Method of operating a photovoltaic robot

Abstract

The present disclosure provides a method of operating a photovoltaic robot, driving the photovoltaic robot to traverse a terrain of a photovoltaic panel in a travel direction; contacting a surface of the photovoltaic panel to dislodge a deposit from the surface of the photovoltaic panel; sensing a feature of the surface of the photovoltaic panel on which the photovoltaic robot is travelling and generating an indication signal indicative of the feature of the surface on which the photovoltaic robot is travelling, the indication signal comprising a signal indicative of a flatness of the surface of the photovoltaic panel; identifying a change in the flatness of the surface of the photovoltaic panel at an adjoining boundary between two or more adjacent photovoltaic panel groups; controlling, by a control module, the drive system to direct the photovoltaic robot to perform a navigation decision in the vicinity of the adjoining boundary in response to the identification of the change in the flatness of the surface of the photovoltaic panel; and maintaining a surface feature map of the photovoltaic panel group, the surface feature map of the photovoltaic panel group storing information regarding the identified adjoining boundary.

Description

Technical Field

[0001] This disclosure relates to a method for operating a photovoltaic robot. Background Technology

[0002] New renewable energy sources have become an important part of human energy use, and solar energy technology has developed rapidly in countries around the world in recent years. A photovoltaic (PV) panel is a device that uses semiconductor materials to directly convert solar energy into electrical energy; these materials produce the photovoltaic effect under sunlight. PV panels are suitable for a wide range of applications, from large power plants to small portable chargers. In recent years, PV panels have experienced rapid development.

[0003] Since photovoltaic (PV) panels operate only outdoors, the biggest problem affecting their performance is not sunlight, but the accumulation of dust on their surface. Dust and other deposits on PV panels affect the light transmittance of the panels, limit photoelectric efficiency, severely impact the efficiency of the panels in directly capturing sunlight, reduce the energy absorption and conversion efficiency of the panels, and ultimately reduce power generation efficiency.

[0004] Currently, most photovoltaic (PV) panels in use rely on manual cleaning on a regular basis. Due to the large size of PV panels in large power plants, the large number of panels used simultaneously, and the harsh environment they are in (usually located in open, unobstructed spaces), dust accumulates repeatedly, requiring frequent cleaning. In many cases, to improve space utilization, PV panels are mounted high up using brackets, making cleaning even more difficult and riskier. To reduce cleaning costs, many PV panel users are forced to choose not to clean them, thus bearing the resulting power loss due to dust.

[0005] Some photovoltaic panels have already incorporated automated cleaning robots for cleaning, but available cleaning systems integrated with solar photovoltaic panels are either too complex, too expensive, or both. Outdoor cleaning robots should be inexpensive, simple in design, reliable, power-efficient, and highly effective. Summary of the Invention

[0006] To address one of the aforementioned technical problems, this disclosure provides a method for operating a photovoltaic robot.

[0007] According to one aspect of this disclosure, a method for operating a photovoltaic robot is provided, the photovoltaic robot comprising: main body; A drive module fixedly mounted on the main body and a cleaning module pivotally mounted on the drive module, the cleaning module comprising a first cleaning module located in front of the main body and a second cleaning module located behind the main body; The method includes: The photovoltaic robot is driven by the drive module to traverse the terrain of the photovoltaic panels along the direction of travel; The first and second cleaning modules are used to contact the surface of the photovoltaic panel to remove the deposits on the surface of the photovoltaic panel. The system uses sensors to perceive the features of the photovoltaic panel surface that the photovoltaic robot is traversing and generates indication signals that indicate the features of the surface the photovoltaic robot is traversing. These indication signals include signals that indicate the flatness of the photovoltaic panel surface. The control module identifies changes in the flatness of the photovoltaic panel surface at the adjacent boundaries of two or more photovoltaic panel groups based on indication signals, including the flatness of the photovoltaic panel surface, during the movement of the photovoltaic robot. The control module controls the drive module to respond to the recognition of changes in the flatness of the photovoltaic panel surface, guides the photovoltaic robot to the vicinity of the adjacent boundary, and then the photovoltaic robot performs navigation decisions. Maintain a surface feature map of the photovoltaic panel group, and store information about the identified adjacent boundaries in the surface feature map of the photovoltaic panel group.

[0008] According to at least one embodiment of the present disclosure, an adjacency boundary between two or more photovoltaic panel groups is identified, and information about the location of the identified adjacency boundary between the two or more photovoltaic panel groups is stored.

[0009] According to at least one embodiment of the present disclosure, a region to be cleaned at the adjacent boundary between two or more photovoltaic panel groups is identified, and information about the region to be cleaned at the adjacent boundary between the two or more photovoltaic panel groups is stored in a surface feature map of the photovoltaic panel.

[0010] According to at least one embodiment of this disclosure, the sensor includes a oscillation sensor that senses the angle of relative pivoting of the first cleaning module and / or the second cleaning module relative to the drive module, wherein the flatness of the photovoltaic panel surface is reflected by the angle of relative pivoting of the first cleaning module relative to the drive module.

[0011] According to at least one embodiment of this disclosure, the navigation decision includes deciding whether to continue traveling in the direction of travel or in the opposite direction of travel, while maintaining the activation of the first cleaning module and the second cleaning module.

[0012] According to at least one embodiment of this disclosure, the control module is configured to classify the flatness of the photovoltaic panel surface as "flat" or "uneven" based on the change of the angle to distinguish the adjacency boundary type of two or more adjacent photovoltaic panel groups.

