CN117021105A - Control method, device and equipment of photovoltaic cleaning robot - Google Patents
Control method, device and equipment of photovoltaic cleaning robot Download PDFInfo
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- CN117021105A CN117021105A CN202311110510.XA CN202311110510A CN117021105A CN 117021105 A CN117021105 A CN 117021105A CN 202311110510 A CN202311110510 A CN 202311110510A CN 117021105 A CN117021105 A CN 117021105A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 202
- 238000000034 method Methods 0.000 title claims abstract description 59
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Classifications
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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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The utility model relates to a control method, device and equipment of photovoltaic cleaning robot, effectively solved if cleaning robot starts frequently, can lead to sand to wear seriously fish tail photovoltaic panel film to influence the life of photovoltaic board, if cleaning robot starts rare, then wash the dynamics inadequately, influence the technical problem of photovoltaic power plant's efficiency, photovoltaic cleaning robot's control method includes: acquiring working parameters of an area to be cleaned and image data containing the area to be cleaned; determining a cleaning time of the area to be cleaned based on the working parameters and the image data; and cleaning the area to be cleaned at the cleaning time.
Description
Technical Field
The disclosure relates to the field of photovoltaic power generation and intelligent processing, in particular to a control method, a control device and control equipment of a photovoltaic cleaning robot.
Background
The photovoltaic panels in the photovoltaic power station are all arranged in the open air, a certain amount of dust and other dirt can be accumulated on the photovoltaic panels after the photovoltaic panels run for a period of time, the normal operation of the photovoltaic panels can be influenced, the power generation efficiency is reduced, and therefore the photovoltaic panels need to be cleaned regularly.
At present, common photovoltaic panel cleaning modes comprise manual cleaning, cleaning mechanical cleaning, robot cleaning and the like. The manual cleaning efficiency is low, and the cost is high; large cleaning machines are limited by the topography of the photovoltaic panels and the narrow alignment gap; the cleaning robot can adapt to various types of photovoltaic power stations, however, in the prior art, when the cleaning robot is used for cleaning, a mode of reasonably setting cleaning time does not exist yet, if the cleaning robot is started frequently, sand particles can be caused to be severely worn and scratched to a photovoltaic panel coating film, so that the service life of a photovoltaic panel is influenced, and if the cleaning robot is started rarely, the cleaning force is insufficient, and the efficiency of the photovoltaic power station is influenced.
Disclosure of Invention
In order to solve the technical problems, the disclosure provides a control method, a control device and control equipment for a photovoltaic cleaning robot, which effectively solve the technical problems that if the cleaning robot is started frequently, sand grains can be severely worn to scratch a photovoltaic panel coating film, thereby influencing the service life of a photovoltaic panel, and if the cleaning robot is started sparsely, the cleaning force is insufficient, and the efficiency of a photovoltaic power station is influenced.
In a first aspect, an embodiment of the present disclosure provides a control method of a photovoltaic cleaning robot, including:
acquiring working parameters of a region to be cleaned and image data containing the region to be cleaned;
determining the cleaning time of the area to be cleaned based on the working parameters and the image data;
and at the cleaning time, cleaning the area to be cleaned.
In a possible implementation manner, in the method provided by the embodiment of the present application, determining, based on the working parameter and the image data, a cleaning time of the area to be cleaned includes:
comparing the working parameters with preset parameter thresholds, and determining the power loss degree of the photovoltaic module in the area to be cleaned;
determining the dirt degree of the area to be cleaned according to the image data;
the cleaning time of the area to be cleaned is determined based on the power consumption level and the dirt level.
In a possible implementation manner, in the method provided by the embodiment of the present application, determining, based on the power loss level and the dirt level, a cleaning time of a region to be cleaned includes:
acquiring weather information of an area to be cleaned, wherein the weather information is used for indicating weather conditions in a certain time period of the area to be cleaned;
the cleaning time of the area to be cleaned is determined based on the power consumption degree, the dirt degree and the weather condition of the area to be cleaned within a certain period of time.
In a possible implementation manner, in the method provided by the embodiment of the present application, at a cleaning time, cleaning a region to be cleaned includes:
dividing a target area to be cleaned in the area to be cleaned based on the image data;
at the time of cleaning, the target area is cleaned.
