the ferry vehicle can stop advancing at the moment, current position information of the ferry vehicle is reported to the cleaning robot, the subsequent cleaning robot receives the current position information, and after the current position information is determined to be corresponding to the target photovoltaic module row, the target photovoltaic module row is cleaned, and the ferry vehicle returns after cleaning.
And S130, after the cleaning robot receives the current position information and determines that the current position information corresponds to the target photovoltaic module row, cleaning the target photovoltaic module row, and returning to the ferry vehicle after cleaning is finished.
After the cleaning robot receives the current position information, if the current position information is determined to correspond to the target photovoltaic module row, the cleaning robot reaches the position corresponding to the target photovoltaic module row, at the moment, the cleaning robot can be controlled to clean the target photovoltaic module row through the cleaning robot control system, the cleaning robot can adopt a cleaning mode of brush roll cleaning, and the cleaning robot can be specifically realized through a matching device installed in the cleaning robot. The cleaning robot can automatically return to the ferry vehicle after cleaning is finished, and preparation is made for next cleaning work.
It should be noted that: in the embodiment of the invention, the length of the cleaning robot is slightly larger than the width of the target photovoltaic module row, so that the cleaning robot can be ensured to clean all positions of the target photovoltaic module row, and the cleaning failure is avoided. In addition, in the embodiment of the invention, the height and the angle of the ferry vehicle are adjusted in advance, so that the cleaning robot is accurately aligned with the target photovoltaic module row, and the cleaning robot can conveniently climb on the target photovoltaic module row for cleaning.
Preferably, a solar cell panel can be further installed outside the cleaning robot in the embodiment of the present invention to supply electric energy to the cleaning robot, so that electric energy can be saved, and the cleaning robot is economical and environment-friendly.
According to the technical scheme, when the cleaning robot is arranged on the ferry vehicle, the cleaning robot sends an instruction for the target photovoltaic module row to the ferry vehicle, then the ferry vehicle detects the positioning sensor trigger point corresponding to the target photovoltaic module row, the cleaning robot stops advancing and reports the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger point is arranged on a rail of the ferry vehicle, and finally the cleaning robot receives the current position information, cleans the target photovoltaic module row after determining that the current position information corresponds to the target photovoltaic module row, and returns to the ferry vehicle after cleaning is completed. The cleaning robot is not only responsible for cleaning work, but also is the control core of a cleaning system (hereinafter referred to as the cleaning system) of the photovoltaic module, the ferry vehicle is used as a controlled object of the cleaning robot, receives the instruction control of the cleaning robot, adopts a centralized control scheme, reduces the control complexity of the cleaning system, and provides better stability for the cleaning system, so that the cleaning robot can clean all photovoltaic module rows, is favorable for improving the stability and reliability of the cleaning system, and further improves the generated energy of the photovoltaic module rows.
In some embodiments, when the cleaning robot cleans the target photovoltaic module row, the method may further include: the cleaning robot detects the self state to obtain a detection result, wherein the detection type comprises at least one of electric quantity detection, overcurrent detection, obstacle detection, posture detection, limit detection, hot spot detection and subfissure detection of the cleaning robot; when the cleaning robot determines that the self state is abnormal according to the detection result, determining the type of the abnormality of the cleaning robot; and the cleaning robot determines a corresponding processing mode according to the type of the abnormality.
The hot spot detection is used for detecting whether a photovoltaic module generates a hot spot effect. Subfissure detection is to detect whether a photovoltaic module has a slight crack.
Specifically, the cleaning robot control system may further include a power detection module and various sensors, for example: the sensor comprises a Hall current sensor, an obstacle detection sensor, an attitude detection sensor, a limit sensor, a hot spot sensor, a subfissure sensor, a temperature sensor, an illumination sensor, a timing sensor and the like. The electric quantity detection module can be used for detecting the electric quantity of the cleaning robot; the electric quantity of the cleaning robot can be detected through the Hall current sensor; the obstacle detection sensor can detect an obstacle of the cleaning robot. By analogy, the gesture detection sensor, the limit sensor, the hot spot sensor, the subfissure sensor, the temperature sensor, the illumination sensor and the timing sensor can be used for respectively carrying out gesture detection, limit detection, hot spot detection, subfissure detection, temperature detection, overtime detection and the like on the cleaning robot. Namely: the cleaning robot can detect the self state through the electric quantity detection module and the corresponding sensor to obtain a detection result, after the detection result is obtained, the detection result is compared with data stored when the cleaning robot is in a normal state, whether the self state is abnormal or not can be judged, if the self state is abnormal, the abnormal type of the cleaning robot is determined, and the corresponding processing mode is determined according to different abnormal types. For example, the cleaning robot detects its own electric quantity through the electric quantity detection module to obtain the current remaining electric quantity, and if the current remaining electric quantity is too low, it is determined that the electric quantity of the cleaning robot is abnormal, and the processing mode at this time may be to suspend the cleaning operation of the cleaning robot and charge the cleaning robot.