[0013] According to at least one embodiment of this disclosure, "flat" means that the photovoltaic robot passes over a photovoltaic panel surface such that the angle of relative pivoting of the first cleaning module relative to the drive module does not exceed a first threshold; while "uneven" means that the photovoltaic robot passes over a photovoltaic panel surface such that the angle of relative pivoting of the first cleaning module relative to the drive module is greater than the first threshold and less than a reference value, wherein the first threshold is the initial swing angle of the cleaning module relative to the drive module when the photovoltaic robot is placed on a flat surface of the photovoltaic panel; and the reference value is the maximum swing angle that the cleaning module can swing relative to the drive module.

[0014] According to at least one embodiment of this disclosure, if an "uneven" adjacent boundary appears while the photovoltaic robot is traveling in the direction of travel, the photovoltaic robot performs the following navigation: The photovoltaic robot moves backward at least half the longitudinal length of the photovoltaic robot in the opposite direction of its travel direction; The photovoltaic robot continues to travel in the direction of travel until the relative sway between the second cleaning module and the drive module disappears; The photovoltaic robot then continues to travel a distance of at least one photovoltaic robot longitudinal length along the direction of travel until the second cleaning module crosses the adjacent boundary; The photovoltaic robot is then controlled to travel in the opposite direction of the travel direction until the second cleaning module reaches the adjacent boundary of the "uneven" again. During this process, the first and second cleaning modules remain active. The photovoltaic robot continued to travel in the direction it was going.

[0015] According to one aspect of this disclosure, a method for operating a photovoltaic robot is provided, the photovoltaic robot comprising: main body; A drive module fixedly mounted on the main body and a cleaning module pivotally mounted on the drive module, the cleaning module comprising a first cleaning module located in front of the main body and a second cleaning module located behind the main body; The photovoltaic robot is driven by a control module to traverse the surface of the photovoltaic panel to be cleaned. While continuing to drive the photovoltaic robot, the characteristics of the indication signal, including the signal of the protrusion on the surface of the photovoltaic panel to be cleaned, and the baseline signal are evaluated to determine whether the indication signal indicates that the photovoltaic robot is passing over the protrusion on the surface of the photovoltaic panel and whether the protrusion can be crossed. Navigation decisions are made through the control module, including responding to the determination from indication signals that the first and second cleaning modules of the photovoltaic robot swing relative to the drive module, guiding the photovoltaic robot to perform secondary cleaning within at least half the longitudinal distance of the photovoltaic robot on both sides of the traversable protrusion. Store information about at least one protrusion on the photovoltaic panel.

[0016] According to at least one embodiment of this disclosure, the secondary cleaning includes: before crossing the protrusion, guiding the photovoltaic robot to move at least half a longitudinal distance of the photovoltaic robot in the opposite direction of travel, and then continuing to travel and crossing the protrusion; after crossing the protrusion, guiding the photovoltaic robot to move at least half a longitudinal distance of the photovoltaic robot in the direction of travel, and then moving towards the protrusion in the opposite direction of travel until the first cleaning module or the second cleaning module contacts the protrusion, wherein the first cleaning module and the second cleaning module remain active during the above process. Attached Figure Description

[0017] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0018] Figure 1 This is a bottom-view perspective view of the structure of a photovoltaic robot according to one embodiment of the present disclosure.

[0019] Figure 2 This is a top perspective view of the structure of a photovoltaic robot according to one embodiment of the present disclosure.

[0020] Figure 3 A bottom view of a photovoltaic robot according to one embodiment of the present disclosure is shown.

[0021] Figure 4 This is a schematic diagram of the frame structure of a photovoltaic robot according to one embodiment of the present disclosure, showing the disassembly and assembly method of the drive module.

[0022] Figure 5 A side view of a drive module according to one embodiment of the present disclosure is shown.

[0023] Figure 6 This is a structural schematic diagram of a photovoltaic robot according to one embodiment of the present disclosure, showing the disassembly and assembly method of the cleaning module.

[0024] Figure 7 This is a side view of a photovoltaic robot according to one embodiment of the present disclosure.

[0025] Figure 8 A schematic diagram of a control module according to one embodiment of the present disclosure is shown.

[0026] Figure 9This is a schematic diagram of a photovoltaic robot walking on a photovoltaic panel according to one embodiment of the present disclosure, wherein the photovoltaic robot reaches the adjacent boundary of the photovoltaic panel.

[0027] Figure 10 This is a schematic diagram of a photovoltaic robot walking on a photovoltaic panel according to one embodiment of the present disclosure, wherein the photovoltaic robot is crossing the adjacent boundary of the photovoltaic panel.

[0028] Figure 11 This is a schematic diagram of a photovoltaic robot walking on a photovoltaic panel according to one embodiment of the present disclosure, wherein the photovoltaic robot crosses the adjacent boundary of the photovoltaic panel. Detailed Implementation

[0029] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0030] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0032] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Moreover, the same reference numerals denote the same components.

[0033] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0034] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0035] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0036] Figure 1 This is a bottom perspective view showing an example of a photovoltaic robot. The photovoltaic robot is used to clean the surface of a photovoltaic panel, removing dust and debris from the work surface and cleaning it. The photovoltaic robot includes a main frame comprising a first frame 110, a second frame 120, a third frame 130, and a fourth frame 140, which are detachably connected.