In a possible implementation manner, in the method provided by the embodiment of the present application, based on image data, a target area to be cleaned is divided in an area to be cleaned, including:
dividing a first area to be cleaned based on the dirt degree of the area to be cleaned;
acquiring high-definition image data of a first area;
a target region is determined in the first region based on the high definition image data.
In one possible implementation manner, in the method provided by the embodiment of the present application, the method further includes:
determining a type of smudge in the target area based on the high definition image data;
and adjusting the cleaning type of the photovoltaic cleaning robot according to the dirt type.
In one possible implementation manner, in the method provided by the embodiment of the present application, the method further includes:
determining humidity information of an area to be cleaned;
and correcting the cleaning time of the area to be cleaned based on the humidity information of the area to be cleaned.
In a possible implementation manner, in the method provided by the embodiment of the present application, determining humidity information of an area to be cleaned includes:
acquiring weather information of a region to be cleaned, and determining humidity information of the region to be cleaned according to the weather information; or-
And acquiring high-definition image data of the area to be cleaned, and determining humidity information of the area to be cleaned based on the high-definition image data.
In a second aspect, an embodiment of the present disclosure provides a control device for a photovoltaic cleaning robot, the device including:
the acquisition unit is used for acquiring the working parameters of the area to be cleaned and the image data containing the area to be cleaned;
a determining unit for determining a cleaning time of the area to be cleaned based on the operation parameter and the image data;
and the processing unit is used for cleaning the area to be cleaned at the cleaning moment.
In a possible implementation manner, in the device provided by the embodiment of the present application, the determining unit is specifically configured to:
comparing the working parameters with preset parameter thresholds, and determining the power loss degree of the photovoltaic module in the area to be cleaned;
determining the dirt degree of the area to be cleaned according to the image data;
the cleaning time of the area to be cleaned is determined based on the power consumption level and the dirt level.
In a possible implementation manner, in the device provided by the embodiment of the present application, the determining unit is specifically configured to:
acquiring weather information of an area to be cleaned, wherein the weather information is used for indicating weather conditions in a certain time period of the area to be cleaned;
the cleaning time of the area to be cleaned is determined based on the power consumption degree, the dirt degree and the weather condition of the area to be cleaned within a certain period of time.
In a possible implementation manner, in the device provided by the embodiment of the present application, the processing unit is specifically configured to:
dividing a target area to be cleaned in the area to be cleaned based on the image data;
at the time of cleaning, the target area is cleaned.
In a possible implementation manner, in the device provided by the embodiment of the present application, the processing unit is specifically configured to:
dividing a first area to be cleaned based on the dirt degree of the area to be cleaned;
acquiring high-definition image data of a first area;
a target region is determined in the first region based on the high definition image data.
In a possible implementation manner, in the apparatus provided by the embodiment of the present application, the processing unit is further configured to:
determining a type of smudge in the target area based on the high definition image data;
and adjusting the cleaning type of the photovoltaic cleaning robot according to the dirt type.
In a possible implementation manner, in the apparatus provided by the embodiment of the present application, the processing unit is further configured to:
determining humidity information of an area to be cleaned;
and correcting the cleaning time of the area to be cleaned based on the humidity information of the area to be cleaned.
In a possible implementation manner, in the apparatus provided by the embodiment of the present application, the processing unit is further configured to:
acquiring weather information of a region to be cleaned, and determining humidity information of the region to be cleaned according to the weather information; or-
And acquiring high-definition image data of the area to be cleaned, and determining humidity information of the area to be cleaned based on the high-definition image data.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the control method of the photovoltaic cleaning robot as described above.
In a fourth aspect, embodiments of the present disclosure provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method of controlling a photovoltaic cleaning robot as described above.
