WO2019100623A1 - 一种应用于光伏阵列的清洗机器人控制方法 - Google Patents

一种应用于光伏阵列的清洗机器人控制方法 Download PDF

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Publication number
WO2019100623A1
WO2019100623A1 PCT/CN2018/079065 CN2018079065W WO2019100623A1 WO 2019100623 A1 WO2019100623 A1 WO 2019100623A1 CN 2018079065 W CN2018079065 W CN 2018079065W WO 2019100623 A1 WO2019100623 A1 WO 2019100623A1
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WIPO (PCT)
Prior art keywords
cleaning
photovoltaic array
ferry platform
platform
ferry
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PCT/CN2018/079065
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English (en)
French (fr)
Inventor
祁伟建
兰骏
方聪聪
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浙江国自机器人技术有限公司
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Publication of WO2019100623A1 publication Critical patent/WO2019100623A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to the technical field of photovoltaic array cleaning robots, and in particular to a cleaning robot control method applied to a photovoltaic array.
  • the tracking array system is a new type of photovoltaic system that enables the automatic tracking system to track solar movements in real time and direct sunlight to the photovoltaic array, thereby increasing the amount of solar radiation received by the photovoltaic array and increasing the overall power generation of the solar photovoltaic power generation system.
  • the existing large-capacity large roller brush washing and cleaning equipment of the photovoltaic array has low adaptability to the terrain, is easy to crush the photovoltaic panel, requires manual operation, and is difficult to operate, has high cleaning cost, and is not in a harsh environment (high temperature , dusty, nighttime, etc.)
  • the existing PV array on the walking roller brush dry cleaning cleaning equipment can not change the board operation, in order to cover the entire cleaning area, the number of cleaning equipment that needs to be put into one time is very large, and also requires the photovoltaic bracket to do the matching design, cleaning The equipment and supporting construction costs are huge, and the cleaning equipment maintenance tasks are arduous.
  • the object of the present invention is to provide a cleaning robot control method applied to a photovoltaic array, which can realize multi-row photovoltaic array cleaning without significant manual operation, and the cleaning efficiency is remarkably improved.
  • the present invention provides a cleaning robot control method applied to a photovoltaic array, comprising:
  • a cleaning robot equipped with a plurality of cleaning systems moves toward the row end of the photovoltaic array
  • the control system of the cleaning robot acquires a positional relationship between the ferry platform and the photovoltaic array, and calculates an adjustment position and posture of the ferry platform to enable the cleaning system to move to a target position;
  • a posture adjustment device for adjusting the position and posture of the ferry platform adjusts the ferry platform to enable the cleaning system to move to a target position according to the calculated adjustment position and posture;
  • a cleaning system located on the ferry platform moves onto the photovoltaic array and performs cleaning; and/or a cleaning system located on the photovoltaic array moves onto the ferry platform to complete the panel change.
  • control system of the cleaning robot acquires the positional relationship between the ferry platform and the photovoltaic array, and calculates the adjusted position and posture of the ferry platform to realize that the cleaning system can move to the target position:
  • the detecting device of the cleaning robot obtains a current positional relationship between a plane of the row end of the photovoltaic array and the current ferry platform, and transmits the current positional relationship to the control system;
  • the control system obtains an adjustment angle of the ferry platform according to the obtained current positional relationship and a preset positional relationship between the ferry platform and the plane of the photovoltaic array row end;
  • the control system transmits an adjustment angle to a posture adjustment device for adjusting the position and posture of the ferry platform, and the posture adjustment device controls the ferry platform to adjust to be able to move the cleaning system to according to the received adjustment angle The location of the PV array.
  • the method further includes:
  • the posture adjustment device controls the ferry platform to adjust to an initial posture after the detecting device detects that the cleaning system moves onto the photovoltaic array.
  • the initial posture of the ferry platform is specifically that the center of gravity of the ferry platform is vertically projected in a posture within a horizontal range of the movement system of the cleaning robot.
  • the posture adjustment device for adjusting the position and posture of the ferry platform adjusts the ferry platform to enable the cleaning system to move to a target position according to the calculated adjustment position and posture:
  • Positioning adjustment means for adjusting the position and posture of the ferry platform aligns the upper plate position of the ferry platform with the surface of the row end of the photovoltaic array according to the calculated adjustment position and posture, so that the cleaning system can be moved to target location;
  • the cleaning system on the ferry platform moves to the photovoltaic array and performs cleaning; and/or the cleaning system located on the photovoltaic array moves to the ferry platform, and the completion of the replacement is specifically:
  • a cleaning system located at a predetermined upper plate position of the ferry platform moves to the photovoltaic array and performs cleaning; and/or a cleaning system located on the photovoltaic array moves to a preset upper plate position of the ferry platform, and is completed Change the board.
  • the cleaning system located on the preset upper plate position of the ferry platform moves to the photovoltaic array, and after performing the cleaning, further includes:
  • Another cleaning system located at the working position of the ferry platform moves to the upper plate position to perform cleaning of the next photovoltaic array; and the upper plate position and the standby position are located at different positions of the ferry platform.
  • the upper plate position of the ferry platform is specifically: a corner of the ferry platform and only a position of the cleaning system can be parked.
  • the method further comprises:
  • the power-less cleaning system moves to a preset charging position of the ferry platform for charging.
  • the power-supplied cleaning system moves to a preset charging position of the ferry platform, and after charging, the method further includes:
  • the power-off cleaning system After the power-off cleaning system is fully charged, it moves to the waiting position of the ferry platform to perform the cleaning of the photovoltaic array.
  • the preset charging position of the ferry platform is specifically at a corner of the ferry platform and different from an upper board position of the ferry platform.