[0037] like Figure 2 The photovoltaic robot shown includes a chassis and a shell fixed to the chassis, which together constitute the main body 200 of the photovoltaic robot, which is detachably connected to the main frame. According to one embodiment of this disclosure, the photovoltaic robot includes a drive module 300 that moves on the surface of a photovoltaic panel to be cleaned, and a cleaning module 500 that is pivotally mounted on the drive module 300. In one embodiment, the cleaning module 500 peels dust and debris from the surface of the photovoltaic panel to be cleaned. The main body 200 covers the internal components of the photovoltaic robot, including the control module and battery assembly, and serves to alter the appearance of the photovoltaic robot.

[0038] like Figure 3 As shown in the top view of the photovoltaic robot, the drive module 300 can be coupled to the main frame. In one embodiment according to this disclosure, each drive module 300 includes a drive wheel rotatably connected to a drive module bracket and a drive motor 310 for driving the drive wheel; and an annular belt 320 disposed outside the drive wheel for driving the photovoltaic robot across the terrain on the photovoltaic panel under the drive of the drive wheel. One of the difficulties in cleaning photovoltaic panels is that the photovoltaic panels are usually tilted and are associated with the fact that they adjust their orientation to maintain a constant adaptive angle to direct sunlight. Therefore, the robot must be able to ensure the stability of the photovoltaic robot on slopes and with changes in slope angle. Therefore, the drive module 300 is typically an annular belt, which may include an outer running layer made of structural rubber or leather to ensure a large contact surface between the robot and the photovoltaic panel, so that the photovoltaic robot can be relatively stably positioned on the target plane.

[0039] Each drive motor 310 is mechanically coupled to a drive module bracket and operates independently via control signals generated by a control module, responding to different behavioral modes. The independent operation of each drive motor 310 enables the annular belt 320 to perform the following actions: rotating at the same speed in the same direction to propel the robot forward or backward in a straight line; rotating at different speeds (including when one of the annular belts 320 does not rotate) to achieve various right-turn and / or left-turn modes for the robot; and rotating at the same speed in opposite directions to allow the robot to rotate in place, thus providing the robot with a wide range of motion capabilities. The aforementioned photovoltaic robot is equipped with an autonomous driving mechanism consisting of two drive wheels forming the front drive wheel, two drive wheels forming the rear drive wheel at the rear end, and multiple freely rotating driven wheels located between the front and rear drive wheels. The two drive wheels are each connected to a drive motor 310 and can be driven to rotate independently to the left and right. Therefore, the robot can move forward, backward, rotate, and curve.

[0040] In one embodiment, a pair of cleaning modules 500 are provided at the front and rear of the robot body 200, respectively.

[0041] A cleaning module 500 can be coupled to a frame for cleaning solar panels. According to one embodiment of this disclosure, the cleaning module 500 is detachably mounted on a bracket of a drive module 300. The cleaning module 500 includes: a cleaning module bracket; a cleaning head, i.e., a roller brush 510, rotatably connected to the cleaning module bracket. The roller brush 510 is detachably mounted on the cleaning module 500 for sweeping away deposits on the photovoltaic panel; and a cleaning drive motor 520 carried by the cleaning module bracket and operably driving the roller brush 510.

[0042] In one embodiment, the roller brush 510 is a combination of multiple roller brush segments uniquely designed and arranged along an axial direction. This arrangement gives the roller brush 510 exceptional flexibility and adaptability, allowing for replacement and combination to suit different working conditions. Each segment of the roller brush can be selected to meet the requirements of different surface materials or cleaning tasks. For example, when dealing with rough surfaces, segments with stiffer bristles can be used to achieve stronger cleaning power and abrasive effects. When dealing with delicate surfaces, segments with softer bristles can be used to avoid scratching or damage. Furthermore, this combination of multiple roller brush segments allows for adjustment based on the size and shape of the cleaning area. By adding or removing the appropriate number of roller brush segments, the length and shape of the roller brush can be easily adjusted to suit different cleaning needs. The design of the roller brush 510 makes it a highly flexible and customizable cleaning tool, providing optimal adaptability and performance for a wide range of working conditions.

[0043] The cleaning module 500 has a cleaning drive motor 520 that rotates the shaft unit around the axis of the roller brush 510. Specifically, the main shaft of the cleaning drive motor 520 is connected to the end portion of the shaft of the roller brush 510 via a pulley mechanism. The operating state of the cleaning drive motor is controlled by a control module.

[0044] Therefore, when the cleaning drive motor is activated, the driving force of the cleaning drive motor is transmitted to the shaft of the roller brush through the pulley mechanism, which causes the roller brush to rotate.

[0045] In some situations, the cleaning module 500 may need to be positioned close to the front of the photovoltaic robot. To facilitate the cleaning process, the path guiding debris or dirt can be flexibly configured to alternatively direct it into the suction channel beneath the photovoltaic robot. This allows the robot to clean the target area more efficiently, reducing dirt residue and cleaning time.

[0046] Furthermore, during wet cleaning, the main roller brush of the cleaning module 500 may have a scrubbing function. This means that the roller brush can not only remove debris and dirt from the surface, but also scrub to further improve the cleaning effect. Moreover, the module is also equipped with a vacuum and wastewater collector, which can effectively collect waste liquid after the scrubbing process, ensuring a clean and environmentally friendly cleaning process.

[0047] For ease of maintenance, the photovoltaic robot includes modular components that can be removed from the robot individually and independently.

[0048] Modular components according to one embodiment of this disclosure, such as cleaning module 500 and drive module 300, are arranged to be installed in mating positions and can be independently removed from the photovoltaic robot. For example, a faulty drive module 300 can be removed and replaced with a functional component, or a worn cleaning module 500 can be replaced and reused. In one embodiment, cleaning module 500 can be replaced to change the function of the photovoltaic robot, such as replacing the long roller brush in cleaning module 500 with a short roller brush, or replacing the stiff-bristled roller brush with a soft-bristled roller brush, etc.