The embodiment of the disclosure provides a control method of a photovoltaic cleaning robot, which comprises the following steps:
firstly, working parameters of an area to be cleaned and image data containing the area to be cleaned are obtained, then the cleaning time of the area to be cleaned is determined based on the working parameters and the image data, and finally the area to be cleaned is cleaned at the cleaning time. According to the method, the working parameters and the image data of the area to be cleaned are integrated, so that the cleaning time of the area to be cleaned is accurately determined, the problems of untimely cleaning, resource waste and damage to the photovoltaic module due to frequent cleaning are avoided, the labor cost is reduced, and the power generation efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a control method of a photovoltaic cleaning robot according to an embodiment of the disclosure;
fig. 2 is a flow chart of another control method of a photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 3 is a specific flowchart of a control method of a further photovoltaic cleaning robot according to an embodiment of the disclosure;
fig. 4 is a specific flowchart of a control method of a further photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a control device of a photovoltaic cleaning robot according to an embodiment of the disclosure;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
The photovoltaic panels in the photovoltaic power station are all arranged in the open air, a certain amount of dust and other dirt can be accumulated on the photovoltaic panels after the photovoltaic panels run for a period of time, the normal operation of the photovoltaic panels can be influenced, the power generation efficiency is reduced, and therefore the photovoltaic panels need to be cleaned regularly.
At present, common photovoltaic panel cleaning modes comprise manual cleaning, cleaning mechanical cleaning, robot cleaning and the like. The manual cleaning efficiency is low, and the cost is high; large cleaning machines are limited by the topography of the photovoltaic panels and the narrow alignment gap; the cleaning robot can adapt to various types of photovoltaic power stations, however, in the prior art, when the cleaning robot is used for cleaning, a mode of reasonably setting cleaning time does not exist yet, if the cleaning robot is started frequently, sand particles can be caused to be severely worn and scratched to a photovoltaic panel coating film, so that the service life of a photovoltaic panel is influenced, and if the cleaning robot is started rarely, the cleaning force is insufficient, and the efficiency of the photovoltaic power station is influenced.
Fig. 1 is a flow chart of a control method of a photovoltaic cleaning robot according to an embodiment of the present disclosure, which specifically includes the following steps S101 to S103 shown in fig. 1:
s101, acquiring working parameters of the area to be cleaned and image data containing the area to be cleaned.
In specific implementation, the working parameters of the area to be cleaned, such as the power parameters of the photovoltaic module, the basic setting and rated parameters of the photovoltaic module, are obtained through the external operation and maintenance monitoring module, and the image data of the area to be cleaned is obtained through the image pickup device arranged in the area to be cleaned or the image pickup device arranged on the cleaning robot.
S102, determining the cleaning time of the area to be cleaned based on the working parameters and the image data.
In specific implementation, the working parameters are compared with preset parameter thresholds, and the power loss degree of the photovoltaic module in the area to be cleaned is determined. And determining the dirt degree of the region to be cleaned according to the image data, wherein the captured image data in a clean state can be used for comparison during specific determination, the deep neural network can be trained to identify the dirt degree of the region to be cleaned in the image data, and finally the cleaning time of the region to be cleaned is determined based on the power consumption degree and the dirt degree.
In this step, the cleaning time may be corrected in consideration of the humidity information of the area to be cleaned, specifically, the weather information of the area to be cleaned may be obtained, and then the humidity information of the area to be cleaned may be determined according to the weather information. It is also possible to acquire high-definition image data of the area to be cleaned, and then determine humidity information of the area to be cleaned based on the high-definition image data, and after acquiring the high-definition image data, it is also possible to determine a type of dirt in the target area based on the high-definition image data, and adjust a type of cleaning of the photovoltaic cleaning robot according to the type of dirt, such as a force of cleaning, a cleaning speed, a number of times, etc. of the cleaning robot in the area, and whether a detergent for assisting cleaning is used, etc.
And S103, cleaning the area to be cleaned at the cleaning time.
In the specific implementation, when the cleaning time is reached, the region to be cleaned is cleaned, and of course, a more accurate target region to be cleaned can be divided in the region to be cleaned based on the image data, and then the target region is cleaned at the cleaning time. When the method is specifically divided, a first area to be cleaned is roughly divided based on the dirt degree of the area to be cleaned, then high-definition image data of the first area is acquired, and a target area is accurately divided in the first area based on the high-definition image data.
