CN116643562A - Cleaning robot control method and device and cleaning robot - Google Patents
Cleaning robot control method and device and cleaning robot Download PDFInfo
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- CN116643562A CN116643562A CN202310532139.XA CN202310532139A CN116643562A CN 116643562 A CN116643562 A CN 116643562A CN 202310532139 A CN202310532139 A CN 202310532139A CN 116643562 A CN116643562 A CN 116643562A
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- G—PHYSICS
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- 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 relates to the technical field of photovoltaic power generation, in particular to a control method and device of a cleaning robot and the cleaning robot. The cleaning robot is used for cleaning the photovoltaic panel, and the method comprises the steps of acquiring mapping result data of the photovoltaic panel; determining a landing point of the cleaning robot on the photovoltaic panel based on the mapping result data; generating a transportation instruction based on the drop point; acquiring the surface cleanliness of the photovoltaic panel; determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode. The method can finish the cleaning work of the photovoltaic panel with high efficiency and high quality under the condition of basically not depending on manpower, is not limited by the use scene, improves the cleaning efficiency of the photovoltaic panel, and reduces the cleaning difficulty and the cleaning cost of the photovoltaic panel.
Description
Technical Field
The application relates to the technical field of photovoltaic power generation, in particular to a control method and device of a cleaning robot and the cleaning robot.
Background
A photovoltaic panel is a device for converting solar energy into electrical energy, also called a solar panel or solar panel, which is composed of a plurality of solar cells, converts solar energy into direct current electrical energy, and can be used for supplying or storing electrical energy.
However, the cleaning problem of the photovoltaic panel in the use process is always troublesome, especially in a centralized photovoltaic power station, the panel of hundreds of thousands or even millions of square meters (about 8000 square meters of a 1 megawatt photovoltaic panel) is cleaned, and the cleaning by manpower is usually a cup and a water and a firewood, and is time-consuming, labor-consuming and high in cost.
Therefore, how to realize the manual cleaning, i.e. the automatic cleaning, of the photovoltaic panel, and reduce the cost of the automatic cleaning operation and maintenance of the photovoltaic panel becomes a problem to be solved.
Disclosure of Invention
In view of the above, the application provides a control method and a control device for a cleaning robot and the cleaning robot, which solve or improve the technical problems of time and labor waste and high cost of manually cleaning a photovoltaic panel in the prior art.
According to a first aspect of the present application, there is provided a control method of a cleaning robot for cleaning a photovoltaic panel, wherein the control method includes: obtaining mapping result data of a photovoltaic panel; determining a landing point of a cleaning robot on the photovoltaic panel based on the mapping result data, generating a transport instruction based on the landing point, the transport instruction being for causing the cleaning robot to transport to the landing point; acquiring the surface cleanliness of the photovoltaic panel; determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode.
In one possible implementation, the mapping result data includes estimated cleanliness and morphology data of the photovoltaic panel, and the determining, based on the mapping result data, a landing point of a cleaning robot on the photovoltaic panel includes: when the estimated cleanliness of the photovoltaic panel is smaller than a preset estimated cleanliness value, marking a dirt area on the photovoltaic panel; determining the landing point of the cleaning robot on the photovoltaic panel based on the morphological data of the photovoltaic panel and the dirt region.
In one possible implementation, after the generating a transport instruction based on the landing point, the control method further includes: acquiring panel image information and acceleration curve information; and confirming that the cleaning robot normally drops to a drop point based on the panel image information and the acceleration curve information.
In one possible implementation, the determining the current cleaning mode of the cleaning robot based on the surface cleanliness includes: when the surface cleanliness is smaller than a first preset cleanliness and larger than a second preset cleanliness, determining that the current cleaning mode is a first cleaning mode; wherein the second preset cleanliness is less than the first preset cleanliness; the generating a cleaning instruction based on the current cleaning mode includes: based on the first cleaning mode, a first cleaning instruction is generated, wherein the first cleaning instruction is used for controlling the cleaning robot to clean at a first advancing speed and a first cleaning rotating speed.
In one possible implementation, the determining the current cleaning mode of the cleaning robot based on the surface cleanliness includes: when the surface cleanliness is smaller than a second preset cleanliness, determining that the current cleaning mode is a second cleaning mode; the generating a cleaning instruction based on the current cleaning mode includes: generating a second cleaning instruction based on the second cleaning mode, wherein the second cleaning instruction is used for controlling the cleaning robot to clean at a second advancing speed and a second cleaning rotating speed; wherein the second forward speed is less than the first forward speed; and/or the second cleaning rotational speed is greater than the first cleaning rotational speed.
In one possible implementation, after the generating a cleaning instruction based on the current cleaning mode, the control method further includes: acquiring image sensing information of a cleaned area on the photovoltaic panel; generating a current cleanliness factor based on the image sensing information and the surface cleanliness; when the current cleanliness duty ratio is smaller than a preset cleanliness duty ratio, generating a third cleaning instruction, wherein the third cleaning instruction is used for controlling the cleaning robot to clean at a third advancing speed and/or a third cleaning rotating speed; wherein the third forward speed is less than the second forward speed, and the third cleaning rotational speed is greater than the second cleaning rotational speed.
In one possible implementation manner, after the generating the current cleanliness factor based on the image sensing information and the surface cleanliness, the control method further includes: when the current cleanliness ratio is larger than or equal to the preset cleanliness ratio, acquiring edge detection information of the photovoltaic panel and battery power information of the cleaning robot; and when the edge detection information comprises an edge image of the photovoltaic panel and the battery electric quantity information is larger than or equal to a preset electric quantity safety threshold, generating a turning instruction and a cleaning instruction, wherein the turning instruction is used for controlling the cleaning robot to turn the advancing direction along the horizontal direction.