[0049] exist Figure 4 The diagram shows a first frame 110 and a second frame 120 that mate with the drive module 300, and a third frame 130 and a fourth frame 140 that mate with the first frame 110 and the second frame 120. Each frame is a regular frame with a mounting joint on its side wall. Figure 5 As shown, the drive module 300 at the bottom of the robot includes a groove 301 formed by parallel walls on its main body. A first frame 110 and a second frame 120 that match the groove 301 form a tight sliding fit. As parallel walls, they allow the first frame 110 and the second frame 120 to slide directly into the receiving groove 301 along the walls until they penetrate the frame of the drive module 300.

[0050] The drive module 300 has two adjacent, similarly shaped brackets that form a recess 301, allowing the first frame 110 and the second frame 120 to pass perpendicularly through the walls of the brackets. The drive module 300 slides into position "vertically" along the first frame 110 and the second frame 120. The drive module 300 can be secured to its respective frame with fasteners, the fastening direction of which is the same as the insertion direction. The fasteners are visible, and any fastener can be easily removed to allow the drive module 300 to slide out.

[0051] The Cleaning Module 500, as a separately removable module, provides photovoltaic robots with a variety of cleaning options. For example... Figure 6As shown, the cleaning module 500 can be easily removed from the bracket of the photovoltaic robot's drive module 300, allowing it to be completely removed from the robot. This module primarily consists of roller brushes that rotate around a horizontal axis, forming a horizontal cleaning system. It is designed to cover a wide area of ​​the work surface to ensure efficient cleaning. In addition to roller brushes, the robot can also use other types of brushes, such as vertically rotating brushes, reciprocating brushes, vibrating mops, and track brushes. These components are easy to install and remove, and can be flexibly combined according to different cleaning tasks and surface requirements. Its flexibility is reflected in the interchangeability and combination of various brush types, as well as the adjustable debris guidance path. The scrubbing function under wet cleaning and the waste liquid collector further improve cleaning effectiveness and overall work efficiency.

[0052] The Cleaning Module 500 is designed to meet diverse cleaning needs, making the photovoltaic robot a powerful and highly customizable cleaning tool. For example... Figure 7 As shown, for the cleaning module 500, in addition to the roller brush, an independently interchangeable water spray assembly 600 can be installed on the frame of the cleaning module 500. The water spray assembly 600 is detachably mounted on the cleaning module bracket and located in front of the roller brush 510, so that the surface to be cleaned is rinsed with a cleaning liquid including clean water before the roller brush 510 passes over the surface of the photovoltaic panel to be cleaned. The surface to be cleaned is rinsed with water, which significantly improves the removal efficiency of dust and adhering substances. The water spray assembly 600 may include a nozzle 610, wherein the nozzle 610 communicates with the supply tank in the main body. The nozzle 610 is detachably mounted on the cleaning component. A pump device is installed between the supply tank and the nozzle 610 for supplying the cleaning liquid in the supply tank to the nozzle 610. The cleaning liquid is sprayed out from the nozzle 610, so that the sprayed water has a large coverage area and forms a fan-shaped radiation surface. When the photovoltaic robot moves along the surface to be cleaned (the photovoltaic panel surface), the nozzle 610 is perpendicular to or approximately perpendicular to the surface to be cleaned.

[0053] Both the cleaning module 500 and the drive module 300 shall include a power connector to provide power for their operation. When the drive module and the cleaning module 500 are positioned in their respective locations, the power connector engages with the power connector in that location. The mating power connector provides power from the battery assembly located on the main body to the cleaning module 500 and the drive module.

[0054] When the autonomous walking cleaning robot moves on the steps, its cleaning module 500 swings off the photovoltaic panel or similar object. However, during the swinging of the cleaning module 500, the distance between the brush and the surface to be cleaned sometimes increases, making it impossible for the robot to clean the surface of the photovoltaic panel or similar object. This makes normal cleaning difficult.

[0055] The cleaning module bracket therefore further includes a swing connector disposed at the distal end of the cleaning module bracket, which is configured to mate with the connector of the cleaning module bracket when the cleaning module bracket is placed outside the drive module bracket to form a swing connection with the drive wheel assembly.

[0056] The swing connector plays a crucial role in the photovoltaic robot. In one embodiment of this disclosure, as... Figure 6 and Figure 7 As shown, the swing connector consists of a pivot groove 503 and a swing groove 502 disposed on the bracket of the cleaning module 500, and is equipped with connectors including a first support shaft 302 and a second support shaft 303 located on the bracket of the drive module 300, which respectively mate with the pivot groove 503 and the swing groove 502. This swing connector is designed to mate with the cleaning module bracket to accommodate stepping stones or gaps in the photovoltaic panel components during the forward movement of the photovoltaic robot.

[0057] The surface of a photovoltaic panel may contain uneven areas, such as steps or gaps. These areas may be formed due to the design, installation, or environmental factors of the photovoltaic panel. When cleaning photovoltaic panels, photovoltaic robots need to be able to traverse these areas smoothly without obstruction or getting stuck.

[0058] The design of the swing connector solves this problem. First, the pivot slot 503 and the swing slot 502 are located at the far end of the swing connector and connect to the cleaning module bracket. This connection method allows the cleaning module 500 to float when necessary. When the photovoltaic robot moves forward, if the cleaning module 500 encounters a connecting step or gap, the swing connector will activate, causing the cleaning module 500 to float and preventing forward movement difficulties caused by the cleaning module 500 "getting stuck".

