CN115229808A - Photovoltaic power station cleaning robot and control method - Google Patents
Photovoltaic power station cleaning robot and control method Download PDFInfo
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- CN115229808A CN115229808A CN202210580129.9A CN202210580129A CN115229808A CN 115229808 A CN115229808 A CN 115229808A CN 202210580129 A CN202210580129 A CN 202210580129A CN 115229808 A CN115229808 A CN 115229808A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 21
- 241000196324 Embryophyta Species 0.000 claims abstract description 220
- 238000011217 control strategy Methods 0.000 claims abstract description 31
- 230000007613 environmental effect Effects 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 235000014676 Phragmites communis Nutrition 0.000 description 14
- 238000007689 inspection Methods 0.000 description 4
- 244000273256 Phragmites communis Species 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000219000 Populus Species 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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 invention provides a photovoltaic power station cleaning robot and a control method, wherein the method comprises the following steps: acquiring a point cloud image of the surrounding environment of the photovoltaic module, identifying an image of weeds and a weed position from the point cloud image, and inputting the weed image into a weed identification model to obtain the type of the weeds; and determining a control strategy of the cleaning robot according to the type of the weeds, wherein the control strategy comprises the starting time of the cleaning robot and/or the traveling route of the cleaning robot. The technical problems that in the prior art, the weed cleaning efficiency is low and the automation degree of the cleaning robot process is low are solved.
Description
Technical Field
The invention relates to the technical field of cleaning robot design, in particular to a photovoltaic power station cleaning robot and a control method.
Background
Weeds are easily generated in the field of the photovoltaic power station, if the weeds grow to a certain height, for example, the height of the photovoltaic module is exceeded, on one hand, shadows can be generated to shade the photovoltaic module, so that the power generation capacity of the photovoltaic module is influenced, and on the other hand, a large number of weeds also easily cause potential safety hazards.
At present, photovoltaic power plant often finds weeds and then cuts off clearance through the mode of patrolling and examining through cleaning machines people (for example, the wheeled robot that has the cutter of mowing).
In the prior art, regardless of the height of weeds, a cleaning robot is required to walk along a fixed cruising route in a fixed period to perform a task of cutting off the weeds, so that the efficiency of cleaning the weeds is low, and the automation degree of the cleaning robot process is low.
Disclosure of Invention
In some embodiments of the application, a photovoltaic power station cleaning robot and a control method are provided, and the problems that in the prior art, the weed cleaning efficiency is low and the automation degree of the cleaning robot process is low are solved.
In some embodiments of the application, a photovoltaic power plant cleaning robot is disclosed, including robot body, environmental information acquisition module, identification module, storage module, comparison module and robot control module.
The robot body comprises a driving device and a cleaning device, the driving device is used for driving the robot body to move, and the cleaning device is used for cleaning a scene to be cleaned corresponding to the photovoltaic power station;
the robot control module is used for determining a control strategy of the cleaning robot according to weed information of weeds and issuing the control strategy corresponding to the control strategy to the driving device and the cleaning device.
In some embodiments of the present application, the cleaning robot further comprises a positioning module and a generating module.
The positioning module is used for carrying out equal-area grid division on the point cloud image of the area to be cleaned, marking the grids in sequence, sequencing the grids, and generating an advancing route of the cleaning robot in the photovoltaic power station according to the geographic position information of the weeds in the photovoltaic power station. .
In some embodiments of the present application, the cleaning robot further comprises an analysis module and a determination module.
The image analysis system is used for analyzing the image of the weeds according to the types of the weeds to obtain the current growth height and the target growth height of the weeds and the growth time from the current growth height to the target growth height, and is used for determining the starting moment of the cleaning robot according to the growth time from the current growth height to the target growth height of the weeds.