In one possible implementation manner, after the generating the current cleanliness factor based on the image sensing information and the surface cleanliness, the control method further includes: and when the battery electric quantity information is smaller than a preset electric quantity safety threshold, generating a shutdown instruction and a recall instruction, wherein the shutdown instruction is used for controlling the cleaning robot to stop cleaning, and the recall instruction is used for recalling the cleaning robot.
According to a second aspect of the present application, there is also provided a control device of a cleaning robot, the control device of the cleaning robot including: the mapping result data acquisition module is used for acquiring mapping result data of the photovoltaic panel; the falling point determining module is used for determining the falling point of the cleaning robot on the photovoltaic panel based on the mapping result data; the surface cleanliness acquisition module is used for acquiring the surface cleanliness of the photovoltaic panel; a cleaning mode determining module for determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and an instruction generation module for generating a transport instruction based on the landing point, the transport instruction being for causing the cleaning robot to transport to the landing point; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode.
According to a third aspect of the present application, there is also provided a cleaning robot including: the robot body unit is arranged on the surface of the photovoltaic panel; the cleaning unit is connected with the robot body unit and is used for cleaning the photovoltaic panel; the control device is respectively in communication connection with the robot body unit and the cleaning unit, and is used for controlling the robot body unit and the cleaning unit to clean the photovoltaic panel; the driving unit is connected with the robot body unit and is in communication connection with the control device, and the driving unit drives the robot body unit and the cleaning unit to move along the surface of the photovoltaic panel under the control of the control device; the lifting unit is in communication connection with the control device, and the lifting unit lifts the robot body unit, the cleaning unit and the driving unit to the photovoltaic panel under the control of the control device.
The application provides a control method and a control device of a cleaning robot and the cleaning robot, wherein the cleaning robot is used for cleaning a photovoltaic panel, and the control method specifically comprises the following steps: obtaining mapping result data of a photovoltaic panel; determining a landing point of the cleaning robot on the photovoltaic panel based on the mapping result data; generating a transportation instruction based on the drop point, wherein the transportation instruction is used for enabling the cleaning robot to be transported and released to the drop point; acquiring the surface cleanliness of the photovoltaic panel; determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode.
According to the control method of the cleaning robot, the current relevant data of the photovoltaic panel can be automatically obtained through the mapping equipment, and the reasonable drop point of the cleaning robot is calculated according to the obtained mapping result data, so that the cost of manually carrying the cleaning robot is saved, and the carrying mode is hardly influenced by the environment where the photovoltaic panel is located. After the cleaning robot is arranged on the surface of the photovoltaic panel, the cleaning robot can be controlled to intelligently and automatically clean the photovoltaic panel, different cleaning modes are determined according to the cleaning degree of the photovoltaic panel, and the cleaning effect is greatly improved. Namely, the control method of the cleaning robot provided by the application can efficiently and high-quality finish the cleaning work of the photovoltaic panel under the condition of basically not depending on manpower, is not limited by a use scene, improves the cleaning efficiency of the photovoltaic panel, and reduces the cleaning difficulty and the cleaning cost of the photovoltaic panel.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing embodiments of the present application in more detail with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a flow chart illustrating a control method of a cleaning robot according to an embodiment of the application.
Fig. 2 is a flow chart of a control method of a cleaning robot according to another embodiment of the application.
Fig. 3 is a flowchart illustrating a control method of a cleaning robot according to another embodiment of the present application.
Fig. 4 is a block diagram illustrating a control apparatus of a cleaning robot according to an embodiment of the present application.
Fig. 5 is a block diagram showing a structure of a cleaning robot according to another embodiment of the present application.
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Reference numerals illustrate: 100. a control device; 101. a mapping result data acquisition module; 102. a drop point determining module; 103. a surface cleanliness acquisition module; 104. a cleaning mode determination module; 105. an instruction generation module; 20. a robot body unit; 21. a hoisting unit; 30. a cleaning unit; 31. a dust collector; 40. a driving unit; 50. a first image pickup sensing unit; 60. a second image pickup sensing unit; 70. a power module; 10. an electronic device; 11. a processor; 12. a memory; 13. an input device; 14. and an output device.
Detailed Description
In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, rear, top, bottom … …) in embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the figures), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Furthermore, references herein to "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Summary of the application
Aiming at the technical problems of time and labor waste and high cost of manually cleaning a photovoltaic panel in the prior art, the method can be used for further analyzing:
existing de-artifacting photovoltaic cleaning devices generally take the following two forms:
the first is to use a mechanical device as a main cleaning device, and the cleaning device needs to lay a track in advance and mainly uses rollers to drive, so that the cleaning device body cleans the photovoltaic panel along the track. The main advantages of such cleaning devices are the simple structure, the disadvantage of being overly dependent on the track, the fact that the track is very prone to deformation with prolonged use time is considered, the track often needs to be replaced every year, and the use field Jing Shouxian of the track is not suitable for large-area photovoltaic power stations, and furthermore, the power supply of the cleaning devices is difficult to solve.
The second is a semi-automatic cleaning robot, the cleaning robot can realize panel cleaning without depending on a track, but the cleaning robot is thrown away and needs to be carried by manpower, and still cannot meet the cleaning requirements of photovoltaic power stations such as a large-area hillside, a desert, a water surface and the like, and the cost of the cleaning robot is difficult to control.