In the embodiment of the invention, the cleaning robot detects the self state through various detection types, so that the cleaning robot can normally run, frequent manual after-sales maintenance is avoided, the operation cost of customers is reduced, and meanwhile, most abnormal cleaning robots can realize self detection, diagnosis and troubleshooting, manual intervention processing is not needed, the intelligent degree of the cleaning robot is improved, and the manual operation cost is reduced. And various sensors included in the cleaning robot control system are all arranged in the sealed cleaning robot electric cabinet and isolated from the external environment, so that the sensors are protected to be stable to the maximum extent, the service life of the sensors can be prolonged, the damage probability of the sensors is reduced, and the fault rate of the cleaning system is further reduced.
Fig. 1B is a schematic diagram of an anomaly detection of the cleaning robot in the method according to the first embodiment of the present invention, and as shown in fig. 1B, the anomaly detection process of the cleaning robot is described by taking the presence or absence of a power supply anomaly, a limit/deceleration anomaly, an obstacle anomaly, a timeout anomaly, and an attitude anomaly as examples. The cleaning robot judging the type of the abnormality itself may include:
1) the cleaning robot judges the type of the self abnormity;
2) determining whether the cleaning robot has power supply abnormality, and if so, entering an overcurrent or undervoltage processing flow; if not, returning to execute 1);
3) determining whether the cleaning robot has limit or deceleration abnormity, if so, entering a reverse, stop or deceleration process of the cleaning robot; if not, returning to execute 1);
4) determining whether the cleaning robot has obstacle abnormality, if so, suspending the current operation and sending alarm information to a server; if not, returning to execute 1);
5) determining whether the cleaning robot has overtime abnormality, if so, suspending the current cleaning work and sending alarm information to a server; if not, returning to execute 1);
6) determining whether the cleaning robot has abnormal posture, if so, controlling an up-and-down transmission system of the cleaning robot, and adjusting the speed to restore the posture balance; if not, returning to execute 1).
It should be noted that: the embodiment of the present invention does not limit the execution order between 2) to 6).
In some embodiments, before the ferry vehicle detects the positioning sensor trigger point corresponding to the target photovoltaic module row, the method may further specifically include: the ferry vehicle detects the state of the ferry vehicle to obtain a detection result, wherein the detection type comprises at least one of electric quantity detection, limit detection, overtime detection and obstacle detection of the ferry vehicle; determining the abnormal type of the ferry vehicle when the ferry vehicle determines that the state of the ferry vehicle is abnormal according to the detection result; and determining a corresponding processing mode by the ferry vehicle according to the type of the abnormity.
The ferry vehicle in the embodiment of the invention can be provided with a ferry vehicle control system in an electric control box of the ferry vehicle, and the ferry vehicle control system can comprise: the system comprises a power supply system, an ARM system, a direct current motor, a position sensor, an electric quantity detection module, a limit sensor, a timing sensor, an obstacle detection sensor, a wireless communication module and the like. The ferry vehicle can detect the state of the ferry vehicle through the electric quantity detection module and the corresponding sensor to obtain a detection result, and after the detection result is obtained, the detection result is compared with data stored when the state of the ferry vehicle is normal, so that whether the state of the ferry vehicle is abnormal or not can be judged; if the state of the ferry vehicle is abnormal, determining the type of the abnormality of the ferry vehicle, and determining a corresponding processing mode according to different types of the abnormality. For example, the ferry vehicle carries out timeout detection through the timing sensor, and finds that the ferry vehicle has timeout abnormality, the processing mode at the moment can be that the ferry vehicle stops running and sends alarm information to the server.
In the embodiment of the invention, the ferry vehicle detects the state of the ferry vehicle through various detection types, so that the ferry vehicle is beneficial to normal operation, frequent manual after-sale maintenance is avoided, and the operation cost of a client is reduced. And various sensors in the ferry vehicle control system are all arranged in a sealed ferry vehicle electric cabinet and isolated from the external environment, so that the stability of the sensors is protected to the maximum extent, the service life of the sensors can be prolonged, the damage probability of the sensors is reduced, and the fault rate of a cleaning system is further reduced.
In some embodiments, the type of cleaning robot anomaly includes an unpredictable anomaly; correspondingly, the determining, by the cleaning robot, a corresponding processing manner according to the type of the abnormality may specifically include: the cleaning robot carries out abnormity alarm aiming at unpredictable abnormity, records self position information, state information and cleaning nodes, and carries out resetting and power-off self-starting operation on the cleaning robot;
or,
the types of the ferry vehicle abnormity comprise unpredictable abnormity; correspondingly, the method for determining the corresponding processing mode of the ferry vehicle according to the type of the abnormality can specifically comprise the following steps: the ferry vehicle gives an abnormal alarm for unpredictable abnormality, records self position information and state information, and reports the self position information and the state information to the cleaning robot, so that the cleaning robot resets the ferry vehicle and automatically starts the ferry vehicle when power is off.
The unpredictable abnormality can be understood as an abnormality with no regularity, which cannot be predicted, such as a communication abnormality or an unknown error.