  • the present invention provides a cleaning robot control method applied to a photovoltaic array, wherein a cleaning robot equipped with a plurality of cleaning systems moves toward a row end of a photovoltaic array; when the cleaning robot is ferried and a photovoltaic array When the plane of the row end is in the preset position, the cleaning robot stops running; the control system of the cleaning robot acquires the positional relationship between the ferry platform and the photovoltaic array, and calculates the adjustment position and posture of the ferry platform, Realizing that the cleaning system can be moved to a target position; the posture adjustment device for adjusting the position and posture of the ferry platform adjusts the ferry platform to be able to move the cleaning system to the target position according to the calculated adjustment position and posture; A cleaning system located on the ferry platform moves onto the photovoltaic array and performs cleaning; and/or a cleaning system located on the photovoltaic array moves onto the ferry platform to complete the panel change.
  • the ferry platform is used to transfer the cleaning system to realize the docking of the ferry platform and the photovoltaic array.
  • the cleaning system moves from the ferry platform to the photovoltaic array without manual intervention, and can operate in a harsh environment, and the cleaning system can cover all of the photovoltaic array. Cleaning area, cleaning efficiency is significantly improved.
  • FIG. 1 is a flow chart of a method for controlling a cleaning robot applied to a photovoltaic array according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an overall structure of a cleaning robot applied to a photovoltaic array according to an embodiment of the present invention
  • Figure 3 is a schematic view of the cleaning robot of Figure 2 in the process of the upper plate
  • FIG. 4 is a schematic view of the cleaning robot of FIG. 2 during charging.
  • FIG. 1 is a flowchart of a cleaning robot control method applied to a photovoltaic array according to an embodiment of the present invention
  • FIG. 2 is a whole of a cleaning robot applied to a photovoltaic array according to an embodiment of the present invention
  • FIG. 3 is a schematic view of the cleaning robot of FIG. 2 in the process of the upper plate
  • FIG. 4 is a schematic view of the cleaning robot of FIG. 2 during the charging process.
  • the invention provides a cleaning robot control method applied to a photovoltaic array, as shown in FIG. 1 of the specification, which mainly comprises:
  • the cleaning robot equipped with the plurality of cleaning systems 1 moves to the row end of the photovoltaic array
  • the control system of the cleaning robot acquires the positional relationship between the ferry platform 6 and the photovoltaic array, and calculates the adjusted position and posture of the ferry platform 6 to realize that the cleaning system 1 can move to the target position;
  • the posture adjustment device for adjusting the position and posture of the ferry platform 6 adjusts the ferry platform 6 to be able to move the cleaning system 1 to the target position according to the calculated adjustment position and posture;
  • the cleaning system 1 located on the ferry platform 6 moves onto the photovoltaic array and performs cleaning; and/or the cleaning system 1 located on the photovoltaic array moves onto the ferry platform 6 to complete the board changing.
  • the cleaning robot mainly comprises a plurality of cleaning systems 1, a ferry system 2 and a mobile system 3, wherein the ferry system 2 comprises a detecting device 4, a driving unit 5 and a ferry platform 6; the ferry platform 6 can be parked There are a plurality of cleaning systems 1, and the mobile system 3 can be moved.
  • the driving unit 5 can include six independently extendable telescopic rods, the top ends of each of which are connected to the bottom surface of the ferry platform 6, and the bottom end of each telescopic rod. Both are connected to the upper surface of the mobile system 3, and when at least one of the six telescopic rods is expanded and contracted, the position and posture of the swing platform 6 can be adjusted.
  • the position adjustment device can control the six telescopic rods to independently expand and contract, thereby realizing the adjustment of the position and posture of the ferry platform 6.
  • the cleaning robot moves to the row end of the photovoltaic array 9; that is, under the action of the mobile system 3, the cleaning robot integrally moves, and the plurality of cleaning systems 1 move synchronously with the mobile system 3 and face the photovoltaic array 9. Travel at the end of the line;
  • the cleaning robot stops running; wherein the preset position may be determined according to actual needs, which may be set to be specific The value of the cleaning robot, for example, when the washing robot's ferry platform 6 is 0.5 m away from the plane of the row end of the photovoltaic array, stops the cleaning robot.
  • the control system of the cleaning robot Obtaining, by the control system of the cleaning robot, the positional relationship between the ferry platform 6 and the photovoltaic array, and calculating the adjusted position and posture of the ferry platform 6 to realize that the cleaning system 1 can move to the target position; That is, when the cleaning robot stops at the preset position, the detecting device located at the cleaning robot detects the current position of the ferry platform 6 and the current position of the photovoltaic array, and obtains the positional relationship between the two, and calculates the position relationship according to the positional relationship.
  • the adjustment angle required for the ferry platform 6, that is, the telescopic distance of each of the six telescopic rods, and the corresponding telescopic rod is adjusted by the posture adjustment device, so that the ferry platform 6 is adjusted to be able to move the cleaning system 1 to the photovoltaic array. s position;
  • the ferry platform 6 Adjusting, by the posture adjustment device for adjusting the position and posture of the ferry platform 6 in step S4, the ferry platform 6 to be able to move the cleaning system 1 to the target position according to the calculated adjustment position and posture; that is, The posture adjustment device acquires an adjustment amount required by the control system to calculate the swing platform 6, the adjustment amount is used to adjust the position and posture of the swing platform 6, and the component for performing adjustment is a posture adjustment device, and the posture adjustment is performed.
  • the device adjusts the telescopic distance of the corresponding telescopic rod of the ferry platform 6 to ensure that the adjusted ferry platform 6 can be spanned by the cleaning system 1 to realize the action of the cleaning system 1 from the ferry platform 6 to the photovoltaic array and from the photovoltaic array to the ferry platform 6 .
  • step S5 the cleaning system 1 located on the ferry platform 6 moves onto the photovoltaic array and performs cleaning; and/or the cleaning system 1 located on the photovoltaic array moves onto the ferry platform 6 to complete the board changing.
