CN116054719A - Cleaning method and device for photovoltaic module - Google Patents
Cleaning method and device for photovoltaic module Download PDFInfo
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- 238000004140 cleaning Methods 0.000 title claims abstract description 300
- 238000000034 method Methods 0.000 title claims abstract description 64
- 239000002184 metal Substances 0.000 claims abstract description 30
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- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
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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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- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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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 application discloses a cleaning method and device of a photovoltaic module, wherein the photovoltaic module comprises at least one photovoltaic plate, and the method comprises the following steps: the photovoltaic cleaning robot receives a cleaning instruction and drives into the photovoltaic module; the method comprises the steps that in the process that a photovoltaic cleaning robot moves on a photovoltaic assembly, current position information corresponding to the photovoltaic cleaning robot is generated by detecting a metal grid of a photovoltaic plate; when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a route to run on the photovoltaic module and cleans the photovoltaic module. The photovoltaic cleaning robot in the application can easily identify the edge of the photovoltaic module through the metal grid, so that when the photovoltaic cleaning robot is driven to the edge of the photovoltaic module, real-time route planning can be performed according to the current position information, the adaptability of the photovoltaic cleaning robot to the arrangement shape and position of the photovoltaic module is improved, and the operation of a user is simplified.
Description
Technical Field
The application relates to the technical field of new energy, in particular to a cleaning method and device for a photovoltaic module.
Background
In recent years, development and utilization technologies of solar energy are continuously developed, and in various existing solar photovoltaic power generation systems, a photovoltaic panel is the most important core element, and when the solar photovoltaic power generation system works, the photovoltaic panel is exposed to the external environment for a long time and is easy to damage, pollute or corrode, so that the photovoltaic panel needs to be cleaned regularly.
Currently, a photovoltaic cleaning robot for cleaning a photovoltaic module needs to perform fixed route configuration, and needs to configure a high-precision sensor, such as a camera, a 3D laser sensor, and a carrier-time differential (RTK) receiver. High-precision sensors on photovoltaic cleaning robots are also costly and poorly adaptable to complex outdoor environments (e.g., light, weather, buildings, etc.). The fixed route makes photovoltaic cleaning robot to photovoltaic module's adaptability relatively poor, and the skilled person needs to set up specific route according to different photovoltaic module. Therefore, there is an urgent need in the art for a photovoltaic cleaning robot that cleans photovoltaic modules at a lower cost and with better applicability.
Disclosure of Invention
In order to solve the technical problem, the application provides a cleaning method and device for a photovoltaic module, which are used for enabling the cleaning cost of the photovoltaic module to be lower and the operation to be simpler and more convenient.
In order to achieve the above object, the technical solution provided in the embodiments of the present application is as follows:
the embodiment of the application provides a cleaning method of a photovoltaic module, wherein the photovoltaic module comprises at least one photovoltaic plate, and the method comprises the following steps:
the photovoltaic cleaning robot receives a cleaning instruction and drives into the photovoltaic module;
the method comprises the steps that in the process that a photovoltaic cleaning robot moves on a photovoltaic assembly, current position information corresponding to the photovoltaic cleaning robot is generated by detecting a metal grid of a photovoltaic plate;
when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a route to run on the photovoltaic module and cleans the photovoltaic module.
In some possible embodiments, the photovoltaic cleaning robot comprises at least 2 sensors, at least 2 sensors for detecting a metal grid at which the photovoltaic cleaning robot is located.
In some possible embodiments, the photovoltaic cleaning robot is driven into the photovoltaic module, comprising:
the photovoltaic cleaning robot runs along a first route on the photovoltaic module and cleans the photovoltaic module;
when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a route to run on the photovoltaic module and clean the photovoltaic module, and the photovoltaic cleaning robot comprises:
when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module along the first route, the photovoltaic cleaning robot plans a second route;
the photovoltaic cleaning robot runs to the starting point of the second route, runs on the photovoltaic module according to the second route and cleans.