In the embodiment of the invention, the cleaning robot carries out abnormity alarm aiming at unpredictable abnormity, records the position information, the state information and the cleaning node of the cleaning robot, carries out resetting and power-off self-starting operation on the cleaning robot, can protect the cleaning robot equipment, avoids the cleaning robot from being damaged and influencing the service life, and is convenient for the normal operation of the cleaning robot after the subsequent abnormity processing is finished by recording the position information, the state information and the cleaning node of the cleaning robot; the ferry vehicle carries out abnormity alarm aiming at unpredictable abnormity, records self position information and state information, and reports the self position information and the state information to the cleaning robot, so that the cleaning robot carries out resetting and power-off self-starting operations on the ferry vehicle, ferry vehicle equipment can be protected, the ferry vehicle is prevented from being damaged, the service life is prevented from being influenced, and the ferry vehicle is convenient to normally run after subsequent abnormity processing is finished by recording the self position information and the state information of the ferry vehicle and reporting the position information and the state information to the cleaning robot.
In some embodiments, after the cleaning robot resets itself and performs the power-off self-starting operation, the method may further include: and after the cleaning robot is powered off and is powered on again, reading the self position information, the state information, the cleaning nodes and the received position information and state information of the ferry vehicle recorded before the self power off, and continuously cleaning.
The cleaning node can be understood as a specific progress of a cleaning operation of the cleaning robot in the process of cleaning the target photovoltaic module row, for example, after the first photovoltaic module row is cleaned, the next step is to clean the second photovoltaic module row.
Specifically, after the cleaning robot is powered off and powered on again, the cleaning robot can read the self position information, the state information, the cleaning nodes and the received position information and state information (namely, the power-off memory function) of the ferry vehicle recorded before the self power-off, so that the position, the state, the specific cleaning progress and the position states of the ferry vehicle of the cleaning robot can be obtained according to the self position information, the state information, the cleaning nodes and the position information and the state information of the ferry vehicle of the cleaning robot, and the cleaning robot can continue to clean.
In the embodiment of the invention, due to the power-off memory function of the cleaning robot, the cleaning robot can quickly enter subsequent cleaning work, so that a large amount of time is saved, and repeated cleaning is avoided.
In some embodiments, fig. 1C is a flowchart illustrating a motion control of a cleaning robot in a method according to an embodiment of the present invention, which illustrates an implementation manner, as shown in fig. 1C:
1) the cleaning robot determines the type of the movement instruction code, wherein the movement instruction code can be understood as an instruction code sent by a cleaning robot control system, and the cleaning robot can determine a specific movement instruction by analyzing the movement instruction code.
2) The cleaning robot judges whether the type of the moving instruction code is a starting instruction or not; if yes, judging whether the cleaning robot gives an alarm or not; if not, returning to execute 1). If the cleaning robot gives an alarm, ending; and if the cleaning robot does not give an alarm, executing the starting command, and finishing after the execution is finished.
3) The cleaning robot judges whether the type of the moving instruction code is a pause instruction or not; if yes, executing a pause instruction, and finishing after the execution is finished; if not, returning to execute 1).
4) The cleaning robot judges whether the type of the moving instruction code is a forward limiting instruction or not; if so, judging whether the cleaning robot finishes cleaning; if not, returning to execute 1). If the cleaning robot finishes cleaning, finishing; and if the cleaning robot does not finish cleaning, continuing the current work, and finishing the execution.
The forward limiting instruction can be understood as an instruction for controlling the cleaning robot to move forward.
5) The cleaning robot judges whether the type of the moving instruction code is a reverse limit instruction or not; if so, judging whether the cleaning robot finishes cleaning; if not, returning to execute 1). If the cleaning robot finishes cleaning, finishing; and if the cleaning robot does not finish cleaning, continuing the current work, and finishing the execution.
Wherein, the reverse limit instruction can be understood as an instruction for controlling the cleaning robot to reversely advance.
6) The cleaning robot judges whether the type of the moving instruction code is a reversing limit instruction or not; if yes, executing a reversing instruction, and finishing after the execution is finished; if not, returning to execute 1).
The reversing limit instruction can be understood as an instruction for controlling the cleaning robot to reverse and advance.
It should be noted that: the embodiment of the present invention does not limit the execution order between 2) to 6).
In some embodiments, fig. 1D is a flowchart illustrating a control of a ferry vehicle in a method according to an embodiment of the present invention, which exemplarily shows an implementation manner, as shown in fig. 1D:
and S1001, initializing a ferry vehicle control system.
And S1002, waiting for receiving an instruction sent by the cleaning robot.
And S1003, judging whether a control command is received or not.
If yes, go to S1004; if not, the process returns to step S1002.
S1004, command analysis.
S1005, whether it is a move command.
If yes, go to S1006; if not, the process returns to the step S1004.
And S1006, judging whether the ferry vehicle gives an alarm or not.
If yes, returning to execute S1002; if not, go to step S1007.
S1007, the move command is executed.
S1008, whether it is a configuration instruction.
The configuration instruction can be understood as an instruction for controlling the ferry vehicle to configure the parameters of the ferry vehicle, and the parameters of the ferry vehicle can include: running speed and running time, etc.
If yes, go to S1009; if not, the process returns to the step S1004.
S1009, the configuration command is executed.
S1010, whether the command is a query command.
The query instruction can be understood as an instruction for controlling the ferry vehicle to query the state of the ferry vehicle, for example, querying the remaining capacity of the ferry vehicle or whether the operating time of the ferry vehicle is overtime or not.