  • the cleaning system 1 located on the ferry platform 6 can be moved to the photovoltaic array 9, and the cleaning of the photovoltaic array 9 is completed by the cleaning system 1; of course, the cleaning system located on the photovoltaic array 1 can also be moved to the ferry platform 6 to complete the change.
  • the cleaning system 1 can complete the board changing by the power source carried by itself, and the specific shape and configuration thereof are not limited herein.
  • the cleaning robot in the prior art can be referred to.
  • the startup signal can be sent to the cleaning system 1, and when the cleaning system 1 receives the activation signal, it moves to the photovoltaic array by itself. 9, and perform cleaning.
  • step S3 it can be specifically:
  • the detecting device of the cleaning robot obtains a current positional relationship between a plane of the row end of the photovoltaic array and the current ferry platform, and transmits the current positional relationship to the control system;
  • the control system obtains an adjustment angle of the ferry platform according to the obtained current positional relationship and a preset positional relationship between the ferry platform 6 and the plane of the photovoltaic array row end;
  • the control system transmits an adjustment angle to a posture adjustment device for adjusting the position and posture of the ferry platform, and the posture adjustment device controls the ferry platform to adjust to be able to move the cleaning system to according to the received adjustment angle The location of the PV array.
  • the detection device of the cleaning robot obtains the current positional relationship between the plane of the row end of the photovoltaic array and the current ferry platform, and transmits the current positional relationship to the control system.
  • the detecting device may employ a position detecting member in the prior art, such as a visual detecting member or the like.
  • the adjustment angle of the ferry platform 6 is obtained according to a preset positional relationship between the ferry platform 6 and the plane of the photovoltaic array row end; wherein the ferry platform 6 and the plane of the photovoltaic array row end are preset
  • the positional relationship means that the ferry platform 6 should be adjusted to an angle at which the cleaning system 1 can be moved from the ferry platform 6 to the photovoltaic array 9 or moved from the photovoltaic array 9 to the ferry platform 6, thereby realizing the board changing.
  • the ferry platform 6 and the photovoltaic array 9 need not be seamlessly connected, and there is a gap between the two that can be used for the cleaning system 1 to cross; the control system calculates the adjustment angle of the ferry platform 6;
  • the control system sends the adjustment angle to the posture adjustment device, and the posture adjustment device adjusts the position and posture of the swing platform 6 to adjust the position and posture of the swing platform 6, and the posture adjustment device can control the ferry platform according to the received adjustment angle.
  • 6 Adjust to a position where the cleaning robot can be moved to the photovoltaic array to effect a plate change.
  • the change board refers to a process in which the cleaning system 1 is moved by the ferry platform 6 to the photovoltaic array 9 or moved by the photovoltaic array 9 to the ferry platform 6.
  • the cleaning robot stops after moving to the preset position;
  • the preset position may refer to: the position where the cleaning robot is at a certain distance from the photovoltaic array 9; when the cleaning robot moves to the preset position and stops, the cleaning robot and the photovoltaic array 9 at this time There is a certain distance between each other, and the distance can be determined according to actual needs;
  • the cleaning robot can be provided with a position sensor for detecting the distance between the cleaning robot and the photovoltaic array 9 in real time, and when the cleaning robot is separated from the photovoltaic array 9 by a certain distance, the control is performed.
  • the cleaning robot stops that is, the step of stopping the movement of the changing robot to the preset position is stopped;
  • the detecting device 4 of the cleaning robot obtains the current positional relationship between the plane of the row end of the photovoltaic array 9 and the current ferry platform 6, and transmits the current positional relationship to the control system; that is, after the cleaning robot moves to the preset position Stop, the position sensor can be used to detect the plane of the row end of the photovoltaic array 9 and the current position of the current ferry platform 6, obtain the current positional relationship between the two, and send the current positional relationship to the control system; the control system can be controlled cleaning
  • the system in which the robot stops; here, the plane of the row end of the photovoltaic array 9 and the current position of the current ferry platform 6 are not limited only to the spacing between the two, but also include the angular difference between the two; since each of the photovoltaic arrays 9 The angles are not necessarily the same, so the tilt angle of the photovoltaic array 9 and the tilt angle of the current ferry platform 6 should be obtained, and the current positional relationship is the distance between the two and the angle difference.
  • the control system can obtain an adjustment displacement and/or a position that the cleaning robot needs to move further according to the obtained current positional relationship and a preset positional relationship between the ferry platform 6 and the plane of the row end of the photovoltaic array 9
  • the adjustment angle of the ferry platform 6 is calculated; that is, the control system calculates the adjustment displacement of the cleaning robot that needs further movement and/or the adjustment angle of the ferry platform 6 according to the current positional relationship described above, and the calculation process should be performed according to the situation; for example, Say, if the position sensor detects that the tilt angle of the photovoltaic array 9 is 60°, and the tilt angle of the current ferry platform 6 is 50°, the ferry platform 6 needs to be adjusted by 10° to meet the requirement of being flush with the photovoltaic array 9.
  • the spacing between the ferry platform 6 and the photovoltaic array 9 meets the requirements to achieve a flush level between the two.
  • the cleaning robot moves according to the adjustment displacement, and/or the ferry platform 6 adjusts the attitude according to the adjustment angle from the initial posture; that is, after the adjustment is completed, the ferry platform 6 is flush with the plane of the row end of the photovoltaic array 9, At this time, both the angle and the pitch satisfy the requirements; then, the cleaning system 1 can be controlled to move to the photovoltaic array 9 to realize the cleaning operation.
  • the position sensor is the detecting device 4 shown in FIG. 2 of the specification.
  • the ferry platform 6 After the cleaning system 1 located on the ferry platform 6 moves onto the photovoltaic array 9 and performs cleaning, after the detecting device 4 detects that the cleaning system 4 moves onto the photovoltaic array 9, the ferry platform 6 is controlled. Adjust to the initial pose.