In some possible embodiments, the first route and the second route are both straight lines, the second route is parallel to the first route, and the second route and the first route are opposite in direction.
In some possible embodiments, the photovoltaic cleaning robot travels to the start of the second route and travels over the photovoltaic module and cleans according to the second route, comprising:
the photovoltaic cleaning robot rotates a preset angle, and reaches the starting point of the second route after running the target distance; the target distance is the distance between the first route and the second route;
the photovoltaic cleaning robot runs on the photovoltaic module according to the second route and cleans the photovoltaic module.
In some possible embodiments, the target distance is less than or equal to the width of the photovoltaic cleaning robot cleaning.
In some possible embodiments, when the current position information indicates that the obstacle region cannot travel in the target direction indicated by the planned route, the photovoltaic cleaning robot bypasses the obstacle region according to the preset direction.
In some possible embodiments, when the current position information indicates that the obstacle area cannot travel in the target direction indicated by the planned route, the photovoltaic cleaning robot determines a target route according to the preset direction and the preset motion curve, and bypasses the obstacle area according to the target route.
In some possible embodiments, the cleaning instructions instruct the photovoltaic cleaning robot to clean a target area of the photovoltaic module;
the photovoltaic cleans the robot according to current position information, and the planning route is gone and is cleaned on photovoltaic module, includes:
and the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of the target area and cleans the target area.
In some possible embodiments, when the target area includes a plurality of areas, the method further includes:
the photovoltaic cleaning robot merges the multiple areas to obtain an actual target area;
the photovoltaic cleans the robot according to current position information, and the planning route is gone and is cleaned on photovoltaic module, includes:
and the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of the actual target area and cleans the actual target area.
In some possible embodiments, when the area of the target area is greater than the preset area, the method further includes:
splitting the target area by the photovoltaic cleaning robot to obtain a plurality of actual target areas;
the photovoltaic cleans the robot according to current position information, and the planning route is gone and is cleaned on photovoltaic module, includes:
and the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of one actual target area in the plurality of actual target areas and cleans the actual target area.
According to the above-mentioned photovoltaic module's cleaning method, this application still provides a photovoltaic module's cleaning device, and photovoltaic module includes at least one photovoltaic board, and the device is applied to photovoltaic cleaning robot, and the device includes:
the receiving module is used for receiving the cleaning instruction and driving the cleaning instruction into the photovoltaic module;
the generating module is used for generating current position information corresponding to the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel in the process of moving on the photovoltaic assembly;
and the planning module is used for planning a route to run on the photovoltaic module and cleaning when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module.
According to the technical scheme, the application has the following beneficial effects:
the embodiment of the application provides a cleaning method of a photovoltaic module, wherein the photovoltaic module comprises at least one photovoltaic plate, and the method comprises the following steps: the photovoltaic cleaning robot receives a cleaning instruction and drives into the photovoltaic module; the method comprises the steps that in the process that a photovoltaic cleaning robot moves on a photovoltaic assembly, current position information corresponding to the photovoltaic cleaning robot is generated by detecting a metal grid of a photovoltaic plate; when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a route to run on the photovoltaic module and cleans the photovoltaic module.