In view of the above, the present application provides a control method and a control device for a cleaning robot, and a cleaning robot. The control method specifically comprises the following steps: obtaining mapping result data of a photovoltaic panel; determining a landing point of the cleaning robot on the photovoltaic panel based on the mapping result data; generating a transportation instruction based on the drop point, wherein the transportation instruction is used for enabling the cleaning robot to be transported and released to the drop point; acquiring the surface cleanliness of the photovoltaic panel; determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode.
According to the control method of the cleaning robot, the current relevant data of the photovoltaic panel can be automatically obtained through the mapping equipment, and the reasonable drop point of the cleaning robot is calculated according to the obtained mapping result data, so that the cost of manually carrying the cleaning robot is saved, and the carrying mode is hardly influenced by the environment where the photovoltaic panel is located. After the cleaning robot is arranged on the surface of the photovoltaic panel, the cleaning robot can be controlled to intelligently and automatically clean the photovoltaic panel, different cleaning modes are determined according to the cleaning degree of the photovoltaic panel, and the cleaning effect is greatly improved. Namely, the control method of the cleaning robot provided by the application can efficiently and high-quality finish the cleaning work of the photovoltaic panel under the condition of basically not depending on manpower, is not limited by a use scene, improves the cleaning efficiency of the photovoltaic panel, and reduces the cleaning difficulty and the cleaning cost of the photovoltaic panel.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Exemplary method
Fig. 1 is a flow chart illustrating a control method of a cleaning robot according to an embodiment of the application. As shown in fig. 1, the cleaning robot may specifically include the steps of:
step 100: and obtaining mapping result data of the photovoltaic panel.
The photovoltaic panel is a device for converting solar energy into electric energy, and is composed of a plurality of solar cells, converts solar energy into direct current electric energy, and can be used for supplying power or storing electric energy. The mapping result data refers to data obtained by the control device or the control system through mobile communication equipment such as unmanned aerial vehicle and the like for performing field mapping and evaluation on the photovoltaic panel in the photovoltaic power station, wherein the data comprises, but is not limited to, dirt conditions of the surface of the photovoltaic panel, such as dirt type dirt area and the like, the area of the photovoltaic panel to be cleaned, inclination angle and the like. Before cleaning the photovoltaic panel, the accurate cleanliness of the photovoltaic panel is beneficial to determining cleaning objects, reducing meaningless cost caused by unnecessary cleaning, and meanwhile, determining the area and the inclination angle of the photovoltaic panel to be cleaned, and also facilitating the cleaning robot to reasonably plan a cleaning route.
Step 200: based on the mapping result data, a landing point of the cleaning robot on the photovoltaic panel is determined.
The falling point is the falling point of the lifting device for lifting the cleaning robot when the cleaning robot is put on the photovoltaic panel to be cleaned, and if the specific falling point of the cleaning robot is different according to the area where dirt is located, the falling point is determined to be the upper left corner or the upper right corner of the photovoltaic panel, so that the cleaning robot is closer to the dirt area, and the cleaning effect and the cleaning efficiency are improved.
Step 300: based on the drop point, a transport instruction is generated.
The transport command refers to a control command for causing the cleaning robot to be transported and released to a landing point, and this command is generally transmitted to a lifting device or lifting unit of the cleaning robot, or the like. Such instructions are generated by a control device or controller or central control unit, which will not be described in detail. And a transportation instruction of the cleaning robot is generated based on the landing points, so that the cleaning robot can be ensured to land at a proper position when being put in by the hoisting equipment.
Step 400: and obtaining the surface cleanliness of the photovoltaic panel.
The surface cleanliness refers to the surface cleanliness of the photovoltaic panel, and the calculation mode of the surface cleanliness can be set by a manager in a self-defining manner, for example, the duty ratio of the dirt area on the photovoltaic panel on the total area of the photovoltaic panel is calculated, and the duty ratio is used as the surface cleanliness of the photovoltaic panel.
Specifically, the duty ratio of the dirt area on the photovoltaic panel on the total area of the photovoltaic panel is calculated, the cleaned photovoltaic panel image can be shot by using the image pickup device, and then the picture analysis, such as the identification of the color of the image, is performed on the photovoltaic panel image. Specifically, the photovoltaic panel is generally blue, and the cleanliness of the photovoltaic panel is further judged by judging the proportion of the blue on the whole picture.
Step 500: based on the surface cleanliness, a current cleaning mode of the cleaning robot is determined.
The cleaning modes include, but are not limited to, a general cleaning mode, a deep cleaning mode, and the like, with different cleaning modes corresponding to different cleaning intensities. Namely, the cleaning mode of the cleaning robot is correspondingly adjusted according to the dirt degree of the photovoltaic panel, so that the photovoltaic panel is cleaned in a targeted manner, and the cleaning effect is ensured.
Step 600: based on the current cleaning mode, a cleaning instruction is generated.
The cleaning instruction refers to a control instruction for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode. The cleaning robot cleans the photovoltaic panel according to the corresponding cleaning mode, so that the cleaning effect of the photovoltaic panel is better, and the cleaning cost is lower. That is, when the surface cleanliness of the photovoltaic panel is lower than a preset value, the cleaning mode is adjusted to the deep cleaning mode, and when the surface cleanliness of the photovoltaic panel is higher, the cleaning mode is set to be a general cleaning mode, so that the cleaning efficiency is ensured while the cleaning effect is ensured, and the cleaning cost is saved.
According to the control method of the cleaning robot, provided by the application, the cleaning work of the photovoltaic panel can be automatically, efficiently and high-quality completed under the condition of not depending on manpower, and the cleaning efficiency of the photovoltaic panel is improved, and the cleaning difficulty and the cleaning cost of the photovoltaic panel are reduced without being limited by a use scene.