In some embodiments of the present application, there is also provided a control method of a photovoltaic power plant cleaning robot, including:
acquiring environment information of a scene to be cleaned corresponding to a photovoltaic power station, and forming a point cloud image based on the environment information;
identifying a weed image from the point cloud image, and determining the position information of the weed image;
inputting the weed image into a weed identification model, comparing the weed image with weed models in a model library, and judging weed information of weeds according to a comparison result;
determining a control strategy of the cleaning robot according to the position information and the weed information, and issuing the control strategy to the robot body;
the robot body cleans an area to be cleaned according to a control strategy.
In some embodiments of the present application, the control strategy includes determining a travel route of the robot body from the position information;
wherein, confirm the route of marcing of robot body according to positional information includes:
carrying out equal-area grid division on the point cloud image of the area to be cleaned, and marking serial numbers on grids in sequence;
the sequence number marking logic is: the sequence number with short distance from the grid to the current position of the robot body is small;
determining the serial number of a grid to which the weed image belongs, and marking the grid as a hotspot grid;
generating position information of the hotspot grids in the point cloud image, and generating a traveling route of the robot body in the photovoltaic power station according to the position information;
the driving device controls the robot body to move into the hotspot grid according to the traveling route.
In some embodiments of the application, when a plurality of weed images are identified in an area to be cleaned, whether the plurality of weed images belong to the same hotspot grid is judged;
when a plurality of weed images belong to the same hotspot grid, the traveling route is the shortest path from the current position of the robot body to the hotspot grid;
according to the fact that the weeds belong to different hot spot grids, the traveling route is a connecting line path of the hot spot grids with small serial numbers and the hot spot grids with large serial numbers sequentially.
In some embodiments of the application, the control strategy comprises determining a starting moment of the robot body from the weed information;
weed information includes weed type and growth cycle;
wherein, confirming the starting moment of the robot body according to the weed information comprises:
determining the current growth height of weeds according to the weed images, comparing the weed images with weed models in a model library to determine the weed types, and determining the target growth height of the weeds according to the weed types;
comparing the target growth height with the current growth height to determine a growth period, wherein the growth period is the growth time of the weeds from the current growth height to the target growth height;
and determining the starting time of the cleaning robot according to the growth cycle.
In some embodiments of the present application, the growth cycle is a period of time during which the weeds grow from a current growth height to a target growth height, the growth rate of the weeds being determined according to the type of the weeds;
when the current growth height is not lower than the target growth height, the growth cycle is 0, and the robot body immediately cleans weeds;
and when the current growth height is smaller than the target growth height, estimating the growth period of the weeds according to the types of the weeds, storing the position information and the growth period of the weeds in the storage module, and cleaning the weeds by the robot body until the growth period is reached.
The invention has the beneficial effects that:
the weeds are classified, and the application scene of the weed cleaning robot mainly aims at a photovoltaic power station, so that only the weeds with the growth height higher than or possibly higher than that of a photovoltaic charging plate are cleaned, the pertinence of cleaning operation of the cleaning robot is improved, and the operation efficiency of the cleaning robot is improved;
the area to be cleaned is divided, the weed cleaning route is intelligently planned, the cleaning robot is prevented from repeatedly cleaning one area, and the energy of the cleaning robot is saved;
for weeds with the growth height lower than that of the photovoltaic charging plate, the cleaning robot records the growth period of the weeds with the growth height higher than that of the photovoltaic charging plate, cleans the weeds after the growth period comes, and is more scientific and efficient.
Drawings
FIG. 1 is a schematic diagram of the connection of functional components of a photovoltaic power plant cleaning robot in accordance with certain embodiments of the present invention;
FIG. 2 is a flow chart of a photovoltaic power plant cleaning robot control method in some embodiments of the present disclosure;
FIG. 3 is a flow chart of a photovoltaic power plant cleaning robot determining a travel route of a robot body from location information in some embodiments of the present invention;
FIG. 4 is a flow chart of a photovoltaic power plant cleaning robot determining a moment of initiation of a robot body based on weed information in some embodiments of the present invention;
FIG. 5 is a travel path of a robot body when multiple weed images belong to the same hotspot grid in some embodiments of the invention;
fig. 6 is a travel path of a robot body when multiple weed images belong to different hot spot grids in some embodiments of the invention.