  • the detecting device 4 can be used to detect whether the cleaning system 1 is moved to the photovoltaic array 9. After the cleaning system 1 moves to the photovoltaic array 9 to perform cleaning, the control system can control the ferry platform 6 to adjust to the initial posture, and the initial posture refers to the ferry platform 6 The center of gravity vertically projects the attitude within the horizontal range of the mobile system 3 of the cleaning robot.
  • the position adjustment range of the ferry platform 6 is often too large; after the cleaning system 1 moves to the photovoltaic array 9, in order to avoid the instability of the center of gravity of the cleaning robot, the ferry platform will be 6 is recycled to the top of the mobile system 3, and the center of gravity of the ferry platform 6 is vertically projected within the horizontal range of the mobile system 3 of the cleaning robot, ensuring smoothness of the cleaning robot during subsequent walking.
  • an upper plate position can be set on the ferry platform 6, and the upper plate position can be specifically: the corner of the ferry platform 6 and only one of the cleaning can be parked
  • the upper plate A can only park one cleaning system 1; in the working process, only the upper plate position of the ferry platform 6 needs to be flush with the plane of the row end of the photovoltaic array 9, and the cleaning of the plate A on the ferry platform 6 is required.
  • the system 1 can move from the upper plate A to the row end of the photovoltaic array 9 to complete the change.
  • the cleaning system 1 located at the working position moves to the upper plate position A, and when the cleaning robot moves to the next photovoltaic array 9, the upper plate position A is located at this time.
  • the cleaning system 1 can move to the photovoltaic array 9 by itself to complete the replacement.
  • the process of moving the cleaning system 1 at the working position to the upper plate position A can be performed by transmitting a corresponding signal to activate the cleaning system 1 at the standby position to move to the upper plate A.
  • the signal to the cleaning system 1 of the specific working position may be determined according to actual needs.
  • the signal is sent to the cleaning system 1 located at the to-be-operated position adjacent to the upper plate A. In order to save the moving distance of the cleaning system 1.
  • the power-less cleaning system 1 moves to a predetermined charging position of the ferry platform 6 to perform charging.
  • the charging position B is as shown in FIG. 4 of the specification; the charging position is specifically: at the corner of the ferry platform 6 and different from the upper board position of the ferry platform 6, the ferry platform 6 may be provided with multiple charging Location B. That is, the upper board A, the charging position B and the to-be-operated position are at different positions.