Fig. 2 is a flow chart of another control method of a photovoltaic cleaning robot according to an embodiment of the present disclosure, specifically including the following steps S201 to S204 shown in fig. 2:
s201, acquiring working parameters of the area to be cleaned and image data containing the area to be cleaned.
In specific implementation, the working parameters of the area to be cleaned, such as the power parameters of the photovoltaic module, are obtained through the external operation and maintenance monitoring module, and the image data of the area to be cleaned is obtained through the image pickup device arranged in the area to be cleaned or the image pickup device arranged on the cleaning robot.
S202, determining the cleaning time of the area to be cleaned based on the working parameters and the image data.
In specific implementation, the working parameters are compared with preset parameter thresholds, and the power loss degree of the photovoltaic module in the area to be cleaned is determined. And determining the dirt degree of the region to be cleaned according to the image data, wherein the captured image data in a clean state can be used for comparison during specific determination, the deep neural network can be trained to identify the dirt degree of the region to be cleaned in the image data, and finally the cleaning time of the region to be cleaned is determined based on the power consumption degree and the dirt degree.
In one example, firstly, comparing the current working parameter of the photovoltaic module with a preset parameter threshold, wherein the parameter threshold is generally used for representing the working parameter of the photovoltaic module in a completely clean state, and the specific comparison can be comparing the power and the generating efficiency, for example, when the power is compared, if the current working parameter is less than 85% of the parameter threshold, determining the cleaning moment to be the current moment, namely immediately cleaning, and if the current working parameter is less than 90% of the parameter threshold and greater than 85% of the parameter threshold, determining the cleaning moment to be 15 hours later; when comparing the power generation efficiency, if the current working parameter is smaller than 98% of the parameter threshold, determining the cleaning time as the current time, namely immediately cleaning, and if the current working parameter is smaller than 99% of the parameter threshold and larger than 98% of the time parameter threshold, determining the cleaning time as 15 hours, wherein the relation between the specific cleaning time and the comparison condition can be automatically set according to the requirements and the actual conditions. After setting, the image data is acquired by the image pickup device arranged in the area to be cleaned or the image pickup device arranged on the cleaning robot, then image similarity comparison is carried out by using the image data and the image data in a clean state, and when the similarity of the partial area is found to be lower than 50%, the condition that the dust accumulation degree of the photovoltaic panel reaches the cleaning condition is judged, namely, the cleaning time is the current time, namely, the cleaning is immediately carried out, if the similarity is more than 50%, for example, the similarity is 80%, the cleaning time compared by the working parameters is corrected according to the cleaning time corresponding to the similarity of 80%, for example, the cleaning time corresponding to the similarity of 80% is 10 hours, and the cleaning time compared by the working parameters is 8 hours, then the finally determined cleaning time is 9 hours, and certainly, the specific judgment similarity value can be 80% or 40%, the reference weight ratio of the cleaning time judged by the similarity and the cleaning time compared by the working parameters can also be set according to the actual requirement, and the embodiment of the application is not limited.
S203, dividing a target area to be cleaned in the area to be cleaned based on the image data.
In specific implementation, a more accurate target area to be cleaned can be divided in the area to be cleaned based on the image data, and then the target area is cleaned at the cleaning time. When the cleaning method is specifically divided, a first area to be cleaned is roughly divided based on the dirt degree of the area to be cleaned, then high-definition image data of the first area is acquired, a target area is accurately divided in the first area based on the high-definition image data, after the high-definition image data is acquired, the dirt type in the target area can be determined based on the high-definition image data, the cleaning type of the photovoltaic cleaning robot, such as the cleaning force, the cleaning speed, the cleaning times and the like of the cleaning robot in the area, whether a detergent for assisting in cleaning is used or not, and the cleaning efficiency can be further improved.
S204, cleaning the target area at the cleaning time.
Fig. 3 is a specific flow chart of a control method of a photovoltaic cleaning robot according to another embodiment of the present disclosure, where in this embodiment, the cleaning time is determined by using working parameters, image data and humidity information, and the method specifically includes the following steps as shown in fig. 3:
s301, acquiring working parameters of the area to be cleaned, image data comprising the area to be cleaned and weather conditions of the area to be cleaned.