Reference numerals:
the method comprises the following steps: 100. a robot body; 200. and (4) weeds.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present application.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In some embodiments of this application, solved prior art weeds clearance inefficiency, the problem that cleans robot process automation degree is low.
In some embodiments of the present application, as shown in fig. 1, a photovoltaic power station cleaning robot includes a robot body 100, an environmental information obtaining module, an identification module, a storage module, a comparison module, and a robot control module.
The robot body 100 comprises a driving device and a cleaning device, the driving device is used for driving the robot body 100 to move, and the cleaning device is used for cleaning a scene to be cleaned corresponding to the photovoltaic power station;
the environment information acquisition module is used for acquiring environment information of a scene to be cleaned corresponding to the photovoltaic power station and generating a point cloud image corresponding to the environment information;
the identification module is used for identifying a weed image from the point cloud image;
the storage module is used for establishing and storing a model base of the weed model;
the comparison module is used for comparing the weed image with the weed models in the model base and judging weed information of the weeds 200 according to the comparison result;
and the robot control module is used for determining a control strategy of the cleaning robot according to the weed information of the weeds 200 and issuing the control strategy corresponding to the control strategy to the driving device and the cleaning device.
It should be noted that the environmental information acquisition module can be installed on the external equipment of the cleaning robot, in practical application, the inspection unmanned aerial vehicle is selected, the environmental information acquisition module is set to be a camera carried on the inspection unmanned aerial vehicle, and the cleaning robot acquires a point cloud image of the environmental information of a scene to be cleaned corresponding to a photovoltaic power station uploaded by the inspection unmanned aerial vehicle.
The specific location of the weed 200 in the point cloud image is determined by the recognition module.
The cleaning robot may then perform image recognition using an image recognition algorithm to identify a plurality of images of the weeds 200 from the point cloud image.
The cleaning robot can input the image of the weeds 200 into a model base of the weed model which is pre-stored in the storage module, identify the weeds 200 through the comparison module, and then obtain the weed information.
In some embodiments of the present application, as shown in fig. 1, the cleaning robot further comprises a positioning module and a generating module.
The positioning module is used for carrying out equal-area grid division on the point cloud image of the area to be cleaned, marking the grids in sequence, sequencing the grids, and generating an advancing route of the cleaning robot in the photovoltaic power station according to the geographic position information of the weeds in the photovoltaic power station.
It should be noted that, according to the technical scheme of the present application, the weeds 200 are not directly positioned for cleaning, but the area to be cleaned is divided into areas, and the weeds 200 in the areas are respectively cleaned, which is mainly because the area of the photovoltaic power station is generally large, and the weeds 200 are more, if a great amount of time is required for positioning the weeds 200 one by one, the cleaning efficiency of the robot body 100 is low, and on the other hand, a more precise algorithm is required for a great number of weeds under a large area, which increases the manufacturing cost and production cost of the cleaning robot, and the working environment of the cleaning robot is outdoors, and the traveling road surface is uneven, so that the damage is very easy to occur, and therefore, the production cost of the cleaning robot is greatly reduced under the condition that the cleaning robot is normally used.
In some embodiments of the present application, as shown in fig. 1, the cleaning robot further comprises an analysis module and a determination module.
The weed image analysis module is used for analyzing the weed image according to the type of the weeds 200 to obtain the current growth height and the target growth height of the weeds 200 and the growth time from the current growth height to the target growth height, and is used for determining the starting time of the cleaning robot according to the growth time from the current growth height to the target growth height of the weeds 200.
The technical scheme of the invention can realize the integration of monitoring and cleaning according to the cleaning time determined by different weed types and growth heights.