Therefore, in the cleaning method of the photovoltaic module, the photovoltaic cleaning robot obtains the current position information by identifying the metal grid of the photovoltaic module, the sensor for identifying the metal grid is low in cost, and the identification of the metal grid is not easily influenced by external environment, so that the stability of the photovoltaic cleaning robot is good. And through the photovoltaic cleaning robot in this application of metal grid can comparatively easily discern photovoltaic module's edge to photovoltaic cleaning robot is when driving to photovoltaic module's edge, can carry out real-time route planning according to current position information, has improved the adaptability of photovoltaic cleaning robot to photovoltaic module range shape and position, has simplified user's operation.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a cleaning method for a photovoltaic module according to an embodiment of the present application;
fig. 2 is a schematic diagram of a photovoltaic module according to an embodiment of the present disclosure;
fig. 3a is a schematic route diagram of a photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 3b is a flowchart of a cleaning method for a photovoltaic module according to an embodiment of the present application;
fig. 4 is a schematic route diagram of another photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 6 is a schematic route diagram of a photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 7 is a schematic route diagram of another photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 8 is a schematic route diagram of a photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 9 is a schematic diagram of a photovoltaic module according to an embodiment of the present disclosure;
fig. 10 is a schematic route diagram of a photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 11 is a schematic route diagram of another photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 12 is a schematic diagram of a cleaning device for a photovoltaic module according to an embodiment of the present application.
Detailed Description
In order to better understand the solution provided by the embodiments of the present application, before describing the method provided by the embodiments of the present application, a scenario of application of the solution of the embodiments of the present application is described.
A photovoltaic cleaning robot for cleaning a photovoltaic module in the related art needs to perform a fixed route configuration, and needs to configure a high-precision sensor, such as a camera, a 3D laser sensor, and a carrier-time differential (RTK) receiver. The fixed route makes photovoltaic cleaning robot to photovoltaic module's adaptability relatively poor. High-precision sensors on photovoltaic cleaning robots are also costly and poorly adaptable to complex outdoor environments (e.g., light, weather, buildings, etc.). Therefore, there is an urgent need in the art for a photovoltaic cleaning robot that is less costly and better in applicability.
In order to solve the above technical problems, an embodiment of the present application provides a method for cleaning a photovoltaic module, including: the photovoltaic cleaning robot receives a cleaning instruction; the photovoltaic cleaning robot drives into the photovoltaic module and comprises a sensor; detecting a metal grid of the photovoltaic module through a sensor in the process that the photovoltaic cleaning robot moves on the photovoltaic module, and generating current position information corresponding to the photovoltaic cleaning robot; and the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and cleans the photovoltaic module. Therefore, in the cleaning method of the photovoltaic module, the photovoltaic cleaning robot obtains the current position information by identifying the metal grid of the photovoltaic module, the sensor for identifying the metal grid is low in cost, and the identification of the metal grid is not easily influenced by external environment, so that the stability of the photovoltaic cleaning robot is good. In addition, the photovoltaic cleaning robot can conduct real-time route planning according to the current position information, the adaptability of the photovoltaic cleaning robot to the arrangement shape and position of the photovoltaic modules is improved, and the operation of a user is simplified.
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures and detailed description are described in further detail below.
Referring to fig. 1, the flow chart of a cleaning method for a photovoltaic module according to an embodiment of the present application is shown.
As shown in fig. 1, the method for cleaning a photovoltaic provided in the embodiment of the present application includes:
s101: the photovoltaic cleaning robot receives the cleaning instruction and drives into the photovoltaic module.
It should be noted that the method provided by the embodiment of the application is applied to a photovoltaic cleaning robot. The photovoltaic module in the embodiment of the application comprises one or more photovoltaic panels. When the photovoltaic module comprises a plurality of photovoltaic panels, the photovoltaic panels can be closely arranged together before forming a larger area to be cleaned. Specific implementation of step S101 in the embodiment of the present application may refer to step S301 and step S302.
S102: and the photovoltaic cleaning robot generates current position information corresponding to the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel in the process of moving on the photovoltaic assembly.
S103: when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a route to run on the photovoltaic module and cleans the photovoltaic module.
Referring to fig. 2, a schematic diagram of a photovoltaic module according to an embodiment of the present application is shown. As shown in fig. 2, a plurality of photovoltaic modules are spliced into a photovoltaic module to be cleaned. The starting position of the photovoltaic cleaning robot is a charging station (change station), and the position of the charging pile can be adjacent to photovoltaic modules positioned at four corners of the photovoltaic modules. After receiving the cleaning instruction, the photovoltaic cleaning robot can drive into one corner of the photovoltaic module after driving out the charging pile, and then can drive on the photovoltaic module to clean. Specific embodiments of step S103 may refer to step S303 and step S304.
