Deflection correction method and system for photovoltaic panel cleaning equipment

Abstract

The invention relates to the field of photovoltaic panel cleaning equipment control, in particular to a photovoltaic panel cleaning equipment deflection correction method, which comprises the following steps: acquiring stored accelerations of X, Y and Z axes of photovoltaic panel cleaning equipment in real time, and calculating the gravitational acceleration of the photovoltaic panel cleaning equipment; based on the component of the gravitational acceleration of the photovoltaic panel cleaning equipment and the inclined angle of the photovoltaic panel relative to the horizontal plane, the deflection angle of the photovoltaic panel cleaning equipment on the photovoltaic panel in the direction perpendicular to the photovoltaic panel is calculated; when the deflection angle exceeds the deflection upper limit threshold value or the deflection lower limit threshold value and the deflection angle is still out of the normal deflection angle range within the first limited time, the upper walking wheel and the lower walking wheel are controlled to conduct differential motion so that the deflection angle can be adjusted to be within the normal deflection angle range; if the deflection angle is still out of the normal deflection angle range, the upper and lower walking wheels are controlled to move back and forth, so that the deflection angle is adjusted to be within the normal deflection angle range.

Description

Technical Field

[0001] The embodiments of the present specification relate to the field of photovoltaic panel cleaning equipment control, and in particular to a photovoltaic panel cleaning equipment deflection correction method and system. Background Art

[0002] Since large-scale photovoltaic power stations are generally located in the Gobi Desert, wind and sand can easily cover the surface of photovoltaic modules, which greatly reduces the power generation efficiency of photovoltaic modules. Photovoltaic panel cleaning robots use a variety of precision sensors and control systems to efficiently and safely clean photovoltaic modules, effectively removing impurities such as wind and sand, dirt, and bird droppings on photovoltaic panels, thereby ensuring the power generation efficiency of photovoltaic modules.

[0003] Most of the photovoltaic module cleaning robots on the market currently adopt a design that connects all the limiting wheels used for walking together through a connecting rod structure and is driven by a single motor to form a fully synchronized walking mechanism. Although this design can ensure that the photovoltaic panel cleaning robot runs in a stable posture under ideal working conditions, when faced with the up and down drop between adjacent photovoltaic modules in the actual environment, this synchronized walking system may cause the front limiting wheel to pass smoothly, while the rear limiting wheel is stuck in the drop, causing operation obstacles. Although the existing technology often attempts to solve the problem that photovoltaic module cleaning robots are prone to getting stuck when facing module drops by strategies such as increasing equipment power and increasing the radius of limiting wheels, these methods have large limitations and the actual effect is not significant. Even with these measures, photovoltaic panel cleaning robots still frequently get stuck during operation, and more advanced solutions are urgently needed to overcome this problem. Summary of the invention

[0004] The embodiments of the present specification provide a photovoltaic panel cleaning equipment deflection correction method and system, aiming to solve one or more of the above-mentioned problems and other potential problems.

[0005] In order to achieve the above objectives, the following technical solutions are provided: According to the first aspect of the specification, a method for correcting the deflection of a photovoltaic panel cleaning device is provided, wherein the photovoltaic panel cleaning device comprises a six-axis sensor, an upper walking wheel, a lower walking wheel, an upper motor and a lower motor; the six-axis sensor is arranged in the middle of the photovoltaic panel cleaning device, and is used to collect and store the acceleration and angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; the upper motor is used to drive the upper walking wheel to travel, and the lower motor is used to drive the lower walking wheel to travel, so as to control the photovoltaic panel cleaning device to travel on the photovoltaic panel, and the method comprises: Acquire the stored acceleration of the XYZ axis of the photovoltaic panel cleaning device in real time, calculate the gravitational acceleration of the photovoltaic panel cleaning device, and calculate the deflection angle of the photovoltaic panel cleaning device on the photovoltaic panel based on the component of the gravitational acceleration of the photovoltaic panel cleaning device and the inclination angle of the photovoltaic panel relative to the horizontal plane; the deflection angle is the deflection value of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel; When the deflection angle is greater than an upper deflection threshold or less than a lower deflection threshold, and the deflection angle is still outside a normal deflection angle range within a first limited time, the upper running wheel and the lower running wheel are controlled to perform differential motion to adjust the deflection angle to be within the normal deflection angle range; After controlling the upper walking wheel and the lower walking wheel to perform the differential movement for a second limited time, if the deflection angle is still outside the normal deflection angle range, control the upper walking wheel and the lower walking wheel to move back and forth to adjust the deflection angle to be within the normal deflection angle range.