In one possible implementation manner, fig. 2 is a schematic flow chart of a control method of a cleaning robot according to another embodiment of the present application. The above-mentioned mapping result data may specifically include the estimated cleanliness and morphology data of the photovoltaic panel, and as shown in fig. 2, step 200 (determining the landing point of the cleaning robot on the photovoltaic panel based on the mapping result data) may further include the following steps:
step 210: and marking a dirt area on the photovoltaic panel when the estimated cleanliness of the photovoltaic panel is smaller than a preset estimated cleanliness value.
The evaluation of cleanliness means that the control device calculates a numerical value for representing the dirt degree of the photovoltaic panel based on the mapping data of the lifting device, such as an unmanned aerial vehicle, for the photovoltaic panel. The evaluation cleanliness is a preliminary evaluation of the cleanliness of the photovoltaic panel by the control device and is used for judging whether the photovoltaic panel needs cleaning currently. The preset estimated cleanliness value is an estimated cleanliness critical value set by the control device based on historical cleaning data of the photovoltaic panel, namely, when the real-time estimated cleanliness is lower than the preset estimated cleanliness value, the photovoltaic panel is required to be cleaned; and when the real-time estimated cleanliness is greater than or equal to a preset estimated cleanliness value, the photovoltaic panel is not required to be cleaned, and the lifting of the cleaning robot is not executed.
After the fact that the photovoltaic panel needs to be cleaned is determined, namely the dirt area in the collected image is marked, the cleaning route of the cleaning robot is conveniently and accurately planned, and cleaning efficiency is improved.
Step 220: based on the morphological data of the photovoltaic panel and the dirt area, a landing point of the cleaning robot on the photovoltaic panel is determined.
The shape data of the photovoltaic panel refers to the area, the inclination angle, and the like of the photovoltaic panel. It is not easy to understand that the area and the inclination angle of the photovoltaic panel have great influence on the landing points, the cleaning routes and the like of the cleaning robot, so that the landing points and the cleaning routes of the cleaning robot can be more reasonably determined by combining the form data of the photovoltaic panel and the dirt area to determine the landing points.
In another possible implementation, as shown in fig. 2, after step 220 (determining a landing point of the cleaning robot on the photovoltaic panel based on the morphological data of the photovoltaic panel and the dirt area), the control method may further include:
step 230: panel image information and acceleration curve information are acquired.
The panel image information is an image of a detected photovoltaic panel shot by a camera, a sensor and the like arranged on the cleaning robot; the acceleration curve information is an acceleration curve fed back by an axial acceleration sensor arranged in the driving unit of the cleaning robot.
Step 231: and confirming that the cleaning robot normally drops to a landing point based on the panel image information and the acceleration curve information.
When the panel image information includes a complete and stable photovoltaic panel image, it may be indicated that the cleaning robot has fallen completely, or when the acceleration curve information is a smooth curve, it may be indicated that the cleaning robot has fallen smoothly onto the photovoltaic panel, so as to confirm whether the cleaning robot can start cleaning.
If the panel image and the photovoltaic panel are based on the fact that the body is generally blue, the blue area ratio in the image is identified, a blue area ratio threshold value, such as 50%, can be preset in the control method, that is, when the blue area ratio in the image is greater than or equal to 50%, and meanwhile, the acceleration curve is relatively stable, so that the cleaning robot can be considered to be dropped to the photovoltaic panel.
Specifically, in an embodiment, fig. 3 is a flow chart illustrating a control method of a cleaning robot according to another embodiment of the application. As shown in fig. 3, step 500 (determining the current cleaning mode of the cleaning robot based on the surface cleanliness) may further include the steps of:
step 510: when the surface cleanliness is smaller than the first preset cleanliness and larger than the second preset cleanliness, determining that the current cleaning mode is the first cleaning mode.
The first preset cleanliness is a cleanliness value smaller than or equal to a preset estimated cleanliness value, if the calculation mode of the cleanliness is defined as the occupation ratio of the non-dirt area to the area of the panel, the first preset cleanliness can be set to be 50%, and the second preset cleanliness can be set to be 20%; the first cleaning mode may be set to a general cleaning mode in which the cleaning robot moves at a default initial speed, and a device for cleaning such as a brush or the like rotates at a default initial rotation speed, so that effective cleaning of the photovoltaic panel can be achieved. In other words, when the real-time surface cleanliness of the photovoltaic panel is less than 50% and greater than 20%, setting the cleaning mode of the cleaning robot to the first cleaning mode can achieve effective cleaning of the photovoltaic panel.
Further, step 600 (generating a cleaning instruction based on the current cleaning mode) may include the steps of:
step 610: based on the first cleaning mode, a first cleaning instruction is generated.
The first cleaning command is a control command for controlling the cleaning robot to perform cleaning at a first advancing speed and a first cleaning rotational speed, and the command is transmitted to the cleaning robot. The first forward speed may be understood as a default initial speed of the cleaning robot, such as 1 meter/second; the first cleaning rotational speed is a default initial rotational speed of the cleaning unit, such as a brush, in the cleaning robot, such as 30 revolutions per minute. Therefore, the pollution degree of the photovoltaic panel can be corresponded, the cleaning mode of the cleaning robot is reasonably selected, the cleaning effect is ensured, and the waste of the electric energy of the cleaning robot is reduced.
Optionally, as shown in fig. 3, step 500 (determining the current cleaning mode of the cleaning robot based on the surface cleanliness) may further include the steps of:
step 520: and when the surface cleanliness is smaller than the second preset cleanliness, determining that the current cleaning mode is the second cleaning mode.