Referring to fig. 3a, the schematic route of a photovoltaic cleaning robot according to an embodiment of the present application is shown.
Referring to fig. 3b, the figure is a flowchart of a cleaning method for a photovoltaic module according to an embodiment of the present application.
S301: the photovoltaic cleaning robot receives a cleaning instruction.
S302: the photovoltaic cleaning robot runs along a first route on the photovoltaic module and cleans the photovoltaic module.
S303: when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module along the first route, the photovoltaic cleaning robot plans a second route.
As shown in fig. 3, the photovoltaic cleaning robot can be driven in by a straight line when driving into the photovoltaic module. The photovoltaic cleaning robot drives and cleans along a first route after driving into the photovoltaic module, and the first route is a straight line. When the sensor on the photovoltaic cleaning robot detects that the photovoltaic cleaning robot is located at the edge of the photovoltaic module, namely, when the current position information indicates that the photovoltaic cleaning robot is driven to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a second route.
S304: the photovoltaic cleaning robot runs to the starting point of the second route, runs on the photovoltaic module according to the second route and cleans.
The photovoltaic cleaning robot runs from the end point of the first route to the start point of the second route, runs on the photovoltaic module according to the second route and cleans. Wherein the second route is parallel to the first route. The travel direction of the photovoltaic cleaning robot on the second route is opposite to the travel direction of the photovoltaic cleaning robot on the first route, and the distance between the first route and the second route is smaller than the cleaning width of the photovoltaic cleaning robot. The width of the cleaning region when the photovoltaic cleaning robot passes through a path is the width that the photovoltaic cleaning robot cleans.
When the photovoltaic cleaning robot runs to the edge of the photovoltaic module along the second route, the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module again, and the photovoltaic cleaning robot plans a third route. And then the photovoltaic cleaning robot runs from the end point of the second route to the start point of the third route, and runs on the photovoltaic module according to the third route and cleans. The third route is parallel to the second route, the directions of the second route and the third route are opposite, and the distance between the second route and the third route is smaller than the cleaning width of the photovoltaic cleaning robot.
As a possible embodiment, the photovoltaic cleaning robot may travel from the end point of the previous route to the start point of the following route according to a preset first rule. The following description will be given taking, as an example, a start point from the travel of the first route to the second route.
Referring to fig. 4, a schematic route diagram of another photovoltaic cleaning robot according to an embodiment of the present application is shown.
As shown in fig. 4, after the photovoltaic cleaning robot travels at the end point (rotation point 1) of the first route, the travel direction of the photovoltaic cleaning robot may be adjusted by spinning 90 degrees, and then the travel target distance D is moved to the start point (rotation point 2) of the second route, and spinning again by 90 degrees, so that the photovoltaic cleaning robot may travel along the second route. In practical applications, the technician may set the target distance D between the rotation point 1 and the rotation point 2 according to the width of the sweep of the photovoltaic sweeping robot. In order to make the range swept by the photovoltaic cleaning robot cover the photovoltaic module as much as possible, the size of the target distance D should be smaller than or equal to the sweeping width of the photovoltaic cleaning robot.
