CN117754613B - Control system of photovoltaic cleaning robot and robot - Google Patents
Control system of photovoltaic cleaning robot and robot Download PDFInfo
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- 230000003749 cleanliness Effects 0.000 claims description 88
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- 238000001514 detection method Methods 0.000 claims description 20
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 18
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- 239000007921 spray Substances 0.000 claims description 8
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention discloses a control system of a photovoltaic cleaning robot and the robot, relates to the technical field of cleaning of photovoltaic panels, and aims to solve the problems of small application range and poor cleaning effect of the existing cleaning robot. The cleaning robot is used for continuously cleaning the photovoltaic panel at fixed points, so that the cleaning work of the photovoltaic panel can be finished more smoothly, and the application range is remarkably expanded; the cleaning robot has the advantages that the cleaning effect is better, the cleaning work can be completed rapidly, the cleaning effect is more outstanding, the occurrence of dirt accumulation of the photovoltaic panel is avoided, and the cleaning requirement of the photovoltaic panel is gradually met.
Description
Technical Field
The invention relates to the technical field of photovoltaic panel cleaning, in particular to a control system of a photovoltaic cleaning robot and the robot.
Background
With the rapid development of solar energy industry, a photovoltaic cleaning robot plays an important role in improving the efficiency and service life of a photovoltaic panel, in order to ensure the efficient operation of the photovoltaic cleaning robot, an efficient control system becomes an indispensable part, however, the control system of the photovoltaic cleaning robot is complex, and covers multiple aspects of sensing and identification, decision and planning, motion control, communication and interaction, power management and the like, which depend on each other and influence each other to jointly determine the performance and efficiency of the robot, and in the practical application of the photovoltaic cleaning robot, the problem of uneven dirt of the photovoltaic panel is encountered, and in order to further optimize the performance of the photovoltaic cleaning robot and improve the working efficiency and quality of the photovoltaic cleaning robot, the control system needs to be improved and optimized to ensure that the cleaning task can be efficiently and accurately completed.
The prior patent with publication number CN106227215A discloses a robot automatic photovoltaic module cleaning system, which comprises a robot cleaning device, a self-adaptive mobile lifting vehicle and a control detection system; the robot cleaning device is used for cleaning the photovoltaic panel and is provided with a camera, and the camera transmits the cleaning condition to a worker in an image mode; the self-adaptive mobile lifting vehicle carries the robot cleaning device to the photovoltaic panel to be cleaned, and the self-adaptive mobile lifting vehicle automatically adjusts according to the angle of the photovoltaic panel, so that the connection action of the self-adaptive mobile lifting vehicle and the photovoltaic panel to be cleaned is completed, the self-adaptive mobile lifting vehicle can automatically adapt to photovoltaic panel assemblies with different sizes, and meanwhile, the self-adaptive mobile lifting vehicle is convenient and easy to operate and has wide market application prospect; the method can efficiently and rapidly solve stubborn stains, thereby effectively reducing the possibility of generating hot spot effect of the photovoltaic panel.
However, in practical application, the robot automatic photovoltaic assembly cleaning system needs workers to accompany the cleaning process of the photovoltaic panels in the whole course, after the cleaning of one photovoltaic panel is completed, the next photovoltaic panel can be cleaned only by moving the lifting vehicle to carry the cleaning robot, the carrying is very difficult when the application field of the photovoltaic panel is uneven, and the application range is small; when the stubborn stains on the photovoltaic panel are cleaned, the same cleaning mode is always adopted, the cleaning effect is poor, and the cleaning work is difficult to finish smoothly.
Therefore, the scheme can not meet the existing requirements, and the invention provides a control system of a photovoltaic cleaning robot and the robot.
Disclosure of Invention
The invention aims to provide a control system of a photovoltaic cleaning robot and the robot, which are used for solving the problems of small application range and poor cleaning effect of the conventional cleaning robot in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The control system of the photovoltaic cleaning robot comprises a control terminal, wherein the control terminal is used for controlling a detection aircraft to shoot a complete pre-cleaning bird's-eye view of a photovoltaic panel to be cleaned and controlling the cleaning robot to finish cleaning work, and the detection aircraft transmits the shot pre-cleaning bird's-eye view to the control terminal;
an image analysis module and a path analysis module are arranged in the control terminal, and a factory image and a first threshold value of cleanliness are configured in the image analysis module;
The image analysis module is also internally provided with a comparison strategy, the comparison strategy comprises the steps of calling a factory image to be compared with a bird's eye view before cleaning so as to generate the pre-cleaning cleanliness of all areas on the photovoltaic panel to be cleaned, carrying out traversal comparison on the pre-cleaning cleanliness of all areas and a first threshold value of the cleanliness, and generating common cleaning points at the areas where the pre-cleaning cleanliness is lower than the first threshold value of the cleanliness, and forming a cleaning point layout diagram based on all the common cleaning points;
the path analysis module is internally provided with a path planning strategy, the path planning strategy comprises the steps of obtaining a cleaning point layout diagram and generating a cleaning path diagram based on common cleaning points on the diagram, and the cleaning robot is used for obtaining the cleaning path diagram and cleaning the photovoltaic panel along the cleaning path in the cleaning path diagram.