Specifically, a plurality of images of different growth heights associated with different types of weeds 200, such as reed weeds, may be stored in the storage module, and a reed weed image of a first growth height, a reed weed image of a second growth height, and a reed weed image of a third growth height (maturity stage) may be stored in the database. The growth time of weeds from the current growth height to the target growth height, such as the growth time of reeds from the first growth height to the third growth height, can be calculated.
At the third growth height, the height of the reeds can affect the performance of the photovoltaic module or cause potential safety hazards. If the reed needs two days to reach the third growth height, the scheme controls the cleaning robot to start and then execute the cleaning task after two days, and it needs to be noted that the cleaning robot can be in a dormant state before starting.
Based on the above device, as shown in fig. 2, the invention also discloses a control method of the photovoltaic power station cleaning robot, which comprises the following steps:
acquiring environmental information of a scene to be cleaned corresponding to a photovoltaic power station, and forming a point cloud image based on the environmental information;
identifying a weed image from the point cloud image, and determining the position information of the weed image;
inputting the weed image into a weed recognition model, comparing the weed image with weed models in a model base, and judging weed information of weeds according to a comparison result;
determining a control strategy of the cleaning robot according to the position information and the weed information, and issuing the control strategy to the robot body 100;
the robot body 100 cleans an area to be cleaned according to a control strategy.
It should be noted that in the method, a server or other terminal devices with a data processing function can be used as an execution main body of the method, the server can acquire the point cloud image of the photovoltaic module uploaded by the inspection unmanned aerial vehicle, and then the server can perform image recognition by adopting an image recognition algorithm to recognize a plurality of weed images from the point cloud image.
Based on the above embodiments, the server may include an environmental information acquisition module, an identification module, a storage module, a comparison module, a robot control module, and the like.
The server can input the image of the weed into a pre-established weed identification model, and then obtain the type of the weed, wherein the type of the weed 200 can be reed, poplar leaves and the like.
It should be noted that, the growth cycle of different weeds 200 is different, and the height of some weeds 200 after they ripen affects the photovoltaic module, and some weeds 200 do not, and the technical scheme of this application can effectively distinguish the weeds.
The server may determine the control strategy of the cleaning robot depending on the type of weed 200.
In some embodiments of the present application, as shown in fig. 3, the control strategy includes determining a travel route of the robot body 100 according to the position information;
wherein determining the travel route of the robot body 100 according to the position information includes:
carrying out equal-area grid division on the point cloud image of the area to be cleaned, and sequentially marking the grids with serial numbers;
the sequence number marking logic is: the serial number with short distance from the grid to the current position of the robot body 100 is small;
determining the serial number of a grid to which the weed image belongs, and marking the grid as a hot spot grid;
generating position information of the hotspot grids in the point cloud image, and generating a traveling route of the robot body 100 in the photovoltaic power station according to the position information;
the driving means controls the robot body 100 to move into the hot spot grid according to the traveling route.
Specifically, after the weed image is identified, the server may determine geographical location information (hotspot grid location) of the weeds 200 from the weed image, then generate a travel route according to the geographical location information of a plurality of weeds 200, and then control the cleaning robot to perform a weed cleaning task according to the travel route.
The specific process of determining the travel route of the robot body 100 according to the position information includes:
when a plurality of weed images are identified in the area to be cleaned, judging whether the weed images belong to the same hotspot grid;
when a plurality of weed images belong to the same hotspot grid, the traveling route is the shortest path from the current position of the robot body 100 to the hotspot grid;
according to the fact that the weeds belong to different hot spot grids, the traveling route is a connecting line path of the hot spot grids with small serial numbers and the hot spot grids with large serial numbers sequentially.
As shown in fig. 5 to 6, fig. 5 is a travel route of the robot body 100 when a plurality of weed images belong to the same hotspot grid, and fig. 6 is a travel route of the robot body 100 when a plurality of weed images belong to different hotspot grids.
By carrying out regional division on a large-area photovoltaic power station, the cleaning route of the robot body 100 is shortest, the energy consumption of the robot body 100 is saved, meanwhile, the cleaning efficiency of the cleaning robot can be improved, and cleaning is completed on the shortest route.