During implementation, the working parameters of the photovoltaic module are monitored through the external operation and maintenance monitoring module, and meanwhile, the image acquisition module is used for acquiring relevant data analysis to judge whether to clean the photovoltaic module. Specifically, weather information can be obtained by means of a weather table or the like, can be obtained by means of an external air device, can be obtained by means of comparison of image data, and finally, weather conditions can be determined by means of the weather information.
In one example, the working parameters of the photovoltaic module are monitored through the external operation and maintenance monitoring module, the image data comprising the area to be cleaned is collected through the image acquisition module, the weather information of the current area to be cleaned, such as weather information provided by a weather forecast website, can be obtained through receiving broadcast information or through the internet, the weather information such as temperature, humidity, wind speed, wind direction, rainfall and the like can be measured through self-set weather station equipment, analysis can be carried out through data collected through the image acquisition module, for example, images in different weather states are stored in advance, then the obtained data are compared with preset images, the current weather information is calculated approximately, and the data collected by the image acquisition module can be input into the network through a training depth neural network to obtain the current weather information.
S302, determining the cleaning time of the area to be cleaned based on the working parameters, the image data and the weather conditions in a certain period of time of the area to be cleaned.
In specific implementation, for the working parameters, comparing the working parameters with preset parameter thresholds, and determining the power loss degree of the photovoltaic module in the area to be cleaned. For determining the dirt degree of the region to be cleaned according to the image data, the captured image data in a clean state can be used for comparison, the deep neural network can be trained to identify the dirt degree of the region to be cleaned in the image data, and the weather condition of the region to be cleaned in a certain time period can be determined through weather information. And finally, determining the cleaning time of the area to be cleaned based on the power consumption degree, the dirt degree and the weather condition of the area to be cleaned within a certain period of time.
In the first case, the latest weather and overcast weather are determined according to weather conditions. Through obtaining the weather condition of several days in the future, it reaches the condition that can wash photovoltaic module to predict rainfall intensity and rainfall duration, and compares operating parameter, detect that power generation efficiency of power station drops or power difference increases to the setting, satisfy cleaning robot start-up condition, when detecting rainfall, rainfall intensity, rainfall start-stop time, can be with the time after lasting rainfall 10 minutes with originally set for wash time correction, the purpose is to let the rainwater wash off the dirt that easily be washed off such as dust on the photovoltaic panel earlier, simultaneously become soft inflation with the soaking of the guano on the subassembly, stubborn dirt through the rainwater, reach easy abluent effect.
And in the second case, determining that the weather is sunny or cloudy in a certain number of days in the future according to the weather condition. For example, no rainfall is generated within ten days of the time when the cleaning moment is detected, the power generation efficiency of the power station is detected to be reduced or the power difference value is increased to a set value, the starting condition of the cleaning robot is met, and the area to be cleaned and the cleaning time are determined through the image data shot by the image acquisition module. Meanwhile, the cleaning time can be adjusted at any time according to the change of the humidity information in real time, such as artificial rainfall or water spraying on a photovoltaic module, the originally set cleaning time can be corrected to be the time after 10 minutes of continuous rainfall or the time after 5 minutes of continuous humidity, and specific logic can be automatically set according to actual demands.
S303, cleaning the area to be cleaned at the cleaning time.
In specific implementation, the area to be cleaned and the cleaning time are determined through the image data shot by the image acquisition module. Specifically, the cleaning work can be performed according to the determined area, and the total station cleaning in rainy days can also be set. Finally, it can also be detected by the acquired image data after cleaning whether a cleaning is needed again.
Fig. 4 is a flowchart of another control method of a photovoltaic cleaning robot according to an embodiment of the present disclosure, where in the embodiment, the cleaning time is determined by operating parameters, image data and humidity information, and the method shown in fig. 4 includes the following steps:
s401, acquiring working parameters of the area to be cleaned, image data containing the area to be cleaned and weather conditions of the area to be cleaned.
S402, determining the cleaning time of the area to be cleaned based on the working parameters, the image data and the weather conditions in a certain period of time of the area to be cleaned.