Further, a second threshold of cleanliness is further configured in the image analysis module, the first threshold of cleanliness and the second threshold of cleanliness are both set to be even numbers, the first threshold of cleanliness is larger than the second threshold of cleanliness, the comparison strategy further comprises the steps of calling all pre-cleaning cleanings lower than the first threshold of cleanliness, performing traversal comparison on all pre-cleaning cleanings lower than the first threshold of cleanliness and the second threshold of cleanliness, correcting common cleaning points at the area where the pre-cleaning cleanings are lower than the second threshold of cleanliness to heavy cleaning points, forming a cleaning point layout diagram based on all the common cleaning points and heavy cleaning points, the path analysis module is configured with a path planning strategy, the path planning strategy comprises the steps of acquiring the cleaning point layout diagram and generating a cleaning path diagram based on the common cleaning points and the heavy cleaning points on the diagram, the cleaning robot is used for acquiring the cleaning path diagram and cleaning a photovoltaic panel along the cleaning path diagram, and the cleaning path diagram comprises the common cleaning points and the common robot passes through the common cleaning path diagram when the common cleaning robot passes through the common cleaning path diagram and the common cleaning point layout diagram; when the cleaning robot passes through the important cleaning point, a water adding cleaning mode is adopted.
Further, after the cleaning robot passes through all the common cleaning points and the areas with the focus on the cleaning points contained in the cleaning path diagram, the control terminal controls the detection aircraft to shoot the cleaned aerial view of the photovoltaic panel, the detection aircraft transmits the shot cleaned aerial view to the control terminal, and the control terminal controls the image analysis module to analyze and compare the received cleaned aerial view with the factory image to generate the cleaned cleanliness.
Further, the cleaning degree calculation formula is: c= (A-Ft)/B, wherein C represents cleaning degree, A represents cleaning degree after cleaning, ft represents a first threshold value of cleaning degree, B represents cleaning degree before cleaning, the greater the cleaning degree is, the higher the cleaning degree of the cleaning robot is, the cleaning degree threshold value is further configured in the image analysis module, the cleaning degree threshold value is marked as Ct, when the cleaning degree C is lower than the cleaning degree threshold value Ct, the cleaning degree of the cleaning robot does not reach the cleaning standard, the first threshold value of cleaning degree is adjusted downwards by 1%, and the second threshold value of cleaning degree is adjusted upwards by 1%.
Further, when the first threshold value of the cleanliness and the second threshold value of the cleanliness reach the same value, the cleaning function of the characterization cleaning robot is abnormal, the image analysis module sends an abnormal alarm signal to the control terminal, and after the control terminal receives the abnormal alarm signal, the cleaning robot is checked and maintained by a worker, so that the problem that the cleaning function of the cleaning robot is abnormal is solved.
Further, after the problem that the cleaning function of the cleaning robot is abnormal is solved by the staff, the first threshold value of the cleanliness and the second threshold value of the cleanliness configured in the image analysis module are reset to initial values respectively, and the cleaning robot is put into the cleaning of the photovoltaic panel again to work.
Further, after the cleaning robot finishes cleaning the photovoltaic panel, when the cleaning degree is greater than or equal to a first threshold value of the cleaning degree, a cleaning work completion signal is sent to the cleaning robot; when the cleaning degree is smaller than a first threshold value of the cleaning degree, a cleaning work incomplete signal is sent, the control terminal controls the image analysis module to generate a secondary cleaning point layout diagram of the photovoltaic panel to be cleaned, the secondary cleaning point layout diagram is transmitted to the path analysis module, the control terminal controls the path analysis module to generate a secondary cleaning path diagram with the shortest path according to the secondary cleaning point layout diagram, the path analysis module transmits the secondary cleaning path diagram to the cleaning robot, and the control terminal controls the cleaning robot to complete the secondary cleaning work on the photovoltaic panel according to the secondary cleaning path diagram.
A photovoltaic cleaning robot, cleaning robot is provided with operating condition and state of charge, when operating condition: after the cleaning work is started, the control terminal controls the cleaning robot to drive out of the charging cabin, and the cleaning work is performed on the photovoltaic panel according to the cleaning path diagram; the state of charge is: after the cleaning work is finished, the control terminal controls the cleaning robot to drive into the charging cabin for charging;
Still be provided with the detection aircraft in the charging cabin, after the cleaning work begins, control terminal control detects the aircraft and flies to the photovoltaic board directly over and shoot, dispose positioning system and high definition digtal camera in the detection aircraft, positioning system is used for detecting the aircraft and flies to the photovoltaic board directly over accurately, high definition digtal camera is used for shooing complete photovoltaic board and washs before the bird's eye view and washs after the bird's eye view, and after the cleaning work was accomplished, control terminal control detects the aircraft and returns the charging cabin and charge.