In some embodiments of the present application, as shown in fig. 4, the control strategy includes determining the starting time of the robot body 100 according to the weed information;
weed information includes weed type and growth cycle;
wherein, determining the starting time of the robot body 100 according to the weed information includes:
determining the current growth height of the weeds 200 according to the weed image, comparing the weed image with the weed models in the model base to determine the weed type, and determining the target growth height of the weeds according to the weed type;
comparing the target growth height with the current growth height to determine a growth period, wherein the growth period is the growth time of the weeds from the current growth height to the target growth height;
and determining the starting time of the cleaning robot according to the growth period.
It should be noted that the growth characteristics of different weed types are different, and the heights after the weed types are mature are also different, so that the growth characteristics of weeds near a photovoltaic module are considered when a control strategy of the cleaning robot is formulated, the control strategy is different from the control strategy of the cleaning robot in the prior art that the cleaning robot is controlled to patrol every day for a fixed time.
In some embodiments of the present application, the growth cycle is a period of time in which the growth rate of the weeds 200 is determined according to the type of weeds, the weeds growing from a current growth height to a target growth height;
when the current growth height is not lower than the target growth height, the growth cycle is 0, and the robot body 100 immediately cleans the weeds 200;
and when the current growth height is smaller than the target growth height, estimating the growth period of the weeds according to the types of the weeds, storing the position information and the growth period of the weeds in the storage module, and cleaning the weeds 200 by the robot body 100 until the growth period is reached.
It should be noted that the weeds 200 may be reed, poplar leaf, or the like, the growth cycle of different weeds is different, the height of some of the weeds 200 after maturation affects the photovoltaic module, and some of the weeds 200 does not. The server may determine a control strategy for the cleaning robot based on the type of weed.
Specifically, in the present embodiment, a plurality of images of different growth heights associated with different types of weeds 200, such as reed weeds, may be stored in advance in the data, and a reed weed image of a first growth height, a reed weed image of a second growth height, and a reed weed image of a third growth height (maturity stage) may be stored in the database.
Calculating to obtain the growth time of the weeds 200 from the current growth height to the target growth height, for example, the growth time of the reeds from the first growth height to the third growth height, wherein the height of the weeds can affect the performance of the photovoltaic module or cause potential safety hazards at the third growth height, if the weeds reach the third growth height, two days are needed, the cleaning robot is controlled to start and then executes a cleaning task after two days, and the cleaning robot can be in a dormant state before starting.
The invention has the beneficial effects that:
the weeds are classified, and the application scene of the cleaning robot mainly aims at a photovoltaic power station, so that only the weeds with the growth height higher than or possibly higher than that of a photovoltaic charging panel are cleaned, the pertinence of the cleaning operation of the cleaning robot is improved, and the operation efficiency of the cleaning robot is improved;
the area to be cleaned is divided, the weed cleaning route is intelligently planned, the cleaning robot is prevented from repeatedly cleaning one area, and the energy of the cleaning robot is saved;
for weeds with the growth height lower than that of the photovoltaic charging plate, the cleaning robot records the growth period of the weeds with the growth height higher than that of the photovoltaic charging plate, cleans the weeds after the growth period comes, and is more scientific and efficient.
Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. 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 (8)
1. The utility model provides a photovoltaic power plant cleans machine people which characterized in that includes:
the cleaning robot comprises a robot body, a cleaning device and a control device, wherein the robot body comprises a driving device and the cleaning device, the driving device is used for driving the robot body to move, and the cleaning device is used for cleaning a scene to be cleaned corresponding to a photovoltaic power station;
the environment information acquisition module is used for acquiring environment information of a scene to be cleaned corresponding to the photovoltaic power station and generating a point cloud image corresponding to the environment information;
an identification module for identifying a weed image from the point cloud image;
the storage module is used for establishing and storing a model base of the weed model;
the comparison module is used for comparing the weed image with the weed models in the model library and judging weed information of the weeds according to a comparison result;
and the robot control module is used for determining a control strategy of the cleaning robot according to the weed information of the weeds and issuing the control strategy corresponding to the control strategy to the driving device and the cleaning device.