  • the charging position B can be set as a charging post, or can be wireless charging or magnetic charging in the prior art, and will not be described herein.
  • the electric power cleaning system 11 when the cleaning system 1 located in the photovoltaic array 9 and performing cleaning is depleted (hereinafter referred to as the electric power cleaning system 11), in the process of changing the board, the electric power cleaning system 11 is not Transferring to the next row of the photovoltaic array 9 rows, the mobile system 3 aligns the charging position B on the ferry platform 6 with the row end of the 9 rows of the photovoltaic array, and the power-less cleaning system 11 directly moves to the charging position B of the ferry platform 6.
  • Figure 4 By connecting and charging, as shown in Figure 4 of the specification; Figure 4 is located in the cleaning system 1 (full power state) of the upper board A, ready to be in the mobile system and the next uncleaned photovoltaic array 9 Transfer when connecting, and continue the cleaning process. Then, when the power-off cleaning system 11 is completed, it moves to the standby position of the ferry platform 6 to perform the cleaning of the photovoltaic array 9.
  • the definition of power shortage is: it means that when the remaining power of the cleaning system 1 is lower than the preset remaining power, it is power shortage; the preset remaining power can be determined according to actual needs; in addition, the power shortage can also be There are other ways to define this article, and I won't go into details here.

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Abstract

一种应用于光伏阵列的清洗机器人控制方法，包括：清洗机器人向光伏阵列(9)的行端移动(S1)；当清洗机器人的摆渡平台(6)与光伏阵列(9)的行端的平面处于预设位置时，清洗机器人停止运行(S2)；清洗机器人的控制系统获取摆渡平台(6)与光伏阵列(9)的位置关系，并计算得到摆渡平台(6)的调节位置与姿态(S3)；用以调节摆渡平台(6)位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将摆渡平台(6)调节到能够供清洗系统(1)移动至目标位置的位置(S4)；位于摆渡平台(6)上的清洗系统(1)移动至光伏阵列(9)上，并执行清洗；和/或，位于光伏阵列(9)上的清洗系统(1)移动至摆渡平台(6)上，完成换板(S5)。清洗机器人控制方法，无需人工操作，可以实现多行光伏阵列的清洗，清洗效率显著提高。

Description

一种应用于光伏阵列的清洗机器人控制方法
本申请要求于2017年11月23日提交中国专利局、申请号为201711182688.X、实用新型名称为“一种应用于光伏阵列的清洗机器人控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及光伏阵列清洗机器人技术领域，特别涉及一种应用于光伏阵列的清洗机器人控制方法。
背景技术
随着社会对清洁能源需求的比重不断增大，光伏清洗也不断深入和细化，从研发到应用各环节，多种不同种类的光伏清洗设备逐渐得到了众多关注。
影响光伏清洗方式的因素除了地形、自动化水平、成本、组件安全、效率以外，光伏组件本身的特点也决定了合适的清洗方式的特点。跟踪阵列式系统是一种新型的光伏系统，能够自动跟踪系统通过实时跟踪太阳运动，使太阳光直射光伏阵列，从而增加光伏阵列接收到的太阳辐射量，提高太阳光伏发电系统的总体发电量。
在现有市场上，光伏阵列表面清洗设备主要有两种：地面行走的大底盘大辊刷水洗式以及板上行走辊刷干洗式。上述两种方式主要存在以下缺点：
首先，现有的光伏阵列的大底盘大辊刷水洗式清洗设备，对地形的适应能力低，易压坏光伏板，需要人工操作，且操作难度大，清洗成本高，没有在恶劣环境(高温、多尘、夜间等)下作业的能力；
其次，现有的光伏阵列板上行走辊刷干洗式清洗设备，无法换板作业，为了覆盖全部的清洗面积，需要一次性投入的清洗设备数量非常庞大，而且还要求光伏支架做配套设计，清洗的设备和配套施工成本投入巨大，清洗设备维护任务繁重。
发明内容
本发明的目的是提供一种应用于光伏阵列的清洗机器人控制方法，无需人工操作，一台清洗机器人可以实现多行光伏阵列的清洗，清洗效率显著提高。
为实现上述目的，本发明提供一种应用于光伏阵列的清洗机器人控制方法，包括：
搭载有多个清洗系统的清洗机器人向光伏阵列的行端移动；
当所述清洗机器人的摆渡平台与光伏阵列的行端的平面处于预设位置时，所述清洗机器人停止运行；
所述清洗机器人的控制系统获取所述摆渡平台与光伏阵列的位置关系，并计算得到所述摆渡平台的调节位置与姿态，以实现所述清洗系统能够移动至目标位置；
用以调节所述摆渡平台位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台调节至能够供所述清洗系统移动至目标位置；
位于所述摆渡平台上的清洗系统移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统移动至所述摆渡平台上，完成换板。