Further, the cleaning robot is provided with a cleaning device, the cleaning device comprises a cleaning brush, a water spray port and a water supply pipe, and the cleaning robot is internally provided with a mark recognition module which is used for recognizing a first mark and a second mark on a cleaning path diagram.
Further, the cleaning robot is provided with a common cleaning mode and a water adding cleaning mode, when the mark recognition module recognizes the second mark, the mark recognition module immediately stops advancing and transmits a cleaning point emphasizing signal to the control terminal, and after receiving the cleaning point emphasizing signal, the control terminal controls the cleaning robot to start the water adding cleaning mode: the cleaning robot controls the water supply pipe to continuously supply water and spray out by the water spray port, and simultaneously controls the cleaning brush to clean the photovoltaic panel, the cleaning time is set to be 30s, and the cleaning robot continues to advance according to the cleaning path diagram after the cleaning time is reached; the mark recognition module does not recognize the second mark, but immediately stops advancing when recognizing the first mark, and transmits a common cleaning point signal to the control terminal, and the control terminal controls the cleaning robot to start a common cleaning mode after receiving the common cleaning point signal: the cleaning robot controls the cleaning brush to clean the photovoltaic panel, the cleaning time is set to be 15s, and the cleaning robot continues to advance according to the cleaning path diagram after the cleaning time is reached; and when the first mark and the second mark are not recognized by the mark recognition module, the cleaning robot continuously advances according to the cleaning path diagram.
Further, after the cleaning robot drives to the cleaning path diagram, a cleaning work completed signal and a cleaning work unfinished signal sent by the control terminal are received, and when the cleaning work completed signal is received: the cleaning robot directly runs to the charging cabin for charging according to the cleaning path diagram; when a cleaning job incomplete signal is received: and the cleaning robot drives the cleaning robot to the charging cabin for charging according to the secondary cleaning path diagram until the photovoltaic panel secondary cleaning work is completed.
Compared with the prior art, the invention has the following remarkable effects:
1. The invention discloses a control system of a photovoltaic cleaning robot and a robot, wherein the control system is provided with a charging cabin, the charging cabin is internally provided with a cleaning robot and a detection aircraft, the control system is also provided with a control terminal, after a worker issues a cleaning instruction to the control terminal, the control terminal firstly controls the detection aircraft to leave the cabin, fly to the position right above a photovoltaic panel to be cleaned, and shoots a complete pre-cleaning bird's-eye view image of the photovoltaic panel to be cleaned, then the shot pre-cleaning bird's-eye view image is transmitted to the control terminal, an image analysis module and a path analysis module are arranged in the control terminal, the received pre-cleaning bird's-eye view image is compared with a factory image through the image analysis module, a pre-cleaning cleanliness degree is generated, the path analysis module generates a shortest cleaning path image of the cleaning robot according to a cleaning point layout, the cleaning robot can identify marks on the cleaning path image, the cleaning robot leaves the cabin and orderly performs cleaning work according to the cleaning path image, the photovoltaic panel to be cleaned without depending on the worker, and the cleaning robot continuously cleans the photovoltaic panel, so that the photovoltaic panel can be cleaned smoothly, and the applicable range of the photovoltaic panel can be remarkably enlarged.
2. The invention discloses a control system of a photovoltaic cleaning robot and the robot, wherein a second threshold of the cleanliness is also configured in an image analysis module, the second threshold of the cleanliness is lower than the first threshold of the cleanliness, the received aerial view image and a factory image are analyzed and compared through the image analysis module, a second mark is carried out again at the position, lower than the second threshold of the cleanliness, on the aerial view image, to represent a heavy cleaning point, a cleaning point layout of a photovoltaic panel to be cleaned is generated, the cleaning point layout comprises common cleaning points and heavy cleaning points, a cleaning path diagram of the cleaning robot with the shortest path is generated by the path analysis module according to the cleaning point layout, the cleaning path diagram meets the requirement that the cleaning robot can pass through all the common cleaning points and the heavy cleaning points once, and when the cleaning robot passes through the common cleaning points, a common cleaning mode is adopted; when the cleaning robot is used for focusing on a cleaning point, a water-adding cleaning mode is adopted, so that the cleaning effect of the cleaning robot is better, and the cleaning work can be completed rapidly.