[0006] A deflection correction method for a photovoltaic panel cleaning device in an embodiment of the present specification utilizes a six-axis sensor to obtain the deflection angle of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel, and drives the upper running wheels on the upper end of the photovoltaic cleaning device and the lower running wheels on the lower end of the photovoltaic cleaning device respectively through an upper motor and a lower motor to perform a series of correction operations to correct the deflection angle, so that the photovoltaic panel cleaning device can still travel normally when there is a gap between the upper and lower ends of the photovoltaic panel instead of being stuck at the gap, thereby improving the cleaning efficiency of the photovoltaic panel surface.

[0007] In some embodiments, the component of the gravitational acceleration of the photovoltaic panel cleaning device is converted into the deflection angle by a Cartesian coordinate conversion algorithm.

[0008] In some embodiments, controlling the upper walking wheel and the lower walking wheel to perform differential movement also includes: when the deflection angle is greater than the deflection upper limit threshold, the speed of the upper walking wheel = maximum speed * (60% - rotation speed compensation - the deflection angle * 2%), the speed of the lower walking wheel = maximum speed * (60% + the rotation speed compensation + the deflection angle * 2%); when the deflection angle is less than the deflection lower limit threshold, the speed of the upper walking wheel = maximum speed * (60% + the rotation speed compensation + the deflection angle * 2%), the speed of the lower walking wheel = maximum speed * (60% - the rotation speed compensation - the deflection angle * 2%).

[0009] In some embodiments, controlling the upper walking wheel and the lower walking wheel to perform differential movement also includes: when the deflection angle is greater than the deflection upper limit threshold and the deflection angle approaches the normal deflection angle range, controlling the speed of the upper walking wheel to be fifty percent of the maximum speed and the speed of the lower walking wheel to be seventy percent of the maximum speed; when the deflection angle is less than the deflection lower limit threshold and the deflection angle approaches the normal deflection angle range, controlling the speed of the upper walking wheel to be seventy percent of the maximum speed and the speed of the lower walking wheel to be fifty percent of the maximum speed.

[0010] In some embodiments, the upper walking wheel and the lower walking wheel perform reciprocating motion, and also include: the reciprocating motion includes multiple times; a first reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat in sequence at a normal driving speed according to a first retracting time, and then to advance according to a first forward time; a second reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat at the normal driving speed according to the first retracting time, and then to advance at the differential motion according to the first forward time; a third reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat at the normal driving speed according to the second retracting time, and then to advance at the maximum driving speed according to the first forward time.

[0011] In some embodiments, after performing the reciprocating motion for a plurality of times, if the deflection angle is still outside the normal deflection angle range, an alarm message is sent and the photovoltaic panel cleaning device is controlled to return.

[0012] In some embodiments, the photovoltaic panel cleaning device is controlled to return according to the above process. If the reciprocating motion is performed multiple times and the deflection angle is still outside the normal deflection angle range, the alarm message is sent and the photovoltaic panel cleaning device is controlled to pause and return.