优选地，所述清洗机器人的控制系统获取所述摆渡平台与光伏阵列的位置关系，并计算得到所述摆渡平台的调节位置与姿态，以实现所述清洗系统能够移动至目标位置具体为：
所述清洗机器人的检测装置获得光伏阵列的行端的平面与当前摆渡平台之间的当前位置关系，并将当前位置关系发送至控制系统；
所述控制系统根据获取到的当前位置关系以及所述摆渡平台与光伏阵列行端的平面之间预设的位置关系，得到摆渡平台的调整角度；
所述控制系统将调整角度发送至用以调节所述摆渡平台位置与姿态的位姿调节装置，所述位姿调节装置根据接收到的调整角度控制所述摆渡平台调节至能够供清洗系统移动至光伏阵列的位置。
优选地，所述位于所述摆渡平台的清洗系统移动至光伏阵列上，并执行清洗之后，还包括：
当所述检测装置检测到所述清洗系统移动至光伏阵列上之后，所述位姿调节装置控制所述摆渡平台调整至初始姿态。
优选地，所述摆渡平台的初始姿态具体为：所述摆渡平台的重心竖直投影位于所述清洗机器人的移动系统水平范围内的姿态。
优选地，
所述用以调节所述摆渡平台位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台调节至能够供所述清洗系统移动至目标位置具体为：
用以调节所述摆渡平台位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台的上板位对准于光伏阵列行端的表面，以实现所述清洗系统能够移动至目标位置；
并且：
所述位于所述摆渡平台上的清洗系统移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统移动至所述摆渡平台上，完成换板具体为：
位于所述摆渡平台预设的上板位的清洗系统移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统移动至所述摆渡平台预设的上板位上，完成换板。
优选地，所述位于所述摆渡平台预设的上板位的清洗系统移动至光伏阵列上，并执行清洗之后，还包括：
位于所述摆渡平台待工作位置的另一清洗系统移动至上板位，以待执行下一光伏阵列的清洗；且上板位与待工作位置位于所述摆渡平台的不同位置。
优选地，所述摆渡平台的上板位具体为：所述摆渡平台的边角处且仅能够停放一台所述清洗系统的位置。
优选地，还包括：
当任一所述清洗系统缺电时，缺电的清洗系统移动至所述摆渡平台预设的充电位置，进行充电。
优选地，所述当任一所述清洗系统缺电时，缺电的清洗系统移动至所 述摆渡平台预设的充电位置，进行充电之后，还包括：
当缺电的清洗系统充电完毕后，移动至所述摆渡平台的待工作位，以待执行光伏阵列的清洗。
优选地，所述摆渡平台预设的充电位置具体为：所述摆渡平台的边角处且不同于所述摆渡平台的上板位处。
相对于上述背景技术，本发明提供的一种应用于光伏阵列的清洗机器人控制方法，搭载有多个清洗系统的清洗机器人向光伏阵列的行端移动；当所述清洗机器人的摆渡平台与光伏阵列的行端的平面处于预设位置时，所述清洗机器人停止运行；所述清洗机器人的控制系统获取所述摆渡平台与光伏阵列的位置关系，并计算得到所述摆渡平台的调节位置与姿态，以实现所述清洗系统能够移动至目标位置；用以调节所述摆渡平台位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台调节至能够供清洗系统移动至目标位置；位于所述摆渡平台上的清洗系统移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统移动至所述摆渡平台上，完成换板。如此设置，利用摆渡平台转移清洗系统，实现摆渡平台与光伏阵列的对接，清洗系统从摆渡平台自行移动至光伏阵列，无需人工参与，能够在恶劣环境下作业，并且清洗系统能够覆盖光伏阵列的全部清洗面积，清洗效率显著提高。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明实施例所提供的应用于光伏阵列的清洗机器人控制方法的流程图；
图2为本发明实施例所提供的应用于光伏阵列的清洗机器人的整体结构示意图；
图3为图2中清洗机器人在上板过程中的示意图；
图4为图2中清洗机器人在充电过程中的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
为了使本技术领域的技术人员更好地理解本发明方案，下面结合附图和具体实施方式对本发明作进一步的详细说明。
请参考图1至图4，图1为本发明实施例所提供的应用于光伏阵列的清洗机器人控制方法的流程图；图2为本发明实施例所提供的应用于光伏阵列的清洗机器人的整体结构示意图；图3为图2中清洗机器人在上板过程中的示意图；图4为图2中清洗机器人在充电过程中的示意图。
本发明提供的一种应用于光伏阵列的清洗机器人控制方法，如说明书附图1所示，主要包括：
S1、搭载有多个清洗系统1的清洗机器人向光伏阵列的行端移动；
S2、当所述清洗机器人的摆渡平台6与光伏阵列的行端的平面处于预设位置时，所述清洗机器人停止运行；
S3、所述清洗机器人的控制系统获取所述摆渡平台6与光伏阵列的位置关系，并计算得到所述摆渡平台6的调节位置与姿态，以实现所述清洗系统1能够移动至目标位置；
S4、用以调节所述摆渡平台6位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台6调节至能够供所述清洗系统1移动至目标位置；
S5、位于所述摆渡平台6上的清洗系统1移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统1移动至所述摆渡平台6上，完成换板。
结合说明书附图2所示，清洗机器人主要包括多个清洗系统1、摆渡系统2和移动系统3，其中，摆渡系统2包括检测装置4、驱动单元5和摆渡平台6；摆渡平台6上可以停放有多台清洗系统1，移动系统3可以实现移动，驱动单元5可以包括六根可独立伸缩的伸缩杆，每根伸缩杆的顶端均连接于摆渡平台6的底面，而每根伸缩杆的底端均连接于移动系统3的上表面，当六根伸缩杆的至少一根伸缩时，能够实现摆渡平台6的位置与姿态的调节。位姿调节装置能够控制六根伸缩杆独立伸缩，从而实现摆渡平台6的位置与姿态的调节。
针对步骤S1、清洗机器人向光伏阵列9的行端移动；也即在移动系统3的作用下，清洗机器人整体实现移动，多台清洗系统1随着移动系统3同步移动，并朝向光伏阵列9的行端行进；
针对步骤S2、当所述清洗机器人的摆渡平台6与光伏阵列的行端的平面处于预设位置时，所述清洗机器人停止运行；其中，预设位置可以根据实际需要而定，其可以设置为具体的数值，例如清洗机器人的摆渡平台6与光伏阵列的行端的平面之间相距0.5米时清洗机器人停止运行。
针对步骤S3、清洗机器人的控制系统获取所述摆渡平台6与光伏阵列的位置关系，并计算得到所述摆渡平台6的调节位置与姿态，以实现所述清洗系统1能够移动至目标位置；也即，当清洗机器人停止在预设位置时，位于清洗机器人的检测装置检测摆渡平台6的当前位置以及光伏阵列的当前位置，并得到两者之间的位置关系，根据该位置关系，计算得出摆渡平台6所需的调节角度，也即六根伸缩杆中每一根伸缩杆的伸缩距离，并通过位姿调节装置调节相应伸缩杆，使得摆渡平台6调节至能够供清洗系统1移动至光伏阵列的位置；