In view of the above, the second preset cleanliness is a lower cleanliness value, and when the surface cleanliness of the photovoltaic panel is lower than the second preset cleanliness value, the surface cleanliness of the photovoltaic panel is higher, the photovoltaic panel is cleaned with a default initial speed and a default initial rotation speed in the first cleaning mode, and a better cleaning effect is likely to be difficult to achieve, so that the cleaning mode needs to be correspondingly adjusted to the second cleaning mode, namely the deep cleaning mode, so that the cleaning effect of the cleaning robot on the photovoltaic panel is effectively ensured.
Further, step 600 (generating a cleaning instruction based on the current cleaning mode) may include the steps of:
step 620: based on the second cleaning mode, a second cleaning instruction is generated.
The second cleaning command is a control command for controlling the cleaning robot to perform cleaning at a second advancing speed and a second cleaning rotational speed, and the command is transmitted to the cleaning robot. The second forward speed may be set to eighty percent of the default initial speed of the cleaning robot, such as 0.8 m/s, so that the movement speed of the cleaning unit on the photovoltaic panel may be slowed down, and the cleaning effect may be improved; the second cleaning rotation speed can be 1.5 times of the default initial rotation speed of the cleaning unit in the cleaning robot, such as a brush, for example, 45 rotations/min, so that the contact time of the brush and the photovoltaic panel can be increased, and the cleaning effect is further improved. Therefore, the pollution degree corresponding to the photovoltaic panel is realized, the cleaning mode of the cleaning robot is reasonably selected, and the cleaning effect of the photovoltaic panel under the serious pollution condition is ensured.
Specifically, in one embodiment, as shown in fig. 3, after step 600 (generating a cleaning command based on the current cleaning mode), the control method may further include the following steps:
step 710: image sensing information of a cleaned area on a photovoltaic panel is acquired.
The cleaned area is the area after the cleaning robot cleans; the image sensing information is image information and/or sensing information shot by an imaging sensing device arranged on the cleaning robot. The image sensing information is obtained by shooting or sensing the cleaned area of the cleaning robot, so that whether the cleaning effect is qualified or not can be judged through the image sensing information.
Step 720: based on the image sensing information and the surface cleanliness, a current cleanliness ratio is generated.
Based on the image sensing information, the size of the area of the cleaned area can be observed, so that the duty ratio of the cleaned area relative to the total area of the photovoltaic panel is calculated, and the secondary duty ratio is the current cleanliness duty ratio. Furthermore, it is possible to provide a device for the treatment of a disease. The current cleanliness ratio can be compared with the surface cleanliness before the photovoltaic panel is cleaned, so that whether the cleaning effect is qualified can be judged.
It should be noted that, in particular to a captured image of a photovoltaic panel, the control method can identify colors in the image to determine a clean area and a dirty area of the photovoltaic panel, generally speaking, the photovoltaic panel body is blue, and the clean panel with dust or dirt is gray or black, so that the amount of the blue area in the image accounting for the whole area of the image can indirectly represent the clean area accounting for the clean area of the photovoltaic panel.
Step 7201: and when the current cleanliness ratio is smaller than the preset cleanliness ratio, generating a third cleaning instruction.
The preset cleanliness ratio refers to a preset cleanliness ratio in the control method, if the preset cleanliness ratio can be set to 80%, the current cleanliness is greater than or equal to 80%, the cleaning effect can be considered to be qualified, if the current cleanliness is less than 80%, the cleaning effect can be considered to be unqualified, and further cleaning is needed. The third cleaning command is a control command for controlling the cleaning robot to perform cleaning at the third forward speed and/or the third cleaning rotational speed. The third advancing speed is smaller than the second advancing speed, the third cleaning rotating speed is larger than the second cleaning rotating speed, and if the third advancing speed can be set to be 0.5 m/s, the third cleaning rotating speed is 70 rpm. When the cleaning effect is judged to be insufficient, on the basis of the current advancing speed of the cleaning robot, the advancing speed of the cleaning robot is further slowed down, and meanwhile, the rotating speed of the brush is increased, so that the cleaning strength and the cleaning effect are improved.
In the control method, the minimum limit value of the forward speed of the cleaning robot and the maximum upper limit value of the cleaning rotation speed are set, so that the condition that the cleaning robot stops moving due to continuous speed reduction and the condition that the rotation speed of the brush is overloaded are prevented.
Optionally, as shown in fig. 3, after step 720 (generating the current cleanliness factor based on the image sensing information and the surface cleanliness), the control method may further include the following steps:
step 7202: when the current cleanliness ratio is larger than or equal to the preset cleanliness ratio, acquiring edge detection information of the photovoltaic panel and battery power information of the cleaning robot.
The edge detection information is used for indicating whether the photo shot by the image sensing device contains the edge of the photovoltaic panel or not; the battery power information indicates how much the battery power of the cleaning robot is. When the current cleanliness ratio is greater than or equal to the preset cleanliness ratio, the cleaning effect of the cleaning robot is good, the advancing speed of the cleaning robot is not required to be reduced, at the moment, whether the cleaning robot advances to the vicinity of the edge of the photovoltaic panel is required to be judged, meanwhile, the electric quantity condition of the cleaning robot is checked, and the condition that the use is influenced due to the fact that the electric quantity of the cleaning robot is too low is prevented.
Step 7203: and when the edge detection information comprises an edge image of the photovoltaic panel and the battery electric quantity information is larger than or equal to a preset electric quantity safety threshold value, generating a turning instruction and a cleaning instruction.
The transfer instruction is a control instruction for controlling the cleaning robot to transfer the advancing direction along the horizontal direction; the preset electric quantity safety threshold is the minimum electric quantity for allowing the cleaning robot to work normally. When the above situation occurs, it can be stated that the cleaning robot is advanced to the vicinity of the edge of the photovoltaic panel, and at this time, the cleaning robot needs to be controlled to turn and translate to the lower side to continue cleaning the photovoltaic panel in the horizontal direction. Under the condition that the electric quantity allows, the cleaning robot is controlled to move back and forth to clean the photovoltaic panel, and unmanned automatic cleaning of the photovoltaic panel can be achieved.