[0013] According to the second aspect of the specification, a photovoltaic panel cleaning device deflection correction system is provided, wherein the photovoltaic panel cleaning device comprises a six-axis sensor, an upper walking wheel, a lower walking wheel, an upper motor and a lower motor; the six-axis sensor is arranged in the middle of the photovoltaic panel cleaning device, and is used to collect and store the acceleration and angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; the upper motor is used to drive the upper walking wheel to travel, and the lower motor is used to drive the lower walking wheel to travel, so as to control the photovoltaic panel cleaning device to travel on the photovoltaic panel, and the system comprises: An acquisition module, used for acquiring the stored acceleration of the XYZ axis of the photovoltaic panel cleaning device in real time; A calculation module, used to calculate the gravitational acceleration of the photovoltaic panel cleaning device, and based on the component of the gravitational acceleration of the photovoltaic panel cleaning device and the angle of inclination of the photovoltaic panel relative to the horizontal plane, calculate the deflection angle of the photovoltaic panel cleaning device on the photovoltaic panel; the deflection angle is the deflection value of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel; A first judgment module is used to judge that when the deflection angle is greater than an upper deflection threshold or less than a lower deflection threshold, and the deflection angle is still outside a normal deflection angle range within a first limited time, control the upper running wheel and the lower running wheel to perform differential motion to adjust the deflection angle to be within the normal deflection angle range; The second judgment module is used to judge if the deflection angle is still outside the normal deflection angle range after controlling the upper walking wheel and the lower walking wheel to perform the differential movement for a second limited time, and control the upper walking wheel and the lower walking wheel to perform reciprocating movement to adjust the deflection angle to be within the normal deflection angle range.

[0014] In some embodiments, the first judgment module also includes a control unit for controlling the upper walking wheel and the lower walking wheel to perform differential movement. When the deflection angle is greater than the deflection upper limit threshold, the speed of the upper walking wheel = maximum speed * (60% - speed compensation - the deflection angle * 2%), and the speed of the lower walking wheel = maximum speed * (60% + the speed compensation + the deflection angle * 2%); when the deflection angle is less than the deflection lower limit threshold, the speed of the upper walking wheel = maximum speed * (60% + the speed compensation + the deflection angle * 2%), and the speed of the lower walking wheel = maximum speed * (60% - the speed compensation - the deflection angle * 2%).

[0015] In some embodiments, the control unit is also used to control the upper walking wheel and the lower walking wheel to perform differential movement. When the deflection angle is greater than the deflection upper limit threshold and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is controlled to be 50% of the maximum speed, and the speed of the lower walking wheel is controlled to be 70% of the maximum speed; when the deflection angle is less than the deflection lower limit threshold and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is controlled to be 70% of the maximum speed; the speed of the lower walking wheel is controlled to be 50% of the maximum speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the embodiments of the present specification will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present specification are shown by way of example and not limitation.

[0017] Figure 1 A schematic flow chart of a photovoltaic panel cleaning device deflection correction method provided in an embodiment of this specification; In the various drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present specification will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present specification are shown in the accompanying drawings, it should be understood that the present specification can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present specification more thorough and complete, and to fully convey the scope of the present specification to those skilled in the art.

[0019] The term "including" and its variations used in this document represent open inclusion, that is, "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one other embodiment". Terms such as "upper", "lower", "front", and "rear" indicating placement or positional relationships are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the principles of this specification, and do not indicate or imply that the referred elements must have a specific orientation, be constructed or operate in a specific orientation, and therefore should not be understood as limitations on this specification.