3. The invention discloses a control system of a photovoltaic cleaning robot and the robot.
Drawings
FIG. 1 is a general flow chart of a control system of the present invention;
FIG. 2 is a flow chart of a cleaning robot cleanliness first and second threshold negative feedback adjustment system according to the present invention;
FIG. 3 is a flow chart of the secondary cleaning work compensation system of the present invention;
FIG. 4 is a flow chart of a cleaning robot cleaning mode selection system of the present invention;
FIG. 5 is a schematic view showing a start-up cleaning operation state of the present invention;
FIG. 6 is a schematic view of the cleaning operation state of the present invention;
FIG. 7 is a schematic view showing a cleaning operation state completed in the present invention;
Fig. 8 is a schematic view of a cleaning robot according to the present invention.
In the figure: 1. detecting the aircraft; 2. a cleaning robot; 3. a charging cabin; 4. a cleaning brush; 5. a water jet; 6. and a water supply pipe.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments.
Referring to fig. 1-8, the present invention provides the following embodiments:
Embodiment one:
Referring to fig. 1 and 4, the present embodiment provides a control system of a photovoltaic cleaning robot, including a control terminal, wherein an image analysis module and a path analysis module are disposed in the control terminal, the image analysis module can compare a received image with a factory image, and then obtain the cleanliness of each place on the image through data analysis, and can make distinguishing marks on the place where the cleanliness is lower than a threshold value of the cleanliness on the image, the control terminal controls a probe aircraft 1 to shoot a complete pre-cleaning bird's eye view of a photovoltaic panel to be cleaned, after the control system starts to clean the photovoltaic panel, the control terminal firstly controls the probe aircraft 1 to leave a cabin and fly to the right above the photovoltaic panel to be cleaned, and shoots the complete pre-cleaning bird's eye view of the photovoltaic panel to be cleaned, and the probe aircraft 1 is used to shoot the photovoltaic panel image, so as to obtain a real high-definition image of the surface of the photovoltaic panel in real time, the cleaning work is more effective and has pertinence, the probe aircraft 1 transmits the shot bird's eye view image before cleaning to the control terminal, the factory image and the first threshold value of the cleanliness of the photovoltaic panel are configured in the image analysis module, the control terminal controls the image analysis module to analyze and compare the received bird's eye view image before cleaning with the factory image, the cleanliness before cleaning is generated, the first marks are carried out at the positions of the photovoltaic panel, the cleanliness before cleaning is lower than the first threshold value of the cleanliness, the first marks are expressed as common cleaning points, the layout diagram of the cleaning points of the photovoltaic panel to be cleaned is generated, the image analysis module can carry out the first marks at the positions, where the cleanliness is lower than the first threshold value of the cleanliness, of the photovoltaic panel to be cleaned is needed, the plurality of marked positions exist on the shot image after the analysis processing of the image analysis module, the marked places are all required to be cleaned by the cleaning robot 2, so that in order to accelerate the cleaning speed of the cleaning robot 2, a more optimized cleaning path is required to be established, a cleaning point layout diagram is transmitted to a path analysis module, a control terminal further controls the path analysis module to generate a cleaning path diagram with the shortest path according to the cleaning point layout diagram, the path analysis module generates the more optimized cleaning path, the distance travelled by the cleaning robot 2 during cleaning can be effectively shortened, the cleaning speed is accelerated, the path analysis module transmits the cleaning path diagram to the cleaning robot 2, and then the control terminal controls the cleaning robot 2 to complete cleaning on a photovoltaic panel according to the cleaning path diagram.
The image analysis module is internally provided with a second threshold of the cleanliness, the first threshold of the cleanliness and the second threshold of the cleanliness are both set to be even numbers, the first threshold of the cleanliness is larger than the second threshold of the cleanliness, the comparison strategy further comprises calling all the pre-cleaning cleanliness lower than the first threshold of the cleanliness, traversing and comparing all the pre-cleaning cleanliness lower than the first threshold of the cleanliness with the second threshold of the cleanliness, correcting the common cleaning points at the area where the pre-cleaning cleanliness is lower than the second threshold of the cleanliness to be heavy cleaning points, dividing the stains on the photovoltaic panel into a plurality of types by configuring the second threshold of the cleanliness, carrying out common cleaning on the light stains, carrying out heavy cleaning on the stains, generating a cleaning point layout of the photovoltaic panel to be cleaned, wherein the cleaning point layout comprises common cleaning points and cleaning points, generating a cleaning path diagram of the cleaning robot 2 with the shortest path by the path analysis module according to the cleaning point layout, and enabling the cleaning path diagram to meet the requirements that the cleaning robot 2 can pass through all the cleaning points and the common cleaning points by adopting a common cleaning mode when the common cleaning point 2 is in a common cleaning mode; when the cleaning robot 2 is used for cleaning the photovoltaic panel by focusing on a cleaning point, the water adding cleaning mode is adopted, so that the water consumption is effectively saved, meanwhile, the cleaning mode can be selected to clean the photovoltaic panel in a targeted manner, and the cleaning effect of the cleaning robot 2 is guaranteed.