If yes, go to S1011; if not, the process returns to the step S1004.
S1011, returns the query data.
It should be noted that: after the execution of S1007, S1009, and S1011 is completed, the process returns to the execution of S1002; the execution order of S1005, S1008, and S1010 is not limited in this embodiment.
In some embodiments, fig. 1E is a block diagram of the cleaning robot and the ferry vehicle in the method according to an embodiment of the present invention, which exemplarily shows a composition manner, as shown in fig. 1E:
the cleaning robot is provided with a power supply system, a motor driving device (comprising an upper side driving motor and a lower side driving motor), a wireless communication module, a sensor interface, a matching device and the like, and the ferry vehicle is provided with a power supply system, a motor driving device (comprising a front driving motor and a rear driving motor), a wireless communication module, a sensor interface, a matching device and the like. The cleaning robot and the ferry vehicle can communicate through the wireless communication modules of the cleaning robot and the ferry vehicle, wherein the wireless communication modules of the cleaning robot and the ferry vehicle can be Long-distance (Long Range, Long ra for short) communication modules, and the cleaning robot and the ferry vehicle have the advantages of low power consumption, Long communication distance, easiness in deployment and the like. The cleaning robot can perform abnormity detection through the sensors correspondingly connected with the sensor interfaces, such as electric quantity detection, overcurrent detection, temperature detection, illumination detection, limit detection (mainly left and right end limit collision detection), deceleration detection, obstacle detection, overtime detection, attitude detection, hot spot detection, subfissure detection and the like. The ferry vehicle can detect abnormity through the sensors correspondingly connected with the sensor interfaces, such as electric quantity detection, overcurrent detection, temperature detection, limit detection (mainly front and rear end limit collision detection), position detection, obstacle detection, overtime detection and the like. The cleaning robot is mainly responsible for cleaning system master control, data acquisition, abnormity monitoring, cleaning work and the like, and the ferry vehicle is mainly responsible for operation control, data acquisition, abnormity monitoring work and the like on a ferry vehicle track.
Example two
Fig. 2A is a flowchart of a cleaning method for a photovoltaic module according to a second embodiment of the present invention. The embodiment of the invention is optimized on the basis of the embodiment. Optionally, the present embodiment explains in detail a process of the cleaning robot returning to the ferry vehicle after cleaning is completed.
Referring to fig. 2A, the method of the present embodiment includes, but is not limited to, the following steps:
s210, when the cleaning robot is on the ferry vehicle, sending an instruction of going to the target photovoltaic module row to the ferry vehicle.
And S220, stopping advancing when the ferry vehicle detects the positioning sensor trigger points corresponding to the target photovoltaic module row, and reporting the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger points are arranged on a rail of the ferry vehicle.
And S230, after the cleaning robot receives the current position information and determines that the current position information corresponds to the target photovoltaic module row, cleaning the target photovoltaic module row.
S240, when the cleaning robot cleans the target photovoltaic assembly row, if the trigger point of the tail end limit sensor on the target photovoltaic assembly row is detected to be triggered by the cleaning robot, the cleaning is finished.
Wherein, terminal spacing sensor trigger point sets up on the end of target photovoltaic module row.
When the cleaning robot cleans the target photovoltaic module row, if the self position sensor triggers the trigger point of the tail end limit sensor, the cleaning robot is shown to reach the tail end of the target photovoltaic module row, and the cleaning work is finished at the moment.
And S250, recording self cleaning information by the cleaning robot, stopping forward running, and running reversely, wherein the reverse running is running towards the direction of the ferry vehicle.
After the cleaning robot finishes cleaning, recording cleaning information of the cleaning robot, namely, the target photovoltaic module row is cleaned, at the moment, the cleaning robot stops running forwards as the cleaning robot detects that the cleaning robot triggers a trigger point of a tail end limit sensor on the target photovoltaic module row, and the cleaning robot runs reversely, namely, runs towards the direction of the ferry vehicle, so that the cleaning robot can return to the ferry vehicle.
And S260, in the process of reverse operation, if the cleaning robot detects that the cleaning robot triggers a limit sensor trigger point on the ferry vehicle, the cleaning robot stops operating.
In the process of reverse operation of the cleaning robot, if the cleaning robot detects that the cleaning robot triggers the trigger point of the limit sensor on the ferry vehicle, the cleaning robot is indicated to return to the corresponding position of the ferry vehicle, so that the cleaning robot stops operating, and the cleaning robot is prevented from falling off the ferry vehicle to cause economic loss.
Fig. 2B is a schematic layout diagram of the end limit sensor and the trigger point of the limit sensor on the ferry vehicle in the method according to the second embodiment of the present invention, which exemplarily shows a layout manner, as shown in fig. 2B: 1 denotes an end limit sensor trigger point on the target photovoltaic module row, and the number of the end limit sensor trigger points may be multiple, and the embodiment is not particularly limited. One photovoltaic module row, i.e., the target photovoltaic module row, is shown in fig. 2B. 420-4 represents limit sensor trigger points on the ferry vehicle, the number of which may be multiple, and the embodiment is not limited specifically.