Step S401 and step S402 are the same as step S301 and step S302, and are not described here again.
S403, dividing a target area to be cleaned in the area to be cleaned based on the image data.
In specific implementation, a more accurate target area to be cleaned can be divided in the area to be cleaned based on the image data, and then the target area is cleaned at the cleaning time. When the cleaning method is specifically divided, a first area to be cleaned is roughly divided based on the dirt degree of the area to be cleaned, then high-definition image data of the first area is acquired, a target area is accurately divided in the first area based on the high-definition image data, after the high-definition image data is acquired, the dirt type in the target area can be determined based on the high-definition image data, the cleaning type of the photovoltaic cleaning robot, such as the cleaning force, the cleaning speed, the cleaning times and the like of the cleaning robot in the area, whether a detergent for assisting in cleaning is used or not, and the cleaning efficiency can be further improved.
S404, cleaning the target area at the cleaning time.
Fig. 5 is a schematic structural diagram of a control device of a photovoltaic cleaning robot according to an embodiment of the disclosure. The control device 500 for a photovoltaic cleaning robot provided in the embodiment of the present disclosure may execute the processing flow provided in the above-mentioned control method embodiment for a photovoltaic cleaning robot, as shown in fig. 5, where the control device 500 for a photovoltaic cleaning robot includes an obtaining unit 501, a determining unit 502, and a processing unit 503, where:
an acquiring unit 501, configured to acquire an operating parameter of an area to be cleaned and image data including the area to be cleaned;
a determining unit 502, configured to determine a cleaning time of the area to be cleaned based on the operation parameter and the image data;
and a processing unit 503, configured to clean the area to be cleaned at the cleaning time.
In a possible implementation manner, in the apparatus provided by the embodiment of the present application, the determining unit 502 is specifically configured to:
comparing the working parameters with preset parameter thresholds, and determining the power loss degree of the photovoltaic module in the area to be cleaned;
determining the dirt degree of the area to be cleaned according to the image data;
the cleaning time of the area to be cleaned is determined based on the power consumption level and the dirt level.
In a possible implementation manner, in the apparatus provided by the embodiment of the present application, the determining unit 502 is specifically configured to:
acquiring weather information of an area to be cleaned, wherein the weather information is used for indicating weather conditions in a certain time period of the area to be cleaned;
the cleaning time of the area to be cleaned is determined based on the power consumption degree, the dirt degree and the weather condition of the area to be cleaned within a certain period of time.
In one possible implementation manner, in the apparatus provided by the embodiment of the present application, the processing unit 503 is specifically configured to:
dividing a target area to be cleaned in the area to be cleaned based on the image data;
at the time of cleaning, the target area is cleaned.
In one possible implementation manner, in the apparatus provided by the embodiment of the present application, the processing unit 503 is specifically configured to:
dividing a first area to be cleaned based on the dirt degree of the area to be cleaned;
acquiring high-definition image data of a first area;
a target region is determined in the first region based on the high definition image data.
In a possible implementation manner, in the apparatus provided by the embodiment of the present application, the processing unit 503 is further configured to:
determining a type of smudge in the target area based on the high definition image data;
and adjusting the cleaning type of the photovoltaic cleaning robot according to the dirt type.
In a possible implementation manner, in the apparatus provided by the embodiment of the present application, the processing unit 503 is further configured to:
determining humidity information of an area to be cleaned;
and correcting the cleaning time of the area to be cleaned based on the humidity information of the area to be cleaned.
In a possible implementation manner, in the apparatus provided by the embodiment of the present application, the processing unit 503 is further configured to:
acquiring weather information of a region to be cleaned, and determining humidity information of the region to be cleaned according to the weather information; or-
And acquiring high-definition image data of the area to be cleaned, and determining humidity information of the area to be cleaned based on the high-definition image data.
The control device of the photovoltaic cleaning robot in the embodiment shown in fig. 5 may be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effects are similar, and are not repeated here.
In addition, the control method and the control device of the photovoltaic cleaning robot according to the embodiments of the present application described in connection with fig. 1 to 5 may be implemented by an electronic device. Fig. 6 shows a schematic hardware structure of an electronic device according to an embodiment of the present application.