Embodiment two:
On the basis of the first embodiment, referring to fig. 2, after the cleaning robot 2 completes the cleaning operation of the photovoltaic panel, it is required to calculate the cleaning degree of the photovoltaic panel, so as to determine whether the cleaning robot 2 reaches the set cleaning degree threshold value in the cleaning operation, and if the cleaning degree threshold value is not reached, the cleaning robot 2 does not reach the cleaning effect, and considering that the situation of stains which are difficult to clean on the photovoltaic panel or the situation of abnormal cleaning function of the cleaning robot 2 may occur, the cleaning robot 2 may not reach the cleaning effect due, and the first threshold value of the cleaning degree and the second threshold value of the cleaning degree need to be corrected, by gradually adjusting the first threshold value and the second threshold value of the cleaning degree, the situation that stains which are difficult to clean appear on the photovoltaic panel is discharged, and the situation that the cleaning robot 2 has abnormal cleaning functions is further indicated, so that a worker is required to inspect and maintain the cleaning robot 2 with abnormal cleaning functions, the cleaning robot 2 is early put into the cleaning work of the photovoltaic panel again, after the cleaning robot 2 passes through all the common cleaning points and the areas with heavy cleaning points contained in the cleaning path diagram, the control terminal controls the detection aircraft 1 to shoot a post-cleaning bird's eye view diagram of the photovoltaic panel, the detection aircraft 1 transmits the post-cleaning bird's eye view diagram obtained by shooting to the control terminal, the control terminal controls the image analysis module to analyze and compare the received bird's eye view after cleaning with the factory image, generates the clean degree after cleaning, calculates the clean degree before cleaning and the clean degree after cleaning, corrects the first threshold value of the clean degree and the second threshold value of the clean degree according to the operation result, and the calculation formula of the clean degree is as follows: c= (A-Ft)/B, wherein C represents cleaning degree, A represents cleaning degree, ft represents cleaning degree first threshold, B represents cleaning degree before cleaning, the greater the cleaning degree is, the higher the cleaning degree of the cleaning robot 2 is, the cleaning degree threshold is also configured in the image analysis module, the cleaning degree threshold is marked as Ct, and when the cleaning degree C is lower than the cleaning degree threshold Ct, the cleaning degree of the cleaning robot 2 is characterized as not reaching the cleaning standard, the first threshold of the cleaning degree is downwards adjusted by 1%, and the second threshold of the cleaning degree is upwards adjusted by 1%. For example: when the first threshold value of the cleanliness and the second threshold value of the cleanliness are respectively set to 80% and 60%, and the threshold value of the cleanliness is set to 10%, if the cleanliness after cleaning and the cleanliness before cleaning are respectively 90% and 70%, the cleaning is obtained according to a cleaning calculation formula, a common cleaning mode is started when the cleaning robot passes through the area, and the cleaning degree of the cleaning process is as follows: c= (90% -80%)/70% = 1/7>10%, characterizing that this cleaning process meets the cleaning requirement, without adjusting the first threshold of cleanliness and the second threshold of cleanliness; if the cleaning degree after cleaning and the cleaning degree before cleaning are 84% and 50% respectively, the cleaning robot starts an emphasized cleaning mode when passing through the area according to the cleaning degree calculation formula, and the cleaning degree in the cleaning process is as follows: c= (84% -80%)/50% = 8% <10%, indicating that this time the cleaning process did not meet the cleaning requirement, the first threshold of cleanliness needs to be adjusted to 79% and the second threshold of cleanliness needs to be adjusted to 61%;
When the first threshold value of the cleanliness and the second threshold value of the cleanliness reach the same value, the cleaning function of the characterization cleaning robot 2 is abnormal, the image analysis module sends an abnormal alarm signal to the control terminal, after the control terminal receives the abnormal alarm signal, the cleaning robot 2 is checked and maintained by a worker, the problem that the cleaning function of the cleaning robot 2 is abnormal is solved, and after the problem that the cleaning function of the cleaning robot 2 is abnormal is solved by the worker, the first threshold value of the cleanliness and the second threshold value of the cleanliness configured in the image analysis module are reset to initial values respectively, and the cleaning robot 2 is thrown into the cleaning photovoltaic panel again to work.
Embodiment III:
On the basis of the first embodiment and the second embodiment, referring to fig. 3, after the photovoltaic panel is cleaned for the first time by the cleaning robot 2, there may be a point where the cleaning degree is still lower than the cleaning degree threshold, in order to further meet the cleaning requirement, the cleaning robot 2 needs to clean the photovoltaic panel for the second time again, before the second cleaning is performed, the cleaning robot 2 needs to clean the photovoltaic panel for the second time by using the second cleaning path diagram, and after the cleaning of the photovoltaic panel by the cleaning robot 2 is completed, when the cleaning degree after cleaning is greater than or equal to the cleaning degree first threshold, a cleaning work completion signal is sent to the cleaning robot 2; when the cleaning degree is smaller than a first threshold value of the cleaning degree after cleaning, a cleaning work incomplete signal is sent, the control terminal controls the image analysis module to generate a secondary cleaning point layout diagram of the photovoltaic panel to be cleaned, the secondary cleaning point layout diagram is transmitted to the path analysis module, the control terminal controls the path analysis module to generate a secondary cleaning path diagram with the shortest path according to the secondary cleaning point layout diagram, the path analysis module transmits the secondary cleaning path diagram to the cleaning robot 2, and then the control terminal controls the cleaning robot 2 to complete the secondary cleaning work on the photovoltaic panel according to the secondary cleaning path diagram.