Optionally, the cleaning method of the photovoltaic module may further specifically include: in the process that the ferry vehicle moves to a target photovoltaic module row, if the ferry vehicle detects that the ferry vehicle triggers a triggering point of a terminal limit sensor on a ferry vehicle track, the ferry vehicle stops moving forwards, and first position information of the ferry vehicle is reported to the cleaning robot; and after the cleaning robot receives the first position information and determines that the first position information corresponds to the end point of the ferry vehicle track, sending an instruction of returning to the starting point position of the ferry vehicle track to the ferry vehicle so as to return the ferry vehicle to the starting point position of the ferry vehicle track.
The end point limit sensor trigger point is used for indicating that the ferry vehicle reaches the end point of the ferry vehicle track. The first position information can be understood as the information of the position of the ferry vehicle when the ferry vehicle triggers the triggering point of the end point limit sensor on the ferry vehicle track.
In the process that the ferry vehicle moves to the target photovoltaic module row, if the ferry vehicle detects that the ferry vehicle triggers a triggering point of a terminal limit sensor on a ferry vehicle track, the ferry vehicle is indicated to reach the terminal of the ferry vehicle track, the ferry vehicle is controlled to stop moving forward through a ferry vehicle control system, and first position information of the ferry vehicle is reported to the cleaning robot. After the cleaning robot receives the first position information, whether the first position information corresponds to the end point of the ferry vehicle track or not is determined, if yes, the ferry vehicle reaches the end point of the ferry vehicle track, and the ferry vehicle track is arranged on the ground on the same side of all the photovoltaic component rows to ensure that the cleaning robot can carry the ferry vehicle to all the photovoltaic component rows, so that the cleaning robot finishes cleaning all the photovoltaic component rows, and therefore the cleaning robot sends an instruction of returning to the start point position of the ferry vehicle track to the ferry vehicle to return the ferry vehicle to the start point position of the ferry vehicle track to prepare for next cleaning work.
In the embodiment of the invention, after the cleaning robot determines that the first position information reported by the ferry vehicle corresponds to the end point of the ferry vehicle track, the cleaning robot sends an instruction of returning to the starting point position of the ferry vehicle track to the ferry vehicle so as to return the ferry vehicle to the starting point position of the ferry vehicle track, so that the next cleaning work of the cleaning robot can be facilitated, and the time is saved.
Fig. 2C is a flowchart illustrating a movement control of the ferry vehicle in the method according to the second embodiment of the present invention, which exemplarily shows an implementation manner, as shown in fig. 2C:
s2001, before the ferry vehicle executes the moving instruction, the state of the ferry vehicle is inquired.
The moving instruction can be an instruction sent by the cleaning robot to the target photovoltaic module row.
And S2002, judging whether the ferry vehicle is abnormal or not.
If yes, go to S2009; if not, S2003 is executed.
And S2003, determining whether the current position exceeds the target position by the ferry vehicle.
Wherein, the target position can be understood as the position corresponding to the target photovoltaic module row.
If yes, go to S2008; if not, go to S2004.
And S2004, controlling the ferry vehicle to move forwards.
And S2005, whether the ferry vehicle reaches the target position.
If yes, go to S2009; if not, go to S2006.
And S2006, judging whether the ferry vehicle reaches the end position.
The end position can be understood as a position corresponding to the end of the ferry vehicle track.
If yes, go to S2009; if not, go to S2007.
And S2007, whether the ferry vehicle is abnormal or not is alarmed.
If yes, go to S2009; if not, the process returns to step S2005.
And S2008, controlling the ferry vehicle to return to the starting point.
Wherein, the starting point can be understood as the position corresponding to the last photovoltaic module row.
And S2009, ending.
Fig. 2D is a flowchart illustrating an overall control of the cleaning system in the method according to the second embodiment of the present invention, which illustrates an implementation manner, as shown in fig. 2D:
s3001, the cleaning robot control system is initialized.
S3002, the cleaning robot reads the state of the ferry vehicle.
And S3003, judging whether the ferry vehicle is ready.
Wherein ready can be understood as the ferry vehicle being ready.
If yes, go to S3004; if not, the process returns to step S3002.
And S3004, cleaning by the cleaning robot.
Wherein, cleaning robot is being cleaned current photovoltaic module row.
And S3005, judging whether the ferry vehicle returns.
The homing can be understood as the ferry vehicle still being in the position corresponding to the current photovoltaic module row.
If yes, go to S3006; if not, the process returns to step S3005.
S3006, arranging the next photovoltaic module before ferry.
S3007, whether the ferry vehicle reaches the next photovoltaic module row.
If yes, go to S3008; if not, the process returns to step S3006.
S3008, the cleaning robot starts cleaning.
S3009, the cleaning robot finishes the cleaning work of the current photovoltaic module row.
S3010, whether the component is completely clean.
The module is understood to mean all photovoltaic modules that are included in the current photovoltaic module row.
If yes, go to S3011; if not, the process returns to step S3006.
S3011, whether the cleaning robot triggers the trigger point of the tail end limit sensor or not is judged.
Wherein, terminal spacing sensor trigger point sets up on current photovoltaic module arranges.
If yes, go to S3012; if not, the process returns to step S3006.