As shown in fig. 6, the electronic device 600 may include a processing means (e.g., a central processor, a graphic processor, etc.) 601, which may perform various suitable actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603 to implement a control method of the photovoltaic cleaning robot according to an embodiment of the present disclosure. In the RAM 603, various programs and data required for the operation of the electronic apparatus 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 shows an electronic device 600 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts, thereby implementing the speech control method as described above. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but 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 of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to:
acquiring working parameters of a region to be cleaned and image data containing the region to be cleaned;
determining the cleaning time of the area to be cleaned based on the working parameters and the image data;
and at the cleaning time, cleaning the area to be cleaned.
Alternatively, the electronic device may perform other steps described in the above embodiments when the above one or more programs are executed by the electronic device.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ 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 computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The embodiment of the disclosure provides a control method of a photovoltaic cleaning robot, which comprises the following steps:
firstly, working parameters of an area to be cleaned and image data containing the area to be cleaned are obtained, then the cleaning time of the area to be cleaned is determined based on the working parameters and the image data, and finally the area to be cleaned is cleaned at the cleaning time. According to the method, the working parameters and the image data of the area to be cleaned are integrated, so that the cleaning time of the area to be cleaned is accurately determined, the problems of untimely cleaning, resource waste and damage to the photovoltaic module due to frequent cleaning are avoided, the labor cost is reduced, and the power generation efficiency is improved.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method of controlling a photovoltaic cleaning robot, the method comprising:
acquiring working parameters of an area to be cleaned and image data containing the area to be cleaned;
determining a cleaning time of the area to be cleaned based on the working parameters and the image data;
and cleaning the area to be cleaned at the cleaning time.
2. The method according to claim 1, wherein said determining a cleaning moment of the area to be cleaned based on the operating parameters and the image data comprises:
comparing the working parameters with preset parameter thresholds, and determining the power loss degree of the photovoltaic module in the area to be cleaned;
determining the dirt degree of the area to be cleaned according to the image data;
and determining the cleaning time of the area to be cleaned based on the power loss degree and the dirt degree.
3. The method of claim 2, wherein the determining a cleaning time of the area to be cleaned based on the power loss level and the soil level comprises:
acquiring weather information of the area to be cleaned, wherein the weather information is used for indicating weather conditions of the area to be cleaned within a certain time period;
and determining the cleaning time of the area to be cleaned based on the power loss degree, the dirt degree and the weather condition of the area to be cleaned within a certain time period.
4. A method according to claim 2 or 3, wherein said washing the area to be washed at the washing time comprises:
dividing a target area to be cleaned in the area to be cleaned based on the image data;
and cleaning the target area at the cleaning time.
5. The method according to claim 4, wherein dividing the target area to be cleaned in the area to be cleaned based on the image data includes:
dividing a first area to be cleaned based on the dirt degree of the area to be cleaned;
acquiring high-definition image data of the first area;
and determining a target area in the first area based on the high-definition image data.
6. The method of claim 5, wherein the method further comprises:
determining a type of contamination in the target area based on the high definition image data;
and adjusting the cleaning type of the photovoltaic cleaning robot according to the dirt type.
7. The method according to any one of claims 1-6, further comprising:
determining humidity information of the area to be cleaned;
and correcting the cleaning time of the area to be cleaned based on the humidity information of the area to be cleaned.
8. The method of claim 7, wherein the determining humidity information for the area to be cleaned comprises:
acquiring weather information of the area to be cleaned, and determining humidity information of the area to be cleaned according to the weather information; or-
And acquiring high-definition image data of the area to be cleaned, and determining humidity information of the area to be cleaned based on the high-definition image data.
9. A control device for a photovoltaic cleaning robot, the device comprising:
the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring working parameters of an area to be cleaned and image data containing the area to be cleaned;
a determining unit for determining a cleaning time of the region to be cleaned based on the working parameter and the image data;
and the processing unit is used for cleaning the area to be cleaned at the cleaning moment.
10. An electronic device, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the control method of a photovoltaic cleaning robot according to any one of claims 1 to 8.
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