The following description is presented with an example in which the photovoltaic cleaning robot includes 3 sensors. As shown in fig. 5, the photovoltaic cleaning robot includes a sensor 2 mounted in front, and a sensor 1 and a sensor 3 mounted on both left and right sides. The sensor 2 mounted in front of the photovoltaic cleaning robot can be used for detecting whether the photovoltaic cleaning robot is located at the edge of the photovoltaic module, and when the sensor 2 is not used for detecting the metal grid on the photovoltaic module when the photovoltaic cleaning robot is driven forwards, the sensor is used for indicating that the photovoltaic cleaning robot is driven to the edge of the photovoltaic panel. The sensor 2 may also be used to measure the distance travelled by the photovoltaic cleaning robot from a metal grid on the photovoltaic module. For example, when the photovoltaic cleaning robot travels from the rotation point 1 to the rotation point 2, the travel distance D is required. Assuming that the side length of the metal grids on the photovoltaic module is D, the photovoltaic cleaning robot can detect the number of the metal grids which the photovoltaic cleaning robot runs through the sensor 1, and when the number of the metal grids which the photovoltaic cleaning robot runs through is equal to D/D, the photovoltaic cleaning robot is indicated to have travelled a distance D, and the photovoltaic cleaning robot is located at the rotation point 2.
The sensors 1 and 3 can help the photovoltaic cleaning robot make spin, turn and route corrections. For example, when the photovoltaic cleaning robot spins at the rotation point 1, the angle at which the photovoltaic cleaning robot rotates can be detected by the sensor 1 and the sensor 3. In addition, when the photovoltaic cleaning robot travels straight, the photovoltaic panel may be inclined or otherwise abnormal, resulting in an offset of the travel route of the photovoltaic cleaning robot. The photovoltaic cleaning robot can calibrate the driving route of the photovoltaic cleaning robot according to the metal raster data detected by the sensor 1 and the sensor 3, so that good cleaning effect is ensured.
It should be noted that in some possible embodiments, the photovoltaic cleaning robot may also include only one sensor, through which the photovoltaic cleaning robot can detect the distance travelled by the photovoltaic cleaning robot, and whether the photovoltaic cleaning robot has travelled to the edge of the photovoltaic module. It should be noted that in some possible embodiments the photovoltaic cleaning robot may also comprise only the sensor 1 and the sensor 2. The photovoltaic cleaning robot can calibrate the driving route of the photovoltaic cleaning robot through the metal grid data of the sensor 1 and the sensor 2.
The photovoltaic cleaning robot can clean the whole photovoltaic module according to the method, when the photovoltaic cleaning robot runs to the end point of the Nth path, the periphery of the photovoltaic cleaning robot is the running route or the edge of the photovoltaic module, and the photovoltaic cleaning robot completes one-time complete cleaning of the photovoltaic module. As a possible embodiment, the photovoltaic cleaning robot can travel back to the charging station. As another possible implementation, the photovoltaic robot may also perform one more sweep of the photovoltaic module. As shown in fig. 6, the photovoltaic cleaning robot can spin 90 degrees and then begin a new round of cleaning when it is traveling to the end point. As shown in fig. 7 and 8, the photovoltaic cleaning robot may clean the photovoltaic module through a plurality of different paths, which is not limited herein.
In practical applications, photovoltaic panel voids or other anomalies may occur in the photovoltaic module. In order to improve the adaptability of the photovoltaic cleaning robot to a vacant photovoltaic panel or other abnormal conditions in a photovoltaic module, when the target direction indicated by the planned route indicated by the current position information obtained by the photovoltaic cleaning robot in the embodiment of the application has an obstacle region and cannot run, the photovoltaic cleaning robot can bypass the obstacle region according to the preset direction.
Referring to fig. 9, a schematic diagram of a photovoltaic module according to an embodiment of the present application is shown.
As shown in fig. 9, a photovoltaic module has a plurality of photovoltaic panel voids (empty), and the photovoltaic cleaning robot may bypass the obstacle region according to a preset direction. As one example, the preset direction may be a direction toward a historical travel route of the photovoltaic cleaning robot. Fig. 10 is a schematic partial view of fig. 9, when the photovoltaic cleaning robot travels to the point a as shown in fig. 10, if the photovoltaic cleaning robot detects that the front is empty, the photovoltaic cleaning robot rotates 90 degrees to travel a preset distance in a preset direction and then rotates back in a direction opposite to the preset direction, whether the front is empty is detected again, if yes, the photovoltaic cleaning robot continues to rotate 90 degrees to travel a preset distance in the preset direction until the photovoltaic cleaning robot rotates back and then detects that the front is not empty, the photovoltaic cleaning robot stores a target distance traveling in the preset direction, namely, a distance from the point B to the point C, and the photovoltaic cleaning robot travels to the point B. Then the photovoltaic robot runs to the point C with the same logic, runs the target distance to the point D after rotating 90 degrees, and can normally run according to the planned route after rotating 90 degrees, so that the photovoltaic cleaning robot completes the detour of the empty area.