针对步骤S4、用以调节所述摆渡平台6位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台6调节至能够供所述清洗系统1移动至目标位置；也即，位姿调节装置获取到控制系统所计算得到摆渡平台6所需的调节量，该调节量用以调节摆渡平台6的位置与姿态；而执行调节的部件为位姿调节装置，通过位姿调节装置对摆渡平台6的相应伸缩杆的伸缩距离进行调节，以确保调节后摆渡平台6能够供清洗系统1 跨越，实现清洗系统1由摆渡平台6到光伏阵列以及由光伏阵列到摆渡平台6的动作。
针对步骤S5、位于所述摆渡平台6上的清洗系统1移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统1移动至所述摆渡平台6上，完成换板。当摆渡平台6调节完毕后，位于摆渡平台6的清洗系统1便能够移动至光伏阵列9上，在清洗系统1的作用下完成对该光伏阵列9的清洗；当然，位于光伏阵列上的清洗系统1同样能够移动至摆渡平台6上，完成换板。其中，清洗系统1能够自身携带的电源完成换板，其具体形状构造本文并不作出限制，可以参考现有技术中的扫地机器人等。
本文中，当清洗机器人停止于摆渡平台6与光伏阵列9的行端的平面齐平的位置后，可以向清洗系统1发送启动信号，当清洗系统1接收到该启动信号后，自行移动至光伏阵列9，并执行清洗。
针对步骤S3，可以具体为：
所述清洗机器人的检测装置获得光伏阵列的行端的平面与当前摆渡平台之间的当前位置关系，并将当前位置关系发送至控制系统；
所述控制系统根据获取到的当前位置关系以及所述摆渡平台6与光伏阵列行端的平面之间预设的位置关系，得到摆渡平台的调整角度；
所述控制系统将调整角度发送至用以调节所述摆渡平台位置与姿态的位姿调节装置，所述位姿调节装置根据接收到的调整角度控制所述摆渡平台调节至能够供清洗系统移动至光伏阵列的位置。
也即，当清洗机器人移动至预设位置后停止，利用清洗机器人的检测装置获得光伏阵列的行端的平面与当前摆渡平台之间的当前位置关系，并将当前位置关系发送至控制系统。其中，检测装置可以采用现有技术中的位置检测部件，例如视觉检测部件等。
控制系统获得上述当前位置关系之后，根据摆渡平台6与光伏阵列行端的平面之间预设的位置关系，得到摆渡平台6的调整角度；其中，摆渡平台6与光伏阵列行端的平面之间预设的位置关系是指：摆渡平台6应调节至能够供清洗系统1由摆渡平台6移动至光伏阵列9或者由光伏阵列9移动至摆渡平台6的角度，实现换板。其中摆渡平台6与光伏阵列9无需 无缝对接，两者之间具有能够供清洗系统1跨越的间隙即可；控制系统计算得到摆渡平台6的调整角度；
控制系统将调整角度发送至位姿调节装置，位姿调节装置用以调节摆渡平台6的位置与姿态的位姿调节装置，当位姿调节装置根据接收到的调整角度后，即可控制摆渡平台6调节至能够供清洗机器人移动至光伏阵列的位置，以便实现换板。其中，换板是指清洗系统1由摆渡平台6移动至光伏阵列9或者由光伏阵列9移动至摆渡平台6的过程。
换句话说，上述换板过程中，可以通过以下具体步骤实现：
首先，清洗机器人移动至预设位置后停止；预设位置可以指：清洗机器人与光伏阵列9相距一定距离的位置；当清洗机器人移动至预设位置并停止后，此时清洗机器人与光伏阵列9之间相距一定距离，而该距离可以根据实际需要而定；清洗机器人可以设有位置传感器，用以实时检测清洗机器人与光伏阵列9的间距，当清洗机器人与光伏阵列9相距一定距离后，控制清洗机器人停止，也即完成换板机器人移动至预设位置后停止这一步骤；
然后，清洗机器人的检测装置4获得光伏阵列9的行端的平面与当前摆渡平台6之间的当前位置关系，并将当前位置关系发送至控制系统；也即，当清洗机器人移动至预设位置后停止，可以利用位置传感器检测光伏阵列9的行端的平面与当前摆渡平台6的当前位置，获取两者之间的当前位置关系，并将该当前位置关系发送至控制系统；控制系统可以是控制清洗机器人停止的系统；在这里，光伏阵列9的行端的平面与当前摆渡平台6的当前位置并不仅仅限定于两者的间距，还应包括两者的角度差值；由于每一块光伏阵列9的角度不一定相同，因此应获取光伏阵列9的倾斜角度以及当前摆渡平台6的倾斜角度，而当前位置关系即为两者的间距以及角度差值。
接着，所述控制系统根据获取到的当前位置关系以及所述摆渡平台6与光伏阵列9行端的平面之间预设的位置关系，可以得到所述清洗机器人需要进一步移动的调节位移和/或所述摆渡平台6的调整角度；也即，控制系统根据上述当前位置关系计算得到清洗机器人需要进一步移动的调节位 移和/或摆渡平台6的调整角度，这一计算过程应根据具情况进行；举例来说，倘若位置传感器检测到光伏阵列9的倾斜角度为60°，而当前摆渡平台6的倾斜角度为50°，此时摆渡平台6还需要调节10°，以满足与光伏阵列9齐平的要求；在驱动单元5的作用下，摆渡平台6调节10°、达到60°之后，倘若此时摆渡平台6与光伏阵列9之间的间距过大，还需要通过控制系统控制移动系统3移动，使得摆渡平台6与光伏阵列9之间的间距满足要求，实现两者的齐平。
最后，所述清洗机器人根据调节位移移动，和/或所述摆渡平台6由初始姿态根据调整角度调节姿态；也即，当调节完毕后，摆渡平台6与光伏阵列9的行端的平面齐平，此时无论是角度还是间距均满足要求；而后才能够控制清洗系统1移动至光伏阵列9，实现清洗操作。其中，上述位置传感器即为说明书附图2所示的检测装置4。
当位于所述摆渡平台6的清洗系统1移动至光伏阵列9上，并执行清洗之后，当所述检测装置4检测到所述清洗系统4移动至光伏阵列9上之后，控制所述摆渡平台6调整至初始姿态。
可以利用检测装置4检测清洗系统1是否移动至光伏阵列9上，当清洗系统1移动至光伏阵列9执行清洗后，控制系统可以控制摆渡平台6调整至初始姿态，而初始姿态是指摆渡平台6的重心竖直投影位于所述清洗机器人的移动系统3水平范围内的姿态。在上述过程中，为了实现清洗系统1行走至光伏阵列9，摆渡平台6的位置调节幅度往往过大；当清洗系统1移动至光伏阵列9之后，为了避免清洗机器人的重心不稳，将摆渡平台6回收至移动系统3上方，摆渡平台6的重心竖直投影位于清洗机器人的移动系统3水平范围内，确保清洗机器人在后续行走时的平稳。
为了实现摆渡平台6的清洗系统1行走至光伏阵列9，可以在摆渡平台6设置上板位，上板位可以具体为：所述摆渡平台6的边角处且仅能够停放一台所述清洗系统1的位置，也即说明书附图3所示的A位置。上板位A仅仅能够停放一台清洗系统1；在工作过程中，仅仅需要摆渡平台6的上板位与光伏阵列9的行端的平面齐平即可，位于摆渡平台6上板位A的清洗系统1便能够从上板位A自行移动至光伏阵列9的行端，完成换板。
当位于摆渡平台6上板位A的清洗系统1移动至光伏阵列9后，位于所述摆渡平台6待工作位置的另一清洗系统1移动至上板位A，以待执行下一光伏阵列9的清洗；且上板位与待工作位置位于所述摆渡平台6的不同位置。