[0059] The cleaning module 500 can move freely, following the surface variations of the photovoltaic panel, via the pivot groove 503 and pivot groove 502 of the swing connector. When the cleaning module 500 floats, the first support shaft 302 and the second support shaft 303 swing and rotate in the pivot groove 502 and pivot groove 503 respectively, keeping the cleaning module 500 stable. This swing connector design ensures smooth operation of the photovoltaic robot and avoids situations where the cleaning module 500 cannot move normally due to obstruction. Therefore, the application of the swing connector in the photovoltaic robot is to adapt to uneven areas on the surface of the photovoltaic panel. By matching the connector of the cleaning module bracket, it allows the cleaning module 500 to float and maintain normal operation when facing connecting steps or gaps. This design ensures that the photovoltaic robot can effectively clean the photovoltaic panel, improve energy output efficiency, and reduce the possibility of operational failures.

[0060] In summary, the design of the swing connector enables the cleaning module 500 to adapt to uneven areas of the photovoltaic panel, maintaining smooth operation and thus improving cleaning efficiency and overall performance.

[0061] In one embodiment, the relative oscillation of the cleaning module 500 of the photovoltaic robot is detected by an oscillation sensor 730. The oscillation sensor 730 is mounted on the robot body 200 and is used to detect the oscillation of the cleaning module 500 relative to the drive module 300. The oscillation sensor 730 determines whether the cleaning module is oscillating upwards by measuring the angle change between the cleaning module 500 and the drive module 300. The sensor can use a gyroscope, tilt sensor, or other related technologies to perform the angle measurement. Once the oscillation sensor 730 detects that the cleaning module 500 is oscillating upwards, it sends a signal to the control module 700. After receiving the signal from the oscillation sensor 730, the control module 700 determines whether the conditions for sending a signal to the drive module controller 710 are met. This condition can be based on a pre-set oscillation angle threshold or other relevant rules. When the control module 700 determines that the cleaning module is oscillating upwards and the signal sending condition is met, it sends a corresponding command signal to the drive module controller 710 to control the drive module 300 to perform corresponding actions or adjustments to the cleaning module.

[0062] The oscillation sensor detects whether the cleaning module 500 oscillates with the photovoltaic robot body and ensures the oscillation connector functions properly. This proper functioning of the oscillation connector is crucial for maintaining cleaning efficiency, especially when there are adjacent seams or steps on the photovoltaic panel surface.

[0063] During implementation, the oscillation sensor continuously monitors the oscillation of the cleaning module 500. If the photovoltaic robot passes through seams or steps on the surface of the photovoltaic panel, the oscillation sensor will detect the relative oscillation of the cleaning module 500. Such oscillation connector abnormalities may lead to reduced efficiency of subsequent cleaning work.

[0064] One of the functions of the oscillation sensor is to detect the oscillation of the cleaning module 500 and send the oscillation signal to the drive module controller 710. When the oscillation connector oscillates abnormally, the sensor sends an oscillation signal to the drive module controller 710 to alert the system to an abnormality. When the abnormal oscillation is eliminated, the sensor sends a return signal to the drive module controller 710, indicating that the oscillation has returned to normal.

[0065] When the photovoltaic robot is placed on the surface to be cleaned, the memory 750 records the tilt angle of the cleaning module 500 relative to the main body as a reference value. When the photovoltaic robot moves, the control module compares the detection value of the oscillation sensor with a preset threshold angle. The control module determines whether oscillation has occurred based on the comparison result. When the deviation from the threshold is greater than or equal to zero, the control module determines that oscillation has occurred and takes corresponding measures to correct the abnormality.

[0066] By using a oscillation sensor and a drive module controller, the photovoltaic robot can monitor the oscillation of the cleaning module 500 relative to the drive module 300 in real time and take timely measures to maintain proper contact between the roller brush 510 in the cleaning module 500 and the photovoltaic panel. This ensures maximum cleaning efficiency and improves the overall performance and effectiveness of the photovoltaic robot.

[0067] like Figure 8 As shown, in one embodiment of this disclosure, the control module 700 includes a drive module controller 710, a cleaning module controller 720, and a swing sensor 730, all of which are connected to a navigation decision unit 740 and a memory 750. The navigation decision unit 740 includes deciding whether the photovoltaic robot continues to travel in the direction of travel or in the opposite direction of travel, and keeping the first cleaning module and the second cleaning module active. The memory 750 stores information about the identified adjacent boundaries in the surface feature map of the photovoltaic panel group.

[0068] The drive module controller 710 controls and monitors the activation of each drive motor 310 in the drive module 300. The drive module controller 710 controls the activation of each of the two drive motors 310 to control the direction or speed of movement of the robot body 200, i.e., the direction or speed of movement of the photovoltaic robot.

[0069] When the oscillation sensor 730 detects that the cleaning module 500 of the robot body 200 is oscillating upwards relative to the drive module 300, the drive module controller 710 has the function of activating the drive module 300. The oscillation sensor 730 is electrically connected to the controller of the photovoltaic robot, and the control module 700 detects whether the cleaning module 500 of the robot body 200 is oscillating upwards relative to the drive module 300. When the cleaning module 500 is oscillating upwards relative to the drive module 300, the control module 700 sends an upward oscillation signal to the drive module controller 710. When the upward oscillation of the cleaning module 500 relative to the drive module 300 is eliminated, the control module 700 sends a return-to-cleaning signal to the drive module controller 710.