And S3012, finishing the cleaning work.
And S3013, completing cleaning.
According to the technical scheme provided by the embodiment, firstly, when a cleaning robot is on a ferry vehicle, an instruction of going to a target photovoltaic module row is sent to the ferry vehicle, the ferry vehicle detects a positioning sensor trigger point corresponding to the target photovoltaic module row, the ferry vehicle stops going forward and reports the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger point is arranged on a rail of the ferry vehicle, then the cleaning robot receives the current position information and cleans the target photovoltaic module row after determining that the current position information corresponds to the target photovoltaic module row, when the cleaning robot cleans the target photovoltaic module row, if the cleaning robot detects that the cleaning robot triggers a tail end limit sensor trigger point on the target photovoltaic module row, the cleaning is finished, then the cleaning robot records the cleaning information of the cleaning robot, stops going forward and runs reversely, wherein the reverse running is towards the direction of the ferry vehicle, and finally, in the process of reverse operation of the cleaning robot, if the limit sensor trigger point on the ferry vehicle is detected to be triggered by the cleaning robot, the cleaning robot stops operating, the ferry vehicle is used as a controlled object of the cleaning robot and is controlled by an instruction of the cleaning robot, a centralized control scheme is adopted, the control complexity of the cleaning system is reduced, better stability is provided for the cleaning system, and the cleaning robot can be ensured to reversely return to the ferry vehicle through the tail end limit sensor trigger point on the target photovoltaic module row and the limit sensor trigger point on the ferry vehicle, so that accidents are avoided.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a cleaning apparatus for a photovoltaic module according to a third embodiment of the present invention, and as shown in fig. 3, the cleaning apparatus may include:
the instruction sending module 310 is configured in the cleaning robot and used for sending an instruction to the target photovoltaic module row to the ferry vehicle when the cleaning robot is on the ferry vehicle;
an information reporting module 320 configured in the ferry vehicle, configured to detect a positioning sensor trigger point corresponding to the target photovoltaic module row, stop advancing, and report current position information of the ferry vehicle to the cleaning robot, where the positioning sensor trigger point is set on a ferry vehicle track;
and the cleaning module 330 configured in the cleaning robot is used for receiving the current position information, cleaning the target photovoltaic module row after determining that the current position information corresponds to the target photovoltaic module row, and returning to the ferry vehicle after cleaning.
According to the technical scheme, when the cleaning robot is arranged on the ferry vehicle, the cleaning robot sends an instruction for the target photovoltaic module row to the ferry vehicle, then the ferry vehicle detects the positioning sensor trigger point corresponding to the target photovoltaic module row, the cleaning robot stops moving forwards and reports the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger point is arranged on a rail of the ferry vehicle, the cleaning robot receives the current position information, and after the current position information is determined to be corresponding to the target photovoltaic module row, the target photovoltaic module row is cleaned, the cleaning robot returns to the ferry vehicle after cleaning is completed, the cleaning robot can clean all the photovoltaic module rows, the stability and reliability of a cleaning system of photovoltaic modules are improved, and the generated energy of the photovoltaic module rows is favorably improved.
Further, the cleaning module 330 may be specifically configured to: when a target photovoltaic module row is cleaned, if a trigger point of a tail end limit sensor on the target photovoltaic module row is detected to be triggered by the target photovoltaic module row, cleaning is finished; recording self cleaning information, stopping forward operation, and reversely operating, wherein the reversely operating is to operate towards the direction of the ferry vehicle; in the process of reverse operation, if the trigger point of the limit sensor on the ferry vehicle is detected to be triggered by the trigger point, the ferry vehicle stops operating.
Further, the cleaning device for the photovoltaic module may further include: the first position information reporting module is configured in the ferry vehicle and used for stopping advancing and reporting the first position information of the ferry vehicle to the cleaning robot if detecting that the first position information reports the triggering point of the end point limit sensor on the ferry vehicle track is triggered in the process of going to the target photovoltaic module row; and the return module is configured in the cleaning robot and used for receiving the first position information, sending a command of returning to the starting position of the rail of the ferry vehicle to the ferry vehicle after determining that the first position information corresponds to the end point of the rail of the ferry vehicle, and returning the ferry vehicle to the starting position of the rail of the ferry vehicle.
Further, the cleaning device for the photovoltaic module may further include: the detection module is configured in the robot and used for detecting the state of the robot when the cleaning robot cleans the target photovoltaic module row to obtain a detection result, wherein the detection type comprises at least one of electric quantity detection, overcurrent detection, obstacle detection, posture detection, limit detection, hot spot detection and subfissure detection of the cleaning robot; the abnormal type determining module is configured in the robot and used for determining the type of the abnormal cleaning robot when the abnormal state of the robot is determined according to the detection result; and the exception handling module is configured in the robot and used for determining a corresponding handling mode according to the type of the exception.
Further, the cleaning device for the photovoltaic module may further include: the state detection module is configured in the ferry vehicle and used for detecting the state of the ferry vehicle to obtain a detection result, wherein the detection type comprises at least one of electric quantity detection, limit detection, overtime detection and obstacle detection of the ferry vehicle; the abnormity determining module is configured in the ferry vehicle and used for determining the type of abnormity of the ferry vehicle when the abnormity of the state of the ferry vehicle is determined according to the detection result; and the processing module is configured in the ferry vehicle and used for determining a corresponding processing mode according to the type of the abnormity.