2. The photovoltaic power plant cleaning robot of claim 1, wherein said cleaning robot further comprises:
the positioning module is used for carrying out equal-area grid division on the point cloud image of the area to be cleaned, marking the grids in sequence and sequencing;
the generating module is used for generating a traveling route of the cleaning robot in the photovoltaic power station according to the geographical position information of the weeds in the photovoltaic power station.
3. The photovoltaic power plant cleaning robot of claim 1, wherein said cleaning robot further comprises:
the analysis module is used for analyzing the image of the weeds according to the types of the weeds to obtain the current growth height and the target growth height of the weeds and the growth time from the current growth height to the target growth height;
and the determining module is used for determining the starting moment of the cleaning robot according to the growth time of the weeds from the current growth height to the target growth height.
4. A control method of a photovoltaic power station cleaning robot is characterized by comprising the following steps:
acquiring environmental information of a scene to be cleaned corresponding to a photovoltaic power station, and forming a point cloud image based on the environmental information;
identifying a weed image from the point cloud image, and determining the position information of the weed image;
inputting the weed image into a weed identification model, comparing the weed image with the weed models in a model library, and judging to obtain weed information of the weeds according to a comparison result;
determining a control strategy of the cleaning robot according to the position information and the weed information, and issuing the control strategy to the robot body;
and the robot body cleans the area to be cleaned according to the control strategy.
5. The control method of a photovoltaic power plant cleaning robot according to claim 4, characterized in that the control strategy comprises determining a travel route of the robot body based on the position information;
wherein determining the travel route of the robot body according to the position information includes:
carrying out equal-area grid division on the point cloud image of the area to be cleaned, and sequentially marking the grids with serial numbers;
the sequence number marking logic is: the serial number with short distance from the grid to the current position of the robot body is small;
determining the serial number of the grid to which the weed image belongs, and marking the grid as a hot spot grid;
generating the position information of the hotspot grids in the point cloud image, and generating a traveling route of the robot body in a photovoltaic power station according to the position information;
the driving device controls the robot body to move into the hot spot grid according to the traveling route.
6. The control method of a photovoltaic power plant cleaning robot according to claim 5, characterized in that when a plurality of weed images are recognized in an area to be cleaned, it is judged whether the plurality of weed images belong to the same hotspot grid;
when a plurality of weed images belong to the same hot spot grid, the traveling route is the shortest path from the current position of the robot body to the interior of the hot spot grid;
according to the fact that the weeds belong to different hot spot grids, the travelling route is a connecting line path of the hot spot grids with the small serial numbers and the large serial numbers sequentially.
7. The control method of a photovoltaic power plant cleaning robot according to claim 4,
the control strategy comprises the step of determining the starting moment of the robot body according to the weed information;
the weed information includes weed type and growth cycle;
wherein, determining the starting moment of the robot body according to the weed information comprises:
determining the current growth height of the weeds according to the weed images, comparing the weed images with the weed models in a model library to determine the weed types, and determining the target growth height of the weeds according to the weed types;
comparing the target growth height with the current growth height to determine the growth period, wherein the growth period is the growth time of the weeds from the current growth height to the target growth height;
and determining the starting time of the cleaning robot according to the growth cycle.
8. The control method of a photovoltaic power plant cleaning robot according to claim 7, characterized in that said growth cycle is a period of time in which the growth speed of said weeds is determined according to the type of said weeds, said weeds grow from said current growth height to said target growth height;
when the current growth height is not lower than the target growth height, the growth period is 0, and the robot body immediately cleans weeds;
and when the current growth height is smaller than the target growth height, estimating the growth period of the weeds according to the weed types, and storing the position information and the growth period of the weeds in the storage module until the growth period is reached, and cleaning the weeds by the robot body.
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