[0070] The control module 700 stores the span angle between the cleaning module 500 and the drive module 300 as a reference value. When the photovoltaic robot is placed on the surface to be cleaned, the relative swing angle between the cleaning module 500 and the drive module 300 is used as an initial value. Here, the span angle refers to the maximum angle between the cleaning module 500 and the drive module 300 when the photovoltaic robot can cross a step or protrusion on the photovoltaic panel surface, which determines the swing angle value corresponding to the maximum height the photovoltaic robot can climb. When the photovoltaic robot moves, the control module 700 compares the tilt angle detected by the swing sensor 730 with the initial value and the reference value in real time, and the control module 700 determines that when the detected tilt angle is less than the reference value and greater than the initial value, the cleaning module 500 swings upward relative to the drive module 300, which means that the photovoltaic robot can climb over steps, seams, or protrusions of that height.

[0071] For example, in such Figure 2 In the case shown where a pair of cleaning modules 500 are arranged at the front and rear of the robot body 200, the drive module controller 710 controls the activation of the drive module 300. This causes the module to advance one longitudinal distance of the photovoltaic robot and then retreat after detecting and eliminating an upward swing of the cleaning module 500 behind the robot body 200 relative to the drive module 300. Therefore, the rear cleaning module 500 can again pass through the area where the front cleaning module 500 swings upward relative to the drive module 300, thus supplementing the cleaning of the secondary cleaning area and avoiding poor cleaning results caused by the primary cleaning area after passing over obvious steps or protrusions.

[0072] The photovoltaic robot can also be equipped with only one cleaning module 500. In one embodiment, the cleaning module 500 is only located at the front of the robot body 200. The drive module controller 710 controls the activation of the drive module 300. After detecting that the cleaning module 500 swings upward relative to the drive module 300, and then the swing is eliminated, the robot travels forward a distance equal to the length of the robot body, then changes direction 180 degrees and travels backward. The distance equal to the length of the robot body typically refers to the outline length of the robot body along the direction of travel. Therefore, the cleaning module 500 can again be detected at the point where the cleaning module 500 swings upward relative to the drive module 300.

[0073] The following will combine Figures 9 to 11 This disclosure describes, in one embodiment, the movement of a photovoltaic robot on the surface of a photovoltaic panel assembly, in which photovoltaic panels having rectangular surfaces to be cleaned are arranged in the longitudinal direction of the photovoltaic panels. The photovoltaic robot of this embodiment includes a pair of cleaning modules 500 located at the front and rear of a robot body 200.

[0074] As the photovoltaic robot moves along the photovoltaic panel, the cleaning module 500 arranged at the front of the robot body 200 cleans the light-receiving surface of the photovoltaic panel (i.e. the surface to be cleaned). When the photovoltaic robot moves further, the cleaning module 500 arranged at the rear of the robot body 200 cleans the part cleaned by the cleaning module 500 arranged at the front.

[0075] When the photovoltaic robot reaches the boundary between photovoltaic panel F and photovoltaic panel G, it may move from photovoltaic panel F to photovoltaic panel G.

[0076] With the surfaces of photovoltaic panels F and G to be cleaned substantially flush, the cleaning module 500 does not swing upwards relative to the drive module 300 as the photovoltaic robot moves across the frame between photovoltaic panels F and G. Because the control module 700 determines that no upward swing occurs between the cleaning module 500 and the drive module 300, the photovoltaic robot continues to move longitudinally even after moving to photovoltaic panel G. In this case, the state of the essentially entire surface of the photovoltaic panel G to be cleaned, which has been cleaned twice by the cleaning module 500, is maintained.

[0077] When a step is formed between photovoltaic panels F and G, when the photovoltaic robot moves from photovoltaic panel F to photovoltaic panel G, due to the leverage effect, during the process of the robot body 200 crossing the step, there will be parts of photovoltaic panels F and G that have not been cleaned by the cleaning module 500. These are called primary cleaning areas M and M', and it is necessary to clean these areas.

[0078] The cleaning module 500 swings upward relative to the drive module 300. The control module 700 determines that the cleaning module 500 has swung upward relative to the drive module 300 and transmits the signal of the cleaning module 500 swinging upward relative to the drive module 300 to the drive module controller 710.

[0079] During the crossing process, there will be portions M' on the photovoltaic panel F that have not been cleaned by the rear cleaning module 500. To ensure that M' receives a sufficient number of cleaning cycles, the control module 700 should ensure that M' is cleaned at least twice before the photovoltaic robot crosses it. Therefore, when the front cleaning module 500 touches the step, the control module 700 will immediately send a reverse drive signal to the drive module controller 710. After receiving the reverse drive signal, the drive module controller 710 will cause the drive module 300 to move in the opposite direction, allowing the cleaning module 500 to pass over M' again, ensuring that M' receives at least three cleaning cycles. After cleaning M' is completed, the drive module controller 710 will readjust the movement direction of the drive module 300, allowing the photovoltaic robot to continue moving forward and crossing the photovoltaic panel F for cleaning work.

[0080] The length of the uncleaned portion M' can be determined using an encoder configured on the drive module 300 in conjunction with the aforementioned swing sensor 730. When the front cleaning module 500 first encounters a step, the swing sensor 730 is activated, emitting a signal indicating that the photovoltaic robot has encountered the step. At this time, the encoder begins recording the distance the drive module 300 moves backward. Typically, the length of M', measured from the edge of the step and moving backward, should be less than half the longitudinal length of the photovoltaic robot. This length can be preset and stored in the memory 750.

