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Cleaning robot, photovoltaic tracking system and interactive cooperation method

A cleaning robot and tracking system technology, applied in the field of cleaning robots, can solve problems such as inability to clean, and achieve the effect of ensuring safety

Active Publication Date: 2022-08-05
湖州丽天智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above deficiencies and actual needs of the existing technology, the purpose of this application is to provide a cleaning robot that can judge whether the inclination angle of the photovoltaic panel on the cleaning path meets the cleaning conditions, so as to prevent the situation that the equipment cannot be cleaned or damaged , as well as the photovoltaic tracking system and the interactive cooperation method between the cleaning robot and the photovoltaic tracking system

Method used

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  • Cleaning robot, photovoltaic tracking system and interactive cooperation method
  • Cleaning robot, photovoltaic tracking system and interactive cooperation method

Examples

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Effect test

Embodiment 1

[0044] Example 1. The cleaning robot provided by the present application is used to automatically clean the photovoltaic panels of a plurality of photovoltaic tracking systems. This embodiment includes: a cleaning device for cleaning the photovoltaic panels; a walking device for walking along a set cleaning path; an inclination angle measuring device , used to measure the inclination angle of the cleaning robot; the first communication device is used to communicate with the photovoltaic tracking system and obtain the inclination angle of at least part of the photovoltaic tracking system on the cleaning path; the control device is used to determine the inclination angle of the cleaning robot and the above-mentioned Check whether the tilt angle of some photovoltaic tracking systems meets the cleaning conditions, and control the walking device and the cleaning device to perform cleaning operations when the cleaning conditions are met.

[0045] The specific structures of the clean...

Embodiment 2

[0048] Example two. As a variation of the first embodiment, the inclination angle measuring device of the cleaning robot may not be provided, for example, when a cleaning robot that can perform cleaning at any angle is used. At this time, the cleaning robot only needs to judge whether the cleaning conditions are met by the tilt angle of the photovoltaic tracking system on the cleaning path.

Embodiment 3

[0049] Example three. On the basis of the first embodiment, the tilt angle measurement device specifically includes an inertial acceleration sensor or a gyroscope or a combination thereof. The inertial acceleration sensor is usually composed of an inertial mass and an elastic element. When there is an inclined angle between the inertial acceleration sensor and the horizontal plane, the gravity of the inertial mass will deform the elastic element, and the above deformation is directly related to the inclination angle. Therefore, the inertial acceleration sensor It can be used to measure the tilt angle of the cleaning robot. Inertial navigation sensors on the market usually include multi-axis accelerometers with orthogonal settings, and some high-precision products also include sensing units such as single-axis or multi-axis gyroscopes, single-axis or multi-axis magnetometers. By filtering the measurement data of these sensing units and performing fusion calculation on multiple...

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Abstract

The invention provides a cleaning robot, a photovoltaic tracking system and an interactive cooperation method. The cleaning robot comprises a cleaning device, a walking device, an inclination angle measuring device, a first communication device and a control device. The first communication device communicates with a photovoltaic tracking system of a photovoltaic panel and obtains the inclination angle of at least part of the photovoltaic tracking system on a cleaning path. The control device judges whether the inclination angle of the cleaning robot and the inclination angle of the photovoltaic tracking system meet cleaning conditions or not and controls the walking device and the cleaning device to execute cleaning operation. The photovoltaic tracking system is used for adjusting the inclination angle of the photovoltaic panel, and the second communication device of the photovoltaic tracking system sends the inclination angle to the cleaning robot. According to the interactive cooperation method of the cleaning robot and the photovoltaic tracking system, the cleaning action of the cleaning robot is determined or the inclination angle of the photovoltaic tracking system is adjusted by obtaining the inclination angle of the cleaning robot and the inclination angle of the photovoltaic tracking system on a cleaning path.

Description

technical field [0001] The present application relates to the technical field of photovoltaic power generation, and in particular, to a cleaning robot, a photovoltaic tracking system and an interactive collaboration method. Background technique [0002] Existing large-scale photovoltaic power stations generally install a tracking control system for the photovoltaic support to increase the power generation. The tracking control system can rotate the photovoltaic panel to keep it vertically facing the sunlight at all times, that is, the photovoltaic panels at different times are at different inclinations. angle. However, the constantly rotating photovoltaic panels will bring certain difficulties to the cleaning robot to clean the photovoltaic panels, because if the inclination angle of two adjacent photovoltaic panels is too different, the connected bridges may be twisted, or the cleaning robot cannot smoothly cross the gap or Through the bridge; in addition, if the inclinati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02S40/10H02S20/32
CPCH02S40/10H02S20/32Y02E10/50
Inventor 于涛孙欣白亮亮
Owner 湖州丽天智能科技有限公司
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