In one possible implementation manner, as shown in fig. 3, after step 7202 (when the current cleanliness ratio is greater than or equal to the preset cleanliness ratio, the edge detection information of the photovoltaic panel and the battery power information of the cleaning robot are obtained), the control method may further include the following steps:
step 7204: and when the edge detection information comprises an edge image of the photovoltaic panel and the battery electric quantity information is smaller than a preset electric quantity safety threshold, generating a shutdown instruction and a recall instruction.
The shutdown instruction is a control instruction for controlling the cleaning robot to stop cleaning, and the recall instruction is a control instruction for recalling the cleaning robot. When the battery power of the cleaning robot is too low, the cleaning robot should be controlled to stop working in time for safety, and return to the journey in time.
Corresponding to the cleaning robot, the application also provides a control device of the cleaning robot. The control device of this cleaning robot will be described in detail with reference to fig. 6.
Fig. 4 is a block diagram illustrating a control apparatus of a cleaning robot according to an embodiment of the present application. As shown in fig. 4, the control device 100 of the cleaning robot provided by the present application may specifically include: a mapping result data acquisition module 101, a landing point determination module 102, a surface cleanliness acquisition module 103, a cleaning mode determination module 104, and an instruction generation module 105. The mapping result data acquisition module 101 is used for acquiring mapping result data of the photovoltaic panel; the falling point determining module 102 is used for determining the falling point of the cleaning robot on the photovoltaic panel based on the mapping result data; the surface cleanliness acquisition module 103 is used for acquiring the surface cleanliness of the photovoltaic panel; the cleaning mode determining module 104 is configured to determine a current cleaning mode of the cleaning robot based on the surface cleanliness; and an instruction generation module 105 for generating a transport instruction based on the drop point, the transport instruction for causing the cleaning robot transport to be released to the drop point; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode.
The control device 100 of the cleaning robot provided by the application can be used for performing the control method of the cleaning robot in the embodiment, namely, the control device 100 of the cleaning robot can acquire the mapping result data of the photovoltaic panel; determining a landing point of the cleaning robot on the photovoltaic panel based on the mapping result data; generating a transportation instruction based on the drop point, wherein the transportation instruction is used for enabling the cleaning robot to be transported and released to the drop point; acquiring the surface cleanliness of the photovoltaic panel; determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode. The control device 100 of the cleaning robot can automatically, efficiently and high-quality finish the cleaning work of the photovoltaic panel without being limited by a use scene under the condition of not depending on manpower, improves the cleaning efficiency of the photovoltaic panel, and reduces the cleaning difficulty and the cleaning cost of the photovoltaic panel. In addition, the application also provides a cleaning robot corresponding to the control method and the control device of the cleaning robot.
Fig. 5 is a block diagram showing a structure of a cleaning robot according to another embodiment of the present application.
As can be seen in connection with fig. 5. The cleaning robot is used for cleaning a photovoltaic panel, and specifically comprises: the robot body unit 20, the cleaning unit 30, the control device 100 in the above embodiment, the driving unit 40, and the lifting unit. Wherein, the robot body unit 20 is placed on the surface of the photovoltaic panel after being transported by the transportation device; the cleaning unit 30 is connected with the robot body unit 20, and the cleaning unit 30 is used for cleaning the photovoltaic panel; the control device 100 is respectively connected with the robot body unit 20 and the cleaning unit 30 in a communication manner, and the control device 100 is used for controlling the robot body unit 20 and the cleaning unit 30 to clean the photovoltaic panel; the driving unit 40 is connected with the robot body unit 20 and is in communication connection with the control device 100, and the driving unit 40 drives the robot body unit 20 and the cleaning unit 30 to move along the surface of the photovoltaic panel under the control of the central control unit; the lifting unit is in communication connection with the control device 100, and the lifting unit lifts the robot body unit 20, the cleaning unit 30 and the driving unit 40 to the photovoltaic panel under the control of the control device 100.
The cleaning robot includes the control device 100, so that it can apply the control method of the cleaning robot, which has similar effects to the control method of the cleaning robot and the control device 100, and will not be described herein.
In one possible implementation, the cleaning unit 30 may specifically include: roller, brush, hatch, and dust collector 31. Wherein, the roller is connected with the robot body unit 20, the brush is connected with the roller or attached to the roller, the hatch cover is arranged above the brush, the dust collector 31 is provided with an adsorption port, and the adsorption port is arranged opposite to the brush and is used for adsorbing dust carried by the brush. The brush is driven by the roller to rotate anticlockwise, the surface of the photovoltaic panel is cleaned, the cabin cover protects the brush, and meanwhile dust raised during the operation of the roller can be limited inside the cabin cover, so that dust can be collected by the dust collector 31 better, and the situation that the dust in the cleaning process is scattered and affects the cleaning effect is reduced. In addition, a bin body and a cover body for containing dust are arranged in the dust collector 31, so that when more dust exists, the cover body is opened to pour the dust.
Alternatively, the hoisting unit 21 may be composed of a functional module such as an unmanned plane, a hall sensor, and a fastening motor. The Hall sensor judges whether a matched fastening component enters a self-sensing area, if so, the fastening motor works and locks the component. After confirming that the cleaning robot has no problem, the cleaning robot is hoisted to the unmanned aerial vehicle and is subjected to space displacement under the carrying of the unmanned aerial vehicle.