[0081] After performing supplementary cleaning (M'), the robot begins to traverse the steps. To ensure the photovoltaic robot's traversal is complete, this process continues until the cleaning module 500 of the robot body 200 no longer swings upwards relative to the drive module 300. Specifically, when the cleaning module 500 in front of the robot body 200 is triggered to swing upwards by the step, the control module 700 compares the tilt angle detected by the swing sensor 730 with the initial and reference values ​​in real time. Confirming that the step is passable, it sends information to the drive module controller 710 indicating that the swing of the front cleaning module 500 has been triggered, and the drive module 300 continues to move forward. Once the front cleaning module 500 has passed the step, the relative swing with the drive module 300 is eliminated. At this point, the control module 700 sends information to the drive module controller 710 indicating that the swing of the front cleaning module 500 has been eliminated, and the drive module 300 continues to move forward. As the photovoltaic robot continues to move forward, the cleaning module 500 located behind the main body 200 will swing upward relative to the drive module 300 due to the change in the climbing angle of the photovoltaic robot's body and the fact that the rear cleaning module 500 remains in contact with the photovoltaic panel F. The control module 700 will then compare the tilt angle detected by the swing sensor 730 with the initial and reference values ​​in real time to confirm that the step can be passed. It will then send information to the drive module controller 710 indicating that the swing of the rear cleaning module 500 has been triggered, and the drive module 300 will continue to move forward. When the rear cleaning module 500 leaves the surface to be cleaned on the photovoltaic panel F, the relative swing with respect to the drive module 300 will be eliminated. At this point, the control module 700 will send information to the drive module controller 710 indicating that the swing of the rear cleaning module 500 has been eliminated, and the drive module 300 will continue to move forward for at least half the longitudinal length of the photovoltaic robot before preparing to reverse.

[0082] Similarly, as described above, in this embodiment of the photovoltaic robot, due to the lever principle, the front cleaning module 500 gradually moves away from the surface to be cleaned of the photovoltaic panel G when the photovoltaic robot crosses the steps. Then, as the robot continues to cross, the front cleaning module 500 returns to contact the surface under gravity, forming a primary cleaning zone M. Although the rear cleaning module 500 passes through this primary cleaning zone M as the photovoltaic robot continues to move forward, the cleaning effect is clearly unsatisfactory. This is because photovoltaic robots typically have a water spray device at the front cleaning module 500. Therefore, for a photovoltaic robot with cleaning modules at both the front and rear, the front cleaning module is the primary provider of cleaning efficiency, while the rear cleaning module only provides supplementary cleaning. Therefore, the primary cleaning zone M must be cleaned several more times by the rear cleaning module 500 after the cleaning module 500 stops swinging upwards relative to the drive module 300. Therefore, after the photovoltaic robot completes the step crossing (the rear cleaning module 500 makes contact with the surface of the photovoltaic panel G to be cleaned), the photovoltaic robot needs to continue moving forward for at least half the longitudinal length of the photovoltaic robot, and then prepare for reverse drive. Reverse drive continues until the rear cleaning module 500 reaches the edge of the photovoltaic panel G again and stops, then continues moving forward. The control module 700 sends a reverse drive signal to the drive module controller 710 to ensure that the rear cleaning module 500 passes through the uncleaned area again, achieving the goal of at least three cleaning passes.

[0083] Of course, to achieve better cleaning results, after the photovoltaic robot completes the step crossing (the rear cleaning module 500 makes contact with the surface to be cleaned on the photovoltaic panel G), the photovoltaic robot needs to move forward at least half the longitudinal length of the photovoltaic robot, then turn 180° in place, and use the front cleaning module 500 to clean the primary cleaning area M. This will take a little cleaning time. After the 180° turn, the drive module 300 drives the photovoltaic robot until the front cleaning module 500 reaches the edge of the photovoltaic panel G and stops. Then it turns 180° in place again and continues to move forward to perform other cleaning actions. Therefore, compared to finding a secondary cleaning area to supplement cleaning after the cleaning cycle is completed, the time required for cleaning work can be shortened, thereby improving work efficiency and reducing the cost of cleaning work.

[0084] In this embodiment, as an example, the location of the aforementioned primary cleaning zones M and M' is detected by the control module 700. These primary cleaning zones M and M' include, but are not limited to, temporary or permanent obstacles on the photovoltaic panel surface, the photovoltaic panel frame, and the joints between photovoltaic panel groups. Without prior knowledge of the primary cleaning zones M and M', they are detected in real-time by monitoring the relative oscillation of the cleaning module 500 and the encoder of the drive module 300. After a complete cleaning cycle, the locations of the primary cleaning zones M and M', as well as the locations of any temporary or permanent obstacles, photovoltaic panel frames, and joints between photovoltaic panel groups, are stored in the memory 750 for use in the next cleaning cycle when a more efficient cleaning navigation strategy is invoked.

[0085] In one embodiment, the cleaning module 500 at the front of the main body 200 is equipped with an angle detection sensor to detect whether the upward swing angle of the cleaning module relative to the drive module 300 is within a set range. The cleaning module 500 at the rear of the main body 200 does not need a swing sensor; instead, a more economical Hall sensor or infrared sensor can be used. These sensors are used to detect the swing state of the rear cleaning module relative to the drive module 300. When the cleaning module 500 at the front of the main body 200 swings upward, the angle detection sensor detects the angle in this state and sends a corresponding signal to the control module 700. After receiving the swing signal from the front cleaning module 500, the control module 700 determines whether it is within the set range, thereby determining whether the step can be crossed. The control module 700 detects the swing state information of the rear cleaning module 500 using rear sensors such as Hall sensors or infrared sensors. If upward swing of the rear cleaning module 500 is detected, the control module 700 will take corresponding control measures.