[0020] The embodiments of this specification are described in detail below with reference to the accompanying drawings. Figure 1 A flow chart of a photovoltaic panel cleaning device deflection correction method provided by an embodiment of the specification is shown. A photovoltaic panel cleaning device deflection correction method according to an embodiment of the specification, the photovoltaic panel cleaning device comprises a six-axis sensor, an upper walking wheel, a lower walking wheel, an upper motor and a lower motor; the six-axis sensor is arranged in the middle of the photovoltaic panel cleaning device, and is used to collect and store the acceleration and angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; the upper motor is used to drive the upper walking wheel to travel, and the lower motor is used to drive the lower walking wheel to travel, so as to control the photovoltaic panel cleaning device to travel on the photovoltaic panel, and the method comprises: S1. Acquire the stored acceleration of the XYZ axis of the photovoltaic panel cleaning device in real time, calculate the gravitational acceleration of the photovoltaic panel cleaning device, and calculate the deflection angle of the photovoltaic panel cleaning device on the photovoltaic panel based on the component of the gravitational acceleration of the photovoltaic panel cleaning device and the inclination angle of the photovoltaic panel relative to the horizontal plane; the deflection angle is the deflection value of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel; S2, when the deflection angle is greater than the upper deflection threshold or less than the lower deflection threshold, and the deflection angle is still outside the normal deflection angle range within the first limited time, the upper running wheel and the lower running wheel are controlled to perform differential motion to adjust the deflection angle to be within the normal deflection angle range; S3. After controlling the upper running wheel and the lower running wheel to perform the differential movement within the second limited time, if the deflection angle is still outside the normal deflection angle range, control the upper running wheel and the lower running wheel to perform reciprocating movement to adjust the deflection angle to be within the normal deflection angle range.

[0021] The method of the embodiment of this specification is executed by the controller (MCU) of the photovoltaic panel cleaning device. There is an angle of 30°~40° between the photovoltaic panel and the horizontal plane. The photovoltaic panel cleaning device is placed parallel to the photovoltaic panel along the angle, and the upper and lower ends of the photovoltaic panel cleaning device are respectively parallel to the upper and lower ends of the photovoltaic panel. A three-dimensional coordinate system is established at the center of the photovoltaic panel cleaning device. During the driving process of the photovoltaic panel cleaning device from west to east, the X-axis is set along the length direction of the photovoltaic panel cleaning device, the Y-axis is set along the width direction of the photovoltaic panel cleaning device, and the Z-axis is set along the direction perpendicular to the photovoltaic panel cleaning device. The deflection angle of the photovoltaic panel cleaning device in the direction perpendicular to the photovoltaic panel is obtained by using a six-axis sensor, and the upper running wheel at the upper end of the photovoltaic panel cleaning device and the lower running wheel at the lower end of the photovoltaic panel cleaning device are driven by the upper motor and the lower motor to perform a series of posture correction operations to correct the deflection angle, so that the photovoltaic panel cleaning device can still travel normally when there is a drop between the upper and lower ends of the photovoltaic panel, thereby improving the cleaning efficiency of the photovoltaic panel cleaning device on the photovoltaic panel surface.

[0022] Before step S1, it also includes step S0: starting the photovoltaic cleaning device, and acquiring the stored angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; when the angular velocity of the Z axis of the photovoltaic panel cleaning device is lower than the preset angular velocity, setting the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis to 0; when the angular velocity of the Z axis of the photovoltaic panel cleaning device is higher than the preset angular velocity, setting the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis to 1.

[0023] The gravitational acceleration of the photovoltaic panel cleaning device is the sum of the accelerations of the XYZ axes, and the deflection angle is converted from the gravitational acceleration components of the photovoltaic panel cleaning device through a Cartesian coordinate conversion algorithm. When the photovoltaic cleaning device is started, the upper and lower walking wheels will generate a portion of additional acceleration along the Y-axis direction. This portion of acceleration is not generated by the angle deflection of the photovoltaic cleaning device during driving, but is generated by the start-up of the device, and is not the acceleration required by this embodiment. Therefore, it is necessary to use the angular velocity of the photovoltaic panel cleaning device along the Z axis to assist in determining whether the acceleration is generated by the start-up of the device. If so, it is necessary to adjust the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis to ensure that the deflection angle is calculated correctly. Among them, the preset angular velocity is 1rad / s. When the angular velocity of the photovoltaic panel cleaning device along the Z axis is lower than 1rad / s, the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis is 0; if the angular velocity of the photovoltaic panel cleaning device along the Z axis is higher than 1rad / s, the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis is 1.