Furthermore, the driving unit 40 needs to meet three special cases of the photovoltaic panel, (1) angle, in general, the inclination angle of the photovoltaic panel is 35 ° at maximum; (2) The photovoltaic panel surface has limited pressure resistance and friction, which is particularly reduced in dew, rain or dust, i.e. the surface is very slippery. (3) The photovoltaic panel has a protrusion of up to about 1 cm at the link. All of the above-mentioned cases require a strong grip of the unit.
The application selects a nonmetallic crawler belt with large friction force as a driving device of the driving unit 40, and the surface of the crawler belt is provided with wear-resistant grains, and meanwhile, the application is also provided with a multi-axis acceleration sensor. More importantly, the drive units 40 of the two tracks are independent systems of each other. The cleaning robot can turn around 180 degrees in situ, and the whole motion track of the robot can be monitored in real time, so that the robot can move horizontally and linearly or in other specific directions through a control algorithm.
Specifically, in one embodiment, as shown in fig. 5, the cleaning robot may further include: the first image sensing unit 50 and the second image sensing unit 60. Wherein, the first image sensing unit 50 is connected with a first end of the robot body unit 20 in the length direction, and the second image sensing unit 60 is connected with a second end of the robot body unit 20 in the length direction; the first image sensing unit 50 and the second image sensing unit 60 are used for acquiring surface image sensing information of the photovoltaic panel. A reverse surface, which can photograph the surface of the photovoltaic panel through the first and second image sensing units 50 and 60, so as to determine the specific position of the dirt and the landing point of the cleaning robot; on the other hand, photographs of the uncleaned area and the cleaned area of the photovoltaic panel can be taken by the first and second image sensing units 50 and 60, thereby judging how the cleaning effect of the photovoltaic panel is.
Wherein, the first image sensing unit 50 and the second image sensing unit 60 may each be composed of one or more cameras or millimeter wave sensors.
Optionally, the first image sensing unit 50 and/or the second image sensing unit 60 includes: a thermal imaging module. Thermal imaging is a technique for detecting the temperature distribution of the surface of an object by using an infrared sensor, and the temperature distribution of the surface of the object is shown by converting infrared radiation of the surface of the object into an electric signal and then converting the electric signal into an image by a signal processing and displaying device.
The thermal imaging module can scan whether the photovoltaic panel has hot spots, namely, accumulation of dirt such as bird droppings or dust and the like, so that the local heat dissipation capacity is reduced, and further the power generation of the photovoltaic panel is affected.
In another possible implementation manner, as shown in fig. 5, the cleaning robot may further include: a power module 70, a wireless charging module, and a power management module. The power module 70 is used for providing working voltage for the use of the robot assembly, and the wireless charging module is used for wirelessly charging the power module 70; the power management module is communicatively connected to the control device 100, and is configured to transmit power information of the power module 70 to the control device 100.
The wireless charging module charges the power module 70 based on the magnetic resonance wireless charging technology, so that the cleaning robot can be ensured to be charged in a wireless charging mode, and the cleaning robot is not in a contact mode or a (manual) battery replacement mode. The cleaning robot charging device fundamentally ensures that the cleaning robot is not influenced by natural conditions such as rain, snow, condensation, salt fog and the like in an outdoor scene. The power module 70 may be a lithium battery or a battery made of other materials such as lithium iron phosphate, and the weight and size of the battery should be small enough. And, the safety and functionality of the battery are ensured by the power management unit.
Next, an electronic device according to an embodiment of the present application is described with reference to fig. 6.
Fig. 6 illustrates a block diagram of an electronic device according to an embodiment of the application.
As shown in fig. 6, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. On which one or more computer program instructions may be stored, which may be executed by the processor 11 to implement the control method of the photovoltaic panel cleaning robot and/or other desired functions of the various embodiments of the present application described above.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, including the determined distance information, direction information, and the like. The output means 14 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 10 that are relevant to the present application are shown in fig. 6 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
As a third aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the steps of:
Obtaining mapping result data of a photovoltaic panel; determining a landing point of the cleaning robot on the photovoltaic panel based on the mapping result data; generating a transportation instruction based on the drop point, wherein the transportation instruction is used for enabling the cleaning robot to be transported and released to the drop point; acquiring the surface cleanliness of the photovoltaic panel; determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when run by a processor, causes the processor to perform the steps in the control method of a photovoltaic panel cleaning robot according to the various embodiments of the present application described in the present specification.
The computer program product may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program information is stored, which, when being executed by a processor, causes the processor to perform the steps in the control method of a photovoltaic panel cleaning robot according to various embodiments of the present application.
A computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
Claims (10)
1. A control method of a cleaning robot for cleaning a photovoltaic panel, wherein the control method comprises:
Obtaining mapping result data of a photovoltaic panel;
determining a landing point of the cleaning robot on the photovoltaic panel based on the mapping result data;
generating a transport instruction based on the landing point, the transport instruction being for causing the cleaning robot to transport to the landing point;
acquiring the surface cleanliness of the photovoltaic panel;
determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and
generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode.
2. The method of claim 1, wherein the mapping result data includes estimated cleanliness and morphology data of the photovoltaic panel;
wherein the determining a landing point of the cleaning robot on the photovoltaic panel based on the mapping result data comprises:
when the estimated cleanliness of the photovoltaic panel is smaller than a preset estimated cleanliness value, marking a dirt area on the photovoltaic panel;
determining the landing point of the cleaning robot on the photovoltaic panel based on the morphological data of the photovoltaic panel and the dirt region.