[0086] In another embodiment, an oscillation sensor is not necessarily required. For example, when the front or rear cleaning module 500 of the robot body 200 oscillates upward relative to the drive module 300, the reaction force applied to the roller brush 510 from the surface to be cleaned decreases. When the friction between the roller brush 510 and the surface to be cleaned is less than a set value, the current through the drive motor of the roller brush 510 decreases. Therefore, the upward oscillation of the cleaning module 500 relative to the drive module 300 can be determined based on the current, and it can be determined whether the oscillation occurs at the front or rear of the robot body 200.

[0087] However, it is still necessary to provide a sensor to detect the upward swing of the cleaning module 500 relative to the drive module 300, as this allows for the optimization of the control module 700's configuration. This enables the determination of whether an obstacle can be crossed, improving the operational safety of the photovoltaic robot on the photovoltaic panels. Specifically, the main controller of the photovoltaic robot can be coupled to the main controllers of other photovoltaic robots and maintenance robots, and / or the main controller of the entire photovoltaic panel field, so that these components can exchange information. This information can include information about the photovoltaic robot's self-operation, weather information about the photovoltaic panel field, and information about the current status of each photovoltaic panel regulator. As mentioned above, the information exchange between the main controllers is used for the optimal and safe operation of the photovoltaic robot within the photovoltaic panels. This information exchange can be extended to other aspects of photovoltaic panel operation, such as any damage to the solar panels, etc.

[0088] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A method for operating a photovoltaic robot, characterized in that, The photovoltaic robot includes: main body; A drive module fixedly mounted on the main body and a cleaning module pivotally mounted on the drive module, the cleaning module comprising a first cleaning module located in front of the main body and a second cleaning module located behind the main body; The method includes: The photovoltaic robot is driven by the drive module to traverse the terrain of the photovoltaic panels along the direction of travel; The first and second cleaning modules are used to contact the surface of the photovoltaic panel to remove the deposits on the surface of the photovoltaic panel. The system uses sensors to perceive the features of the photovoltaic panel surface that the photovoltaic robot is navigating on, and generates indication signals that indicate the features of the surface that the photovoltaic robot is navigating on. These indication signals include signals that indicate the flatness of the photovoltaic panel surface. The control module identifies changes in the flatness of the photovoltaic panel surface at the adjacent boundaries of two or more photovoltaic panel groups based on indication signals, including the flatness of the photovoltaic panel surface, during the movement of the photovoltaic robot. The control module controls the drive module in response to the recognition of changes in the flatness of the photovoltaic panel surface, and guides the photovoltaic robot to the vicinity of the adjacent boundary, after which the photovoltaic robot performs navigation decisions. Maintain a surface feature map of the photovoltaic panel group, and store information about the identified adjacent boundaries in the surface feature map of the photovoltaic panel group; The sensor includes a swing sensor to sense the angle of relative pivoting of the first cleaning module and / or the second cleaning module relative to the drive module. The flatness of the photovoltaic panel surface is reflected by the angle of relative pivoting of the first cleaning module relative to the drive module. The method for operating the photovoltaic robot further includes: the navigation decision includes deciding whether to continue traveling in the direction of travel or in the opposite direction of travel, while keeping the first cleaning module and the second cleaning module active; The control module is configured to classify the flatness of the photovoltaic panel surface as "flat" or "uneven" based on the change of the angle to distinguish the adjacency boundary type of two or more adjacent photovoltaic panel groups. Wherein, "flat" means that the photovoltaic robot passes over the photovoltaic panel surface such that the angle of relative pivot of the first cleaning module relative to the drive module does not exceed a first threshold; while "uneven" means that the photovoltaic robot passes over the photovoltaic panel surface such that the angle of relative pivot of the first cleaning module relative to the drive module is greater than the first threshold and less than a reference value. The first threshold is the initial swing angle of the first cleaning module relative to the drive module when the photovoltaic robot is placed on a flat surface of the photovoltaic panel; the reference value is the maximum swing angle that the first cleaning module can swing relative to the drive module.

2. The method for operating a photovoltaic robot according to claim 1, characterized in that, Identify the adjacency boundaries between two or more photovoltaic panel groups and store information about the location of the identified adjacency boundaries between the two or more photovoltaic panel groups.

3. The method for operating a photovoltaic robot according to claim 2, characterized in that, Identify the areas to be cleaned at the adjacent boundaries between two or more photovoltaic panel groups, and store information about the identified areas to be cleaned at the adjacent boundaries between two or more photovoltaic panel groups in the surface feature map of the photovoltaic panels.

4. The method for operating a photovoltaic robot as described in claim 1, characterized in that, If the photovoltaic robot encounters an "uneven" adjacent boundary while traveling in the direction of travel, the photovoltaic robot will execute the following navigation: The photovoltaic robot moves backward at least half the longitudinal length of the photovoltaic robot in the opposite direction of its travel direction; The photovoltaic robot continues to travel in the direction of travel until the relative sway between the second cleaning module and the drive module disappears; The photovoltaic robot continues to travel at least one longitudinal length of the photovoltaic robot along the direction of travel until the second cleaning module crosses the adjacent boundary; The photovoltaic robot is controlled to travel in the opposite direction to the direction of travel until the second cleaning module reaches the adjacent boundary of the "uneven" again. During this process, the first and second cleaning modules remain active. The photovoltaic robot continued to travel in the direction it was going.

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