[0024] In step S2, when the deflection angle is greater than the deflection upper threshold value of 7° or less than the deflection lower threshold value of -7°, the photovoltaic panel cleaning device first continues to travel in the original state, and detects whether the photovoltaic panel cleaning can eliminate the deflection within the first limited time. If the deflection angle is still outside the normal deflection angle range (-2°, 2°) within the first limited time (5s~10s), the upper running wheel and the lower running wheel are controlled to perform differential motion at different speeds to adjust the deflection angle to be within the normal deflection angle range (-2°, 2°). Wherein, the photovoltaic panel cleaning device travels from west to east. When encountering a drop between adjacent photovoltaic panels, when looking down from above the photovoltaic panel and the photovoltaic panel cleaning device, if the photovoltaic panel cleaning device deflects clockwise in a direction perpendicular to the photovoltaic panel, it indicates positive, and if the photovoltaic panel cleaning device deflects counterclockwise in a direction perpendicular to the photovoltaic panel, it indicates negative. When the deflection angle is greater than the deflection upper threshold value of 7°, it indicates that the photovoltaic panel cleaning device deflects clockwise. When the deflection angle is less than the deflection lower limit threshold value of -7°, it indicates that the photovoltaic panel cleaning device deflects counterclockwise.

[0025] Controlling the upper walking wheel and the lower walking wheel to perform differential movement also includes: when the deflection angle is greater than the deflection upper limit threshold, that is, the photovoltaic panel cleaning device deflects clockwise in a direction perpendicular to the photovoltaic panel, the speed of the upper walking wheel = maximum speed * (60% - rotation speed compensation - the deflection angle * 2%), the speed of the lower walking wheel = maximum speed * (60% + the rotation speed compensation + the deflection angle * 2%); when the deflection angle is less than the deflection lower limit threshold, that is, the photovoltaic panel cleaning device deflects counterclockwise in a direction perpendicular to the photovoltaic panel, the speed of the upper walking wheel = maximum speed * (60% + the rotation speed compensation + the deflection angle * 2%), the speed of the lower walking wheel = maximum speed * (60% - the rotation speed compensation - the deflection angle * 2%).

[0026] When the deflection angle is greater than the deflection upper limit threshold, that is, the photovoltaic panel cleaning device deflects clockwise in a direction perpendicular to the photovoltaic panel, and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is fifty percent of the maximum speed, and the speed of the lower walking wheel is seventy percent of the maximum speed; when the deflection angle is less than the deflection lower limit threshold, that is, the photovoltaic panel cleaning device deflects counterclockwise in a direction perpendicular to the photovoltaic panel, and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is seventy percent of the maximum speed, and the speed of the lower walking wheel is fifty percent of the maximum speed.

[0027] The maximum speed indicates the maximum speed at which the upper running wheel and the lower running wheel can travel, the maximum speeds of the upper running wheel and the lower running wheel are the same, and the speed compensation of the upper motor and the lower motor are both 10%. During normal driving of the photovoltaic cleaning device, it travels at 60% of the maximum speed.

[0028] In step S3, the upper walking wheel and the lower walking wheel perform a reciprocating motion, and also include: the reciprocating motion includes multiple times; a first reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat in sequence at the normal driving speed according to the first retracting time, and then to advance according to the first forward time; a second reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat at the normal driving speed according to the first retracting time, and then to advance according to the first forward time at the differential motion; a third reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat at the normal driving speed according to the second retracting time, and then to advance at the maximum driving speed according to the first forward time.