It should be noted that, the photovoltaic cleaning robot will carry out great friction to the photovoltaic board at the in-process of rotation to probably damage the photovoltaic board, reduce the life-span of photovoltaic board. In the process of bypassing the obstacle region, the photovoltaic cleaning robot needs to detect the obstacle region for multiple times, and has multiple times of rotation, which can cause the obstacle region to be damagedPhotovoltaic panels produce damage. In order to reduce damage of the photovoltaic cleaning robot to the photovoltaic panel from rotation when bypassing the obstacle region, when the photovoltaic cleaning robot detects the obstacle region, the embodiment of the application can plan a target route according to a preset motion curve so as to bypass the obstacle region. Specifically, a technician can construct a Lyapunov stability driving equation to determine a preset motion curve according to the characteristics of a nonlinear control system. Let x e =0 of the photovoltaic panel coordinates be an equilibrium point, if there is a continuously differentiable scalar function V (x) satisfying: (1) V (x) is positive; (2)
(3) The set { x∈ R n }, V } (x) =0 } does not include state traces of the system other than the equilibrium point, and the equilibrium point x e =0 of the system is Lyapunov progressively stable. The parameters in the stability driving equation may be determined according to the vehicle body width, the minimum turning radius and the detour distance of the photovoltaic cleaning robot.
According to the photovoltaic cleaning robot, the preset motion curve of the photovoltaic cleaning robot during winding is obtained through the stability driving equation, and then the target path is generated according to the preset motion curve and the preset direction, so that the photovoltaic cleaning robot can realize the curve winding taking the balance point as the center of a circle along the target path. As shown in fig. 11, the empty area is an obstacle area, and after the photovoltaic cleaning robot recognizes the obstacle area, the cleaning path is a shadow area, and the area is an arc-shaped path, so that the number of in-situ spin times of the photovoltaic cleaning robot is reduced, and the excessive friction of the photovoltaic cleaning robot to the photovoltaic panel is reduced.
As one possible implementation, the cleaning instructions instruct the photovoltaic cleaning robot to clean the target area of the photovoltaic module. And the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of the target area and cleans the target area. As one possible implementation, when the target area includes a plurality of areas. The photovoltaic cleaning robot can combine the multiple areas to obtain an actual target area. And then, the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of the actual target area and cleans the actual target area. As a possible implementation manner, when the area of the target area is larger than the preset area, the photovoltaic cleaning robot splits the target area to obtain a plurality of actual target areas. And then the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of one actual target area in the actual target areas and cleans the actual target area.
In practical application, when the photovoltaic cleaning robot receives a cleaning task instruction, the robot leaves a warehouse to execute the task, and in the running process, the platform end generates a cleaning task (the starting point is different from the end point), and after the robot receives relevant information, the robot fuses and optimizes the two cleaning tasks, so that the whole cleaning route is more reasonable. Based on the shortest principle of the running route, if a plurality of cleaning tasks have overlapping areas, the cleaning task area is changed into the cleaning task under the maximum boundary, the shortest path from the current position of the robot to the maximum boundary is dynamically generated, and the cleaning route is regenerated by taking the maximum boundary as the cleaning area.