也就是说，当上板位A空出后，位于待工作位置的清洗系统1自行移动至上板位A处，当清洗机器人移动至下一块光伏阵列9时，则此时位于上板位A的清洗系统1即可自行移动至该光伏阵列9，完成换板。当然，位于待工作位置的清洗系统1自行移动至上板位A处这一过程可以通过发送相应的信号，用以启动位于待工作位置的清洗系统1，使其自行移动至上板位A。当然，由于待工作位置有很多，向具体哪一个待工作位置的清洗系统1发送信号可以根据实际需要而定，本文优选利用向位于上板位A邻近的待工作位置的清洗系统1发送信号，以节省清洗系统1的移动距离。
为了提高清洗系统1的工作时长，当任一所述清洗系统1缺电时，缺电的清洗系统1移动至所述摆渡平台6预设的充电位置，进行充电。其中，充电位置B如说明书附图4所示；充电位置具体为：所述摆渡平台6的边角处且不同于所述摆渡平台6的上板位处，摆渡平台6可以设置有多个充电位置B。也即，上板位A、充电位置B和待工作位置处于不同位置，一旦位于摆渡平台6的清洗系统1缺电时，则缺电的清洗系统1能够自行移动至充电位置B处，完成充电。充电位置B可以设置充电桩，也可以采用现有技术中的无线充电或者磁充等方式，本文不再赘述。
以说明书附图4为例，当位于光伏阵列9且执行清洗的清洗系统1缺电时(后文称之为缺电清洗系统11)，在换板流程中，缺电清洗系统11不会被转移的到下一行光伏阵列9行上，移动系统3将摆渡平台6上的充电位置B对准光伏阵列9行的行端，缺电清洗系统11直接移动到摆渡平台6的充电位置B上，通过接驳并充电，如说明书附图4所示；附图4位于上板位A的清洗系统1(满电状态)做好待命，准备在移动系统与下一个未清洗光伏阵列9的行端接驳时转移，并继续清洗流程。而后，当缺电清洗系统11充电完毕后，移动至所述摆渡平台6的待工作位置，以待执行光伏阵列9的清洗。
本文中，针对缺电的定义为：可以是指当清洗系统1的剩余电量低于预设剩余电量时，即为缺电；预设剩余电量可以根据实际需要而定；此外，缺电还可以有其他定义方式，本文不再赘述。
需要说明的是，在本说明书中，诸如第一和第二之类的关系术语仅仅用来将一个实体与另外几个实体区分开来，而不一定要求或者暗示这些实体之间存在任何这种实际的关系或者顺序。
以上对本发明所提供的应用于光伏阵列的清洗机器人控制方法进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。

Claims (10)

  1. 一种应用于光伏阵列的清洗机器人控制方法，其特征在于，包括：
    搭载有多个清洗系统(1)的清洗机器人向光伏阵列的行端移动；
    当所述清洗机器人的摆渡平台(6)与光伏阵列的行端的平面处于预设位置时，所述清洗机器人停止运行；
    所述清洗机器人的控制系统获取所述摆渡平台(6)与光伏阵列的位置关系，并计算得到所述摆渡平台(6)的调节位置与姿态，以实现所述清洗系统(1)能够移动至目标位置；
    用以调节所述摆渡平台(6)位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台(6)调节至能够供所述清洗系统(1)移动至目标位置；
    位于所述摆渡平台(6)上的清洗系统(1)移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统(1)移动至所述摆渡平台(6)上，完成换板。
  2. 根据权利要求1所述的清洗机器人控制方法，其特征在于，所述清洗机器人的控制系统获取所述摆渡平台(6)与光伏阵列的位置关系，并计算得到所述摆渡平台(6)的调节位置与姿态，以实现所述清洗系统(1)能够移动至目标位置具体为：
    所述清洗机器人的检测装置获得光伏阵列的行端的平面与当前摆渡平台之间的当前位置关系，并将当前位置关系发送至控制系统；
    所述控制系统根据获取到的当前位置关系以及所述摆渡平台与光伏阵列行端的平面之间预设的位置关系，得到摆渡平台的调整角度；
    所述控制系统将调整角度发送至用以调节所述摆渡平台位置与姿态的位姿调节装置，所述位姿调节装置根据接收到的调整角度控制所述摆渡平台调节至能够供清洗系统移动至光伏阵列的位置。
  3. 根据权利要求2所述的清洗机器人控制方法，其特征在于，所述位于所述摆渡平台(6)的清洗系统(1)移动至光伏阵列上，并执行清洗之 后，还包括：
    当所述检测装置(4)检测到所述清洗系统(1)移动至光伏阵列上之后，所述位姿调节装置控制所述摆渡平台(6)调整至初始姿态。
  4. 根据权利要求3所述的清洗机器人控制方法，其特征在于，所述摆渡平台(6)的初始姿态具体为：所述摆渡平台(6)的重心竖直投影位于所述清洗机器人的移动系统(3)水平范围内的姿态。
  5. 根据权利要求1～4任意一项所述的清洗机器人控制方法，其特征在于，
    所述用以调节所述摆渡平台(6)位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台(6)调节至能够供所述清洗系统(1)移动至目标位置具体为：
    用以调节所述摆渡平台(6)位置与姿态的位姿调节装置根据计算得到的调节位置与姿态将所述摆渡平台(6)的上板位对准于光伏阵列行端的表面，以实现所述清洗系统(1)能够移动至目标位置；
    并且：
    所述位于所述摆渡平台(6)上的清洗系统(1)移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统(1)移动至所述摆渡平台(6)上，完成换板具体为：
    位于所述摆渡平台(6)预设的上板位的清洗系统(1)移动至光伏阵列上，并执行清洗；和/或，位于光伏阵列上的清洗系统(1)移动至所述摆渡平台(6)预设的上板位上，完成换板。
  6. 根据权利要求5所述的清洗机器人控制方法，其特征在于，所述位于所述摆渡平台(6)预设的上板位的清洗系统(1)移动至光伏阵列上，并执行清洗之后，还包括：
    位于所述摆渡平台(6)待工作位置的另一清洗系统(1)移动至上板位，以待执行下一光伏阵列的清洗；且上板位与待工作位置位于所述摆渡 平台(6)的不同位置。
  7. 根据权利要求6所述的清洗机器人控制方法，其特征在于，所述摆渡平台(6)的上板位具体为：所述摆渡平台(6)的边角处且仅能够停放一台所述清洗系统(1)的位置。
  8. 根据权利要求7所述的清洗机器人控制方法，其特征在于，还包括：
    当任一所述清洗系统(1)缺电时，缺电的清洗系统(1)移动至所述摆渡平台(6)预设的充电位置，进行充电。
  9. 根据权利要求8所述的清洗机器人控制方法，其特征在于，所述当任一所述清洗系统(1)缺电时，缺电的清洗系统(1)移动至所述摆渡平台(6)预设的充电位置，进行充电之后，还包括：
    当缺电的清洗系统(1)充电完毕后，移动至所述摆渡平台(6)的待工作位，以待执行光伏阵列的清洗。
  10. 根据权利要求9所述的清洗机器人控制方法，其特征在于，所述摆渡平台(6)预设的充电位置具体为：所述摆渡平台(6)的边角处且不同于所述摆渡平台(6)的上板位处。
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