Embodiment four:
Based on the foregoing embodiments, please refer to fig. 5-8, a photovoltaic cleaning robot, the cleaning robot 2 is provided with an operating state and a charging state, and the operating state is as follows: after the cleaning work is started, the control terminal controls the cleaning robot 2 to drive out of the charging cabin 3, and the cleaning work is performed on the photovoltaic panel according to the cleaning path diagram; the state of charge is: after the cleaning work is finished, the control terminal controls the cleaning robot 2 to drive into the charging cabin 3 for charging; the charging cabin 3 is internally provided with a detection aircraft 1, after the cleaning work is started, the control terminal controls the detection aircraft 1 to fly to the position right above the photovoltaic panel for shooting, a positioning system and a shooting device are arranged in the detection aircraft 1, the positioning system is used for detecting the accurate flying of the aircraft 1 to the position right above the photovoltaic panel, the shooting device is used for shooting a complete aerial view before cleaning the photovoltaic panel and an aerial view after cleaning, and after the cleaning work is finished, the control terminal controls the detection aircraft 1 to return to the charging cabin 3 for charging.
The control terminal is used for controlling the detection aircraft 1 to shoot a complete aerial view of the photovoltaic panel before starting cleaning work, information on the surface of the photovoltaic panel can be displayed in a high definition mode, comparison analysis is carried out between the aerial view and a factory image of the photovoltaic panel, the fact that the photovoltaic panel is provided with areas which need ordinary cleaning can be accurately judged, and the areas which need important cleaning is carried out, so that the cleaning flexibility of the cleaning robot 2 is improved, different cleaning modes are adopted for stains of different degrees, and the cleaning requirement can be met while water is saved.
The cleaning robot 2 is provided with a cleaning device, the cleaning device comprises a cleaning brush 4, a water spray port 5 and a water supply pipe 6, a mark recognition module is further arranged in the cleaning robot 2 and used for recognizing a first mark and a second mark on a cleaning path diagram, the cleaning robot 2 is provided with a common cleaning mode and a water adding cleaning mode, when the mark recognition module recognizes the second mark, the cleaning device immediately stops advancing and transmits a focus cleaning point signal to a control terminal, and the control terminal controls the cleaning robot 2 to start the water adding cleaning mode after receiving the focus cleaning point signal: the cleaning robot 2 controls the water supply pipe 6 to continuously supply water and spray out by the water spray port 5, and simultaneously controls the cleaning brush 4 to clean the photovoltaic panel, the cleaning time is set to be 30s, and after the cleaning time is reached, the cleaning robot 2 continues to advance according to the cleaning path diagram; the mark recognition module does not recognize the second mark, but immediately stops advancing when recognizing the first mark, and transmits a common cleaning point signal to the control terminal, and after receiving the common cleaning point signal, the control terminal controls the cleaning robot 2 to start a common cleaning mode: the cleaning robot 2 controls the cleaning brush 4 to clean the photovoltaic panel, the cleaning time is set to be 15s, and after the cleaning time is up, the cleaning robot 2 continues to advance according to the cleaning path diagram; when the first type of mark and the second type of mark are not recognized by the mark recognition module, the cleaning robot 2 proceeds according to the cleaning path diagram.
The cleaning robot 2 is internally provided with a mark recognition module, the mark recognition module preferentially recognizes a second mark in the cleaning process of the cleaning robot 2 according to the cleaning path diagram in the forward driving process, and when the mark recognition module recognizes that the cleaning robot 2 is positioned at the second mark, a cleaning point emphasizing signal is transmitted to a control terminal, and the control terminal controls the cleaning robot 2 to start a water adding cleaning mode after receiving the cleaning point emphasizing signal; when the mark recognition module recognizes that the cleaning robot 2 is positioned at the first mark, a common cleaning point signal is transmitted to the control terminal, and the control terminal controls the cleaning robot 2 to start a common cleaning mode after receiving the common cleaning point signal; when the first type of mark and the second type of mark are not recognized by the mark recognition module, the cleaning robot 2 continues to travel according to the cleaning path diagram until the cleaning path diagram reaches the end.