If the received cleaning tasks do not have overlapping areas, the photovoltaic cleaning robot searches for the cleaning task in the queue when the photovoltaic cleaning robot finishes the cleaning task being executed, executes the corresponding task according to the principle that the starting point is nearest, generates a cleaning route from the current position to the target starting point, and continues the task. When the total mission route is larger than the furthest driving mileage, the mission route which returns to the nearest charging station is added after the last cleaning mission allowed by the electric quantity is executed. If only one charging station exists, the photovoltaic cleaning robot executes cleaning tasks from far to near, and a task route for returning to the charging station is added when the last cleaning task allowed by electric quantity is executed.
After the photovoltaic cleaning robot receives a platform cleaning task instruction, analyzing to obtain a cleaning task starting point and a cleaning task end point, performing theoretical calculation, and performing route splitting when the cleaning task area is too large, namely the total driving distance is too far, namely, disassembling a long-mileage task into multi-task execution. Splitting the long mileage task can reduce the number of robots to arrange, and reduce the battery capacity that can reduce the inside of every photovoltaic cleaning robot, lighten the total weight of robot to can reduce the pressure to the photovoltaic board, protect the photovoltaic board. Specifically, the task splitting can be performed by intelligently inserting a corresponding number of intermediate nodes according to the total length of the task, and intelligently splitting the number of the tasks.
According to the cleaning method of the photovoltaic module provided by the embodiment, the embodiment of the application also provides a cleaning device of the photovoltaic module.
Referring to fig. 12, the schematic diagram of a cleaning device for a photovoltaic module according to an embodiment of the present application is shown.
Photovoltaic module includes at least one photovoltaic board, and photovoltaic module's cleaning device is applied to photovoltaic and cleans the robot, as shown in fig. 12, and photovoltaic module's cleaning device that this application embodiment provided includes:
the receiving module 100 is used for receiving a cleaning instruction and entering the photovoltaic module;
the generating module 200 is used for generating current position information corresponding to the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel in the process of moving on the photovoltaic assembly;
the planning module 300 is configured to plan a route to travel on the photovoltaic module and perform cleaning when the current position information indicates that the photovoltaic cleaning robot travels to an edge of the photovoltaic module.
To sum up, the photovoltaic cleaning robot provided by the embodiment of the application can obtain the current position information by identifying the metal grid of the photovoltaic module, the sensor for identifying the metal grid is low in cost, and the identification of the metal grid is not easily influenced by external environment, so that the stability of the photovoltaic cleaning robot is good. And through the photovoltaic cleaning robot in this application of metal grid can comparatively easily discern photovoltaic module's edge to photovoltaic cleaning robot is when driving to photovoltaic module's edge, can carry out real-time route planning according to current position information, has improved the adaptability of photovoltaic cleaning robot to photovoltaic module range shape and position, has simplified user's operation.
From the above description of embodiments, it will be apparent to those skilled in the art that all or part of the steps of the above described example methods may be implemented in software plus necessary general purpose hardware platforms. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to perform the methods described in the embodiments or some parts of the embodiments of the present application.
It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the method disclosed in the embodiment, since it corresponds to the system disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the system part.
It should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing description of the disclosed embodiments, as well as many modifications to those embodiments to enable any person skilled in the art to make or use the disclosure, will be readily apparent to those of ordinary skill in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A method of cleaning a photovoltaic module, the photovoltaic module comprising at least one photovoltaic panel, the method comprising:
the photovoltaic cleaning robot receives a cleaning instruction and drives into the photovoltaic module;
the method comprises the steps that in the process that a photovoltaic cleaning robot moves on a photovoltaic assembly, current position information corresponding to the photovoltaic cleaning robot is generated by detecting a metal grid of a photovoltaic plate;
and when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module, the photovoltaic cleaning robot plans a route to run on the photovoltaic module and clean the photovoltaic module.
2. The method of claim 1, wherein the photovoltaic cleaning robot comprises at least 2 sensors, the at least 2 sensors being configured to detect a metal grid at which the photovoltaic cleaning robot is located.