Further, the types of the cleaning robot abnormality include an unpredictable abnormality; accordingly, the abnormality type determining module configured in the robot may be specifically configured to: aiming at unpredictable abnormity, carrying out abnormity alarm, recording self position information, state information and cleaning nodes, and carrying out self reset and power-off self-starting operation on the self; the types of the ferry vehicle abnormity comprise unpredictable abnormity; correspondingly, the abnormality determining module configured in the ferry vehicle may be specifically configured to: and (4) giving an abnormal alarm aiming at unpredictable abnormality, recording self position information and state information, and reporting the self position information and the state information to the cleaning robot so that the cleaning robot can reset the ferry vehicle and automatically start the ferry vehicle when power is off.
Further, the cleaning device for the photovoltaic module may further include: and the continuous cleaning module is configured in the cleaning robot and used for reading the self position information, the state information, the cleaning node and the received position information and state information of the ferry vehicle recorded before self power failure and continuously cleaning when the cleaning robot is powered on again after power failure.
The cleaning device for the photovoltaic module provided by the embodiment can be suitable for the cleaning method for the photovoltaic module provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4A is a schematic structural diagram of a cleaning system for a photovoltaic module according to a fourth embodiment of the present invention, and as shown in fig. 4A, the system includes a cleaning robot 410, a ferry vehicle 420, and a ferry vehicle track 430, where the cleaning robot 410 is a control core of the system and is mainly used for controlling the operation and cleaning work of the ferry vehicle 420; the ferry vehicle 420 is primarily used to transport the row of photovoltaic modules straddling the cleaning robot 410, which runs along a fixed track, namely a ferry vehicle track 430. The cleaning robot 410 is in communication connection with a ferry vehicle 420, the ferry vehicle 420 is mounted on a ferry vehicle track 430, wherein the cleaning robot 410 comprises a cleaning robot electric cabinet 410-1, an upper side driving motor 410-2 and a lower side driving motor 410-3; the ferry vehicle 420 comprises a ferry vehicle electric cabinet 420-1, a front driving motor 420-2 and a rear driving motor 420-3; the ferry vehicle track 430 includes an end limit sensor trigger point 430-1, a position sensor trigger point 430-2, and a start limit sensor trigger point 430-3. The ferry vehicle 420 can only operate between the start limit sensor trigger point 430-3 and the end limit sensor trigger point 430-1.
Typically, a position sensor trigger point 430-2 is mounted on the ferry vehicle track 430 at a location corresponding to each photovoltaic module row, such that the ferry vehicle can stop advancing by triggering the position sensor trigger point 430-2 after reaching the location corresponding to each photovoltaic module row.
Fig. 4B is a schematic view of an installation position of a cleaning system for photovoltaic modules according to a fourth embodiment of the present invention, as shown in fig. 4B, three rows of photovoltaic modules are provided, the cleaning robot 410 is on a ferry vehicle 420, the ferry vehicle 420 is installed on a ferry vehicle rail 430, and the ferry vehicle rail 430 is installed on the ground on the same side of all the rows of photovoltaic modules.
It should be noted that: the photovoltaic module rows may have multiple rows, the present embodiment is not particularly limited, and fig. 4B illustrates the installation position of the photovoltaic module cleaning system by taking only three rows of photovoltaic module rows as an example.
The cleaning system for the photovoltaic module provided by the embodiment can be used for executing the cleaning method for the photovoltaic module provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for cleaning a photovoltaic module according to any embodiment of the present invention, where the method specifically includes:
when the cleaning robot is on the ferry vehicle, sending a command to the ferry vehicle to the target photovoltaic module row;
when the ferry vehicle detects the positioning sensor trigger points corresponding to the target photovoltaic module row, the ferry vehicle stops advancing and reports the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger points are arranged on a ferry vehicle track;
and after the cleaning robot receives the current position information and determines that the current position information corresponds to the target photovoltaic module row, cleaning the target photovoltaic module row, and returning to the ferry vehicle after cleaning is finished.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the cleaning method of the photovoltaic module provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the cleaning device for a photovoltaic module, the units and modules included in the cleaning device are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A cleaning method of photovoltaic modules is characterized by being applied to a cleaning system of photovoltaic modules, wherein the cleaning system of photovoltaic modules comprises a cleaning robot, a ferry vehicle and a ferry vehicle track, the cleaning robot is in communication connection with the ferry vehicle, the ferry vehicle is installed on the ferry vehicle track, and the ferry vehicle track is installed on the ground on the same side of all photovoltaic module rows, and the method comprises the following steps:
when the cleaning robot is on the ferry vehicle, sending an instruction to the ferry vehicle to a target photovoltaic module row;
the ferry vehicle stops advancing when detecting the positioning sensor trigger points corresponding to the target photovoltaic module rows, and reports the current position information of the ferry vehicle to the cleaning robot, wherein the positioning sensor trigger points are arranged on the ferry vehicle track;
and after the cleaning robot receives the current position information and determines that the current position information corresponds to the target photovoltaic module row, the cleaning robot cleans the target photovoltaic module row and returns to the ferry vehicle after cleaning is finished.