After the cleaning robot 2 runs the cleaning path diagram, a cleaning work completed signal and a cleaning work incomplete signal sent from the control terminal are received, and when the cleaning work completed signal is received: the cleaning robot 2 directly runs to the charging cabin 3 for charging according to the cleaning path diagram; when a cleaning job incomplete signal is received: the cleaning robot 2 is according to the secondary cleaning path diagram, and after the photovoltaic panel secondary cleaning work is completed, the cleaning robot 2 runs to the charging cabin 3 to charge, the cleaning robot 2 needs to return to the charging cabin 3 to charge after receiving a cleaning work completion signal, and after receiving a cleaning work completion signal, the cleaning robot 2 needs to carry out secondary cleaning work on the photovoltaic panel, and the cleaning robot returns to the charging cabin 3 to charge after the secondary cleaning work is completed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and system may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and the division of the system, for example, is merely a logical function division, and there may be additional divisions when actually implemented, and for example, multiple systems or components may be combined or integrated into another system, or some features may be omitted or not performed.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A control system of a photovoltaic cleaning robot, characterized in that: the cleaning device comprises a control terminal, wherein the control terminal is used for controlling a detection aircraft (1) to shoot a complete pre-cleaning aerial view of a photovoltaic panel to be cleaned and controlling a cleaning robot (2) to finish cleaning work, and the detection aircraft (1) transmits the shot pre-cleaning aerial view to the control terminal;
an image analysis module and a path analysis module are arranged in the control terminal, and a factory image and a first threshold value of cleanliness are configured in the image analysis module;
The image analysis module is also internally provided with a comparison strategy, the comparison strategy comprises the steps of calling a factory image to be compared with a bird's eye view before cleaning so as to generate the pre-cleaning cleanliness of all areas on the photovoltaic panel to be cleaned, carrying out traversal comparison on the pre-cleaning cleanliness of all areas and a first threshold value of the cleanliness, and generating common cleaning points at the areas where the pre-cleaning cleanliness is lower than the first threshold value of the cleanliness, and forming a cleaning point layout diagram based on all the common cleaning points;
the path analysis module is internally provided with a path planning strategy, the path planning strategy comprises the steps of obtaining a cleaning point layout diagram and generating a cleaning path diagram based on common cleaning points on the diagram, and the cleaning robot (2) is used for obtaining the cleaning path diagram and cleaning the photovoltaic panel along the cleaning path in the cleaning path diagram;
The image analysis module is internally provided with a second threshold of cleanliness, the first threshold of cleanliness and the second threshold of cleanliness are both percentages, the molecules of the initial value of the first threshold of cleanliness are set to be even numbers, the molecules of the initial value of the second threshold of cleanliness are set to be even numbers, the first threshold of cleanliness is larger than the second threshold of cleanliness, the comparison strategy further comprises the steps of calling all the pre-cleaning cleanliness lower than the first threshold of cleanliness, performing traversal comparison on all the pre-cleaning cleanliness lower than the first threshold of cleanliness and the second threshold of cleanliness, and correcting the common cleaning points at the areas where the pre-cleaning cleanliness is lower than the second threshold of cleanliness as heavy cleaning points;
After passing through all the common cleaning points and the areas with the focus on the cleaning points contained in the cleaning path diagram, the control terminal controls the detection aircraft (1) to shoot a cleaned aerial view of the photovoltaic panel, the detection aircraft (1) transmits the shot cleaned aerial view to the control terminal, and the control terminal controls the image analysis module to analyze and compare the received cleaned aerial view with a factory image to generate the cleaned cleanliness;
after the cleaning robot (2) finishes cleaning the photovoltaic panel, when the cleaning cleanliness is more than or equal to a first threshold value of the cleaning cleanliness, sending a cleaning work completion signal to the cleaning robot (2); when the cleaning degree is smaller than a first threshold value of the cleaning degree after cleaning, a cleaning work incomplete signal is sent, the control terminal controls the image analysis module to generate a secondary cleaning point layout diagram of the photovoltaic panel to be cleaned, the secondary cleaning point layout diagram is transmitted to the path analysis module, the control terminal controls the path analysis module to generate a secondary cleaning path diagram with the shortest path according to the secondary cleaning point layout diagram, the path analysis module transmits the secondary cleaning path diagram to the cleaning robot (2), and then the control terminal controls the cleaning robot (2) to complete the secondary cleaning work on the photovoltaic panel according to the secondary cleaning path diagram;
The cleaning degree calculation formula is as follows: c= (A-Ft)/B, wherein C represents cleaning degree, A represents cleaning degree after cleaning, ft represents a first threshold value of cleaning degree, B represents cleaning degree before cleaning, the greater the cleaning degree is, the higher the cleaning degree of the cleaning robot (2) is, the cleaning degree threshold value is further configured in the image analysis module and is marked as Ct, when the cleaning degree C is lower than the cleaning degree threshold value Ct, the cleaning degree of the cleaning robot (2) does not reach the cleaning standard, the first threshold value of cleaning degree is reduced by 0.01, and the second threshold value of cleaning degree is increased by 0.01; when the first threshold value of the cleanliness and the second threshold value of the cleanliness reach the same value, the cleaning function of the cleaning robot (2) is represented to be abnormal, and the image analysis module sends an abnormal alarm signal to the control terminal.