3. The method of claim 1, wherein the photovoltaic cleaning robot is driven into the photovoltaic module comprises:
the photovoltaic cleaning robot runs along a first route on the photovoltaic module and cleans the photovoltaic module;
when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module, the photovoltaic cleaning robot planning route runs on the photovoltaic module and cleans the photovoltaic module, and the photovoltaic cleaning robot planning route comprises the following steps:
when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module along the first route, the photovoltaic cleaning robot plans a second route;
and the photovoltaic cleaning robot runs to the starting point of a second route, runs on the photovoltaic module according to the second route and cleans the photovoltaic module.
4. A method according to claim 3, wherein the first route and the second route are each straight, the second route being parallel to the first route, the second route and the first route being in opposite directions.
5. The method of claim 4, wherein the photovoltaic cleaning robot traveling to a start point of a second route and traveling over the photovoltaic module and cleaning according to the second route comprises:
the photovoltaic cleaning robot rotates a preset angle, and reaches the starting point of the second route after running a target distance; the target distance is a distance between the first route and the second route;
and the photovoltaic cleaning robot runs on the photovoltaic module according to the second route and cleans the photovoltaic module.
6. The method of claim 5, wherein the target distance is less than or equal to a width of the photovoltaic cleaning robot cleaning.
7. The method of claim 1, wherein the photovoltaic cleaning robot bypasses the obstacle area according to a preset direction when the current position information indicates that the obstacle area cannot travel in a target direction indicated by the planned route.
8. The method according to claim 1, wherein the photovoltaic cleaning robot determines a target route according to a preset direction and a preset motion curve when the current position information indicates that the target direction indicated by the planned route has an obstacle region and cannot travel, and bypasses the obstacle region according to the target route.
9. The method of claim 1, wherein the cleaning instructions instruct the photovoltaic cleaning robot to clean a target area of the photovoltaic module;
the photovoltaic cleaning robot is used for planning a route to run on the photovoltaic module and cleaning according to the current position information, and comprises the following components:
and the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of the target area and cleans the target area.
10. The method of claim 1, wherein when the target area comprises a plurality of areas, the method further comprises:
the photovoltaic cleaning robot merges the multiple areas to obtain an actual target area;
the photovoltaic cleaning robot is used for planning a route to run on the photovoltaic module and cleaning according to the current position information, and comprises the following components:
and the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of the actual target area and cleans the actual target area.
11. The method of claim 1, wherein when the area of the target area is greater than a preset area, the method further comprises:
the photovoltaic cleaning robot splits the target area to obtain a plurality of actual target areas;
the photovoltaic cleaning robot is used for planning a route to run on the photovoltaic module and cleaning according to the current position information, and comprises the following components:
and the photovoltaic cleaning robot plans a route to run on the photovoltaic module according to the current position information and the information of one actual target area in the actual target areas and cleans the actual target area.
12. A cleaning device for a photovoltaic module, the photovoltaic module comprising at least one photovoltaic panel, the device being applied to a photovoltaic cleaning robot, the device comprising:
the receiving module is used for receiving a cleaning instruction and entering the photovoltaic module;
the generating module is used for generating current position information corresponding to the photovoltaic cleaning robot by detecting the metal grid of the photovoltaic panel in the process of moving on the photovoltaic assembly;
and the planning module is used for planning a route to run on the photovoltaic module and cleaning when the current position information indicates that the photovoltaic cleaning robot runs to the edge of the photovoltaic module.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117629185A (en) * | 2023-12-01 | 2024-03-01 | 安徽工业大学 | Photovoltaic cleaning robot running path planning method under complex working condition |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117629185A (en) * | 2023-12-01 | 2024-03-01 | 安徽工业大学 | Photovoltaic cleaning robot running path planning method under complex working condition |
| CN117629185B (en) * | 2023-12-01 | 2024-06-11 | 安徽工业大学 | Photovoltaic cleaning robot running path planning method under complex working condition |
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