2. The method of claim 1, wherein the cleaning robot returns to the ferry vehicle after cleaning is complete, comprising:
when the cleaning robot cleans the target photovoltaic module row, if a trigger point of a tail end limit sensor on the target photovoltaic module row is detected to be triggered by the cleaning robot, the cleaning is finished;
the cleaning robot records self cleaning information, stops moving forwards and moves reversely, wherein the reverse operation is towards the direction of the ferry vehicle;
and in the process of reverse operation, if the cleaning robot detects that the cleaning robot triggers a limit sensor trigger point on the ferry vehicle, the cleaning robot stops operating.
3. The method of claim 1, further comprising:
in the process that the ferry vehicle moves to a target photovoltaic module row, if the ferry vehicle detects that the ferry vehicle triggers a triggering point of a terminal limit sensor on a rail of the ferry vehicle, the ferry vehicle stops moving forward, and first position information of the ferry vehicle is reported to the cleaning robot;
and after the cleaning robot receives the first position information and determines that the first position information corresponds to the end point of the ferry vehicle track, sending an instruction of returning to the starting point position of the ferry vehicle track to the ferry vehicle so as to return the ferry vehicle to the starting point position of the ferry vehicle track.
4. The method of claim 1, further comprising, while the cleaning robot is cleaning the target row of photovoltaic components:
the cleaning robot detects the self state to obtain a detection result, wherein the detection type comprises at least one of electric quantity detection, overcurrent detection, obstacle detection, posture detection, limit detection, hot spot detection and subfissure detection of the cleaning robot;
when the cleaning robot determines that the state of the cleaning robot is abnormal according to the detection result, determining the type of the abnormality of the cleaning robot;
and the cleaning robot determines a corresponding processing mode according to the type of the abnormality.
5. The method of claim 1, further comprising, prior to the ferry vehicle detecting a position sensor trigger point corresponding to the target row of photovoltaic assemblies:
the ferry vehicle detects the state of the ferry vehicle to obtain a detection result, wherein the detection type comprises at least one of electric quantity detection, limit detection, overtime detection and obstacle detection of the ferry vehicle;
when the ferry vehicle determines that the state of the ferry vehicle is abnormal according to the detection result, determining the type of the abnormality of the ferry vehicle;
and the ferry vehicle determines a corresponding processing mode according to the type of the abnormity.
6. The method of any of claims 4 or 5, wherein the type of cleaning robot anomaly comprises an unpredictable anomaly;
correspondingly, the cleaning robot determines a corresponding processing mode according to the type of the abnormality, and the processing mode comprises the following steps:
the cleaning robot carries out abnormity alarm aiming at unpredictable abnormity, records self position information, state information and cleaning nodes, and carries out resetting and power-off self-starting operation on the cleaning robot;
or,
the types of the ferry vehicle abnormity comprise unpredictable abnormity;
correspondingly, the ferry vehicle determines a corresponding processing mode according to the type of the abnormality, and the processing mode comprises the following steps:
the ferry vehicle gives an abnormal alarm for unpredictable abnormality, records position information and state information of the ferry vehicle, and reports the position information and the state information of the ferry vehicle to the cleaning robot so that the cleaning robot can reset the ferry vehicle and automatically start the ferry vehicle when power is off.
7. The method of claim 6, further comprising, after the cleaning robot performs reset and power-off self-start operations on itself:
after the cleaning robot is powered off and when the cleaning robot is powered on again, the self position information, the state information, the cleaning nodes and the received position information and state information of the ferry vehicle recorded before the self power off are read, and the cleaning is continued.
8. A photovoltaic module cleaning device integrated with a photovoltaic module cleaning system, the photovoltaic module cleaning system comprising a cleaning robot, a ferry vehicle and a ferry vehicle track, the cleaning robot being in communication with the ferry vehicle, the ferry vehicle being mounted on the ferry vehicle track, the ferry vehicle track being mounted on the ground on the same side of all photovoltaic module rows, the device comprising:
the instruction sending module is configured in the cleaning robot and used for sending an instruction to a target photovoltaic module row to the ferry vehicle when the cleaning robot is on the ferry vehicle;
an information reporting module configured in the ferry vehicle, configured to detect a positioning sensor trigger point corresponding to the target photovoltaic module row, stop advancing, and report current position information of the ferry vehicle to the cleaning robot, where the positioning sensor trigger point is set on a rail of the ferry vehicle;
and the cleaning module is configured in the cleaning robot and used for receiving the current position information, cleaning the target photovoltaic module row after determining that the current position information corresponds to the target photovoltaic module row, and returning to the ferry vehicle after cleaning.
9. A cleaning system for a photovoltaic module, comprising: the device comprises a cleaning robot, a ferry vehicle and a ferry vehicle track, wherein the cleaning robot is in communication connection with the ferry vehicle, the ferry vehicle is installed on the ferry vehicle track, and the ferry vehicle track is installed on the ground on the same side of all photovoltaic module rows;
the cleaning system for a photovoltaic module is used for carrying out the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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