2. The control system of a photovoltaic cleaning robot of claim 1, wherein: after the control terminal receives the abnormality alarm signal, the cleaning robot (2) is checked and maintained by a worker, so that the problem that the cleaning function of the cleaning robot (2) is abnormal is solved.
3. A control system for a photovoltaic cleaning robot according to claim 2, characterized in that: after the problem that the cleaning function of the cleaning robot (2) is abnormal is solved by staff, the first threshold value of the cleanliness and the second threshold value of the cleanliness configured in the image analysis module are reset to initial values respectively, and the cleaning robot (2) is put into the cleaning of the photovoltaic panel again for working.
4. The control system of a photovoltaic cleaning robot of claim 1, wherein: after the cleaning robot (2) runs the cleaning path diagram, receiving a cleaning work completed signal and a cleaning work unfinished signal sent by the control terminal, and when the cleaning work completed signal is received: the cleaning robot (2) directly runs to the charging cabin (3) for charging according to the cleaning path diagram; when a cleaning job incomplete signal is received: and the cleaning robot (2) runs to the charging cabin (3) for charging according to the secondary cleaning path diagram until the photovoltaic panel secondary cleaning work is completed.
5. The control system of a photovoltaic cleaning robot of claim 1, wherein: forming a cleaning point layout diagram based on all the common cleaning points and the emphasized cleaning points, wherein a path planning strategy is configured in the path analysis module, the path planning strategy comprises the steps of acquiring the cleaning point layout diagram and generating a cleaning path diagram based on the common cleaning points and the emphasized cleaning points on the diagram, the cleaning robot (2) is used for acquiring the cleaning path diagram and cleaning the photovoltaic panel along the cleaning path in the cleaning path diagram, the cleaning path diagram passes through the area which all comprises the common cleaning points and the emphasized cleaning points, and the cleaning robot (2) adopts a common cleaning mode when passing through the common cleaning points; when the cleaning robot (2) passes through the important cleaning point, a water adding cleaning mode is adopted.
6. The control system of a photovoltaic cleaning robot of claim 1, wherein: the cleaning robot (2) is provided with a working state and a charging state, and the working state is as follows: after the cleaning work is started, the control terminal controls the cleaning robot (2) to drive out of the charging cabin (3), and the cleaning work is performed on the photovoltaic panel according to the cleaning path diagram; the state of charge is: after the cleaning work is finished, the control terminal controls the cleaning robot (2) to drive into the charging cabin (3) for charging;
Still be provided with in charging cabin (3) and survey aircraft (1), after the cleaning operation begins, control terminal control surveys aircraft (1) and flies to take over the photovoltaic board, dispose positioning system and shooting device in surveying aircraft (1), positioning system is used for surveying aircraft (1) and accurately flies to the photovoltaic board directly over, shooting device is used for shooing complete photovoltaic board before wasing bird's eye view and wasing the back bird's eye view, after the cleaning operation is accomplished, control terminal control surveys aircraft (1) and returns charging cabin (3) and charge.
7. The control system of a photovoltaic cleaning robot of claim 1, wherein: the cleaning robot (2) is provided with a cleaning device, the cleaning device comprises a cleaning brush (4), a water jet (5) and a water supply pipe (6), the cleaning robot (2) is internally provided with a mark recognition module, and the mark recognition module is used for recognizing a first mark and a second mark on a cleaning path diagram.
8. The control system of a photovoltaic cleaning robot of claim 7, wherein: the cleaning robot (2) is provided with a common cleaning mode and a water adding cleaning mode, when the mark recognition module recognizes the second mark, the mark recognition module immediately stops advancing and transmits a cleaning point signal to the control terminal, and after receiving the cleaning point signal, the control terminal controls the cleaning robot (2) to start the water adding cleaning mode: the cleaning robot (2) controls the water supply pipe (6) to continuously supply water and spray out by the water spray port (5), meanwhile controls the cleaning brush (4) to clean the photovoltaic panel, the cleaning time is set to be 30s, and after the cleaning time is reached, the cleaning robot (2) continues to advance according to the cleaning path diagram; the mark recognition module does not recognize the second mark, but immediately stops advancing when recognizing the first mark, and transmits a common cleaning point signal to the control terminal, and the control terminal controls the cleaning robot (2) to start a common cleaning mode after receiving the common cleaning point signal: the cleaning robot (2) controls the cleaning brush (4) to clean the photovoltaic panel, the cleaning time is set to be 15s, and the cleaning robot (2) continues to advance according to the cleaning path diagram after the cleaning time is reached; when the first mark and the second mark are not recognized by the mark recognition module, the cleaning robot (2) proceeds according to the cleaning path diagram.
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