3. The control method of a photovoltaic panel cleaning robot according to claim 1, characterized in that after the generation of a transport instruction based on the landing point, the control method further comprises:
acquiring panel image information and acceleration curve information;
and confirming that the cleaning robot normally drops to a drop point based on the panel image information and the acceleration curve information.
4. The method of controlling a photovoltaic panel cleaning robot according to claim 1, wherein the determining a current cleaning mode of the cleaning robot based on the surface cleanliness, comprises:
when the surface cleanliness is smaller than a first preset cleanliness and larger than a second preset cleanliness, determining that the current cleaning mode is a first cleaning mode; wherein the second preset cleanliness is less than the first preset cleanliness;
the generating a cleaning instruction based on the current cleaning mode includes:
based on the first cleaning mode, a first cleaning instruction is generated, wherein the first cleaning instruction is used for controlling the cleaning robot to clean at a first advancing speed and a first cleaning rotating speed.
5. The method of claim 4, wherein determining the current cleaning mode of the cleaning robot based on the surface cleanliness, comprises:
When the surface cleanliness is smaller than a second preset cleanliness, determining that the current cleaning mode is a second cleaning mode;
the generating a cleaning instruction based on the current cleaning mode includes:
generating a second cleaning instruction based on the second cleaning mode, wherein the second cleaning instruction is used for controlling the cleaning robot to clean at a second advancing speed and a second cleaning rotating speed;
wherein the second forward speed is less than the first forward speed; and/or the second cleaning rotational speed is greater than the first cleaning rotational speed.
6. The control method of a photovoltaic panel cleaning robot according to claim 5, characterized in that after the generating of a cleaning instruction based on the current cleaning mode, the control method further comprises:
acquiring image sensing information of a cleaned area on the photovoltaic panel;
generating a current cleanliness factor based on the image sensing information and the surface cleanliness;
when the current cleanliness duty ratio is smaller than a preset cleanliness duty ratio, generating a third cleaning instruction, wherein the third cleaning instruction is used for controlling the cleaning robot to clean at a third advancing speed and/or a third cleaning rotating speed;
Wherein the third forward speed is less than the second forward speed, and the third cleaning rotational speed is greater than the second cleaning rotational speed.
7. The control method of a photovoltaic panel cleaning robot according to claim 6, characterized in that after the generating of the current cleanliness factor based on the image sensing information and the surface cleanliness, the control method further comprises:
when the current cleanliness ratio is larger than or equal to the preset cleanliness ratio, acquiring edge detection information of the photovoltaic panel and battery power information of the cleaning robot;
and when the edge detection information comprises an edge image of the photovoltaic panel and the battery electric quantity information is larger than or equal to a preset electric quantity safety threshold, generating a turning instruction and a cleaning instruction, wherein the turning instruction is used for controlling the cleaning robot to turn the advancing direction along the horizontal direction.
8. The control method of a photovoltaic panel cleaning robot according to claim 7, characterized in that after the generating of the current cleanliness factor based on the image sensing information and the surface cleanliness, the control method further comprises:
And when the battery electric quantity information is smaller than a preset electric quantity safety threshold, generating a shutdown instruction and a recall instruction, wherein the shutdown instruction is used for controlling the cleaning robot to stop cleaning, and the recall instruction is used for recalling the cleaning robot.
9. A control device of a cleaning robot, comprising:
the mapping result data acquisition module is used for acquiring mapping result data of the photovoltaic panel;
the falling point determining module is used for determining the falling point of the cleaning robot on the photovoltaic panel based on the mapping result data;
the surface cleanliness acquisition module is used for acquiring the surface cleanliness of the photovoltaic panel;
a cleaning mode determining module for determining a current cleaning mode of the cleaning robot based on the surface cleanliness; and
the instruction generation module is used for generating a transportation instruction based on the landing point, wherein the transportation instruction is used for enabling the cleaning robot to be transported to the landing point; and generating a cleaning instruction based on the current cleaning mode, wherein the cleaning instruction is used for controlling the cleaning robot to clean the photovoltaic panel in the current cleaning mode.
10. A cleaning robot, comprising:
the robot body unit is arranged on the surface of the photovoltaic panel;
the cleaning unit is connected with the robot body unit and is used for cleaning the photovoltaic panel;
the control device of claim 9, the control device being in communication with the robot body unit and the cleaning unit, respectively, the control device being configured to control the robot body unit and the cleaning unit to clean the photovoltaic panel;
the driving unit is connected with the robot body unit and is in communication connection with the control device, and the driving unit drives the robot body unit and the cleaning unit to move along the surface of the photovoltaic panel under the control of the control device;
the lifting unit is in communication connection with the control device, and the lifting unit lifts the robot body unit, the cleaning unit and the driving unit to the photovoltaic panel under the control of the control device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310532139.XA CN116643562A (en) | 2023-05-11 | 2023-05-11 | Cleaning robot control method and device and cleaning robot |
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| CN202310532139.XA CN116643562A (en) | 2023-05-11 | 2023-05-11 | Cleaning robot control method and device and cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117754613A (en) * | 2024-02-22 | 2024-03-26 | 厦门蓝旭科技有限公司 | control system of photovoltaic cleaning robot and robot |
| CN117754613B (en) * | 2024-02-22 | 2024-05-31 | 厦门蓝旭科技有限公司 | Control system of photovoltaic cleaning robot and robot |
-
2023
- 2023-05-11 CN CN202310532139.XA patent/CN116643562A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117754613A (en) * | 2024-02-22 | 2024-03-26 | 厦门蓝旭科技有限公司 | control system of photovoltaic cleaning robot and robot |
| CN117754613B (en) * | 2024-02-22 | 2024-05-31 | 厦门蓝旭科技有限公司 | Control system of photovoltaic cleaning robot and robot |
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