[0029] There is no restriction on the execution order of the first reciprocating motion, the second reciprocating motion and the third reciprocating motion. Assume that the execution order of the multiple reciprocating motions in this embodiment is the first reciprocating motion, the second reciprocating motion and the third reciprocating motion. In the first reciprocating motion, the upper walking wheel and the lower walking wheel are controlled to retreat for 5 seconds at the normal driving speed according to the first retreat time, the upper walking wheel and the lower walking wheel are controlled to stop for 0.5 seconds, and then advance for 7 seconds according to the first forward time; determine whether the deflection angle is within the normal deflection angle range (-2°, 2°); if not, the upper walking wheel and the lower walking wheel are controlled to stop for 0.5 seconds, and the second reciprocating motion is performed, the upper walking wheel and the lower walking wheel are controlled to retreat for 5 seconds at the normal driving speed according to the first retreat time, and the upper walking wheel and the lower walking wheel are controlled to stop for 0.5 seconds, and the second reciprocating motion is performed. The upper and lower running wheels stop for 0.5s, and then move forward for 7s at the first forward time at the differential motion; determine whether the deflection angle is within the normal deflection angle range (-2°, 2°); if not, control the upper and lower running wheels to stop for 0.5s, perform a third reciprocating motion, control the upper and lower running wheels to retreat for 9s at the normal travel speed at the second retreat time, control the upper and lower running wheels to stop for 0.5s, and then move forward for 7s at the maximum travel speed at the first forward time. The differential motion in the second reciprocating motion is the same as the differential motion in step S2.

[0030] After performing the reciprocating motion for a plurality of times, if the deflection angle is still outside the normal deflection angle range, a low alarm message is sent and the photovoltaic panel cleaning device is controlled to return in the above-mentioned method.

[0031] The photovoltaic panel cleaning device is controlled to return according to the above process. If the reciprocating motion is performed multiple times and the deflection angle is still outside the normal deflection angle range, a high-level alarm message is sent, and the photovoltaic panel cleaning device is controlled to pause and return for human intervention.

[0032] In one or more embodiments of the present specification, the photovoltaic panel cleaning equipment deflection correction is completed by operating a photovoltaic panel cleaning equipment deflection correction system.

[0033] A photovoltaic panel cleaning device deflection correction system according to an embodiment of the present specification, the photovoltaic panel cleaning device comprises a six-axis sensor, an upper walking wheel, a lower walking wheel, an upper motor and a lower motor; the six-axis sensor is arranged in the middle of the photovoltaic panel cleaning device, and is used to collect and store the acceleration and angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; the upper motor is used to drive the upper walking wheel to travel, and the lower motor is used to drive the lower walking wheel to travel, so as to control the photovoltaic panel cleaning device to travel on the photovoltaic panel, and the system comprises: An acquisition module, used for acquiring the stored acceleration of the XYZ axis of the photovoltaic panel cleaning device in real time; A calculation module, used to calculate the gravitational acceleration of the photovoltaic panel cleaning device, and based on the component of the gravitational acceleration of the photovoltaic panel cleaning device and the angle of inclination of the photovoltaic panel relative to the horizontal plane, calculate the deflection angle of the photovoltaic panel cleaning device on the photovoltaic panel; the deflection angle is the deflection value of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel; A first judgment module is used to judge that when the deflection angle is greater than an upper deflection threshold or less than a lower deflection threshold, and the deflection angle is still outside a normal deflection angle range within a first limited time, control the upper running wheel and the lower running wheel to perform differential motion to adjust the deflection angle to be within the normal deflection angle range; The second judgment module is used to judge if the deflection angle is still outside the normal deflection angle range after controlling the upper walking wheel and the lower walking wheel to perform the differential movement for a second limited time, and control the upper walking wheel and the lower walking wheel to perform reciprocating movement to adjust the deflection angle to be within the normal deflection angle range.

[0034] The first judgment module also includes a control unit, which is used to control the upper walking wheel and the lower walking wheel to perform differential movement. When the deflection angle is greater than the deflection upper limit threshold, the speed of the upper walking wheel = maximum speed * (60% - speed compensation - the deflection angle * 2%), and the speed of the lower walking wheel = maximum speed * (60% + speed compensation + deflection angle * 2%); when the deflection angle is less than the deflection lower limit threshold, the speed of the upper walking wheel = maximum speed * (60% + speed compensation + deflection angle * 2%), and the speed of the lower walking wheel = maximum speed * (60% - speed compensation - deflection angle * 2%).

[0035] The control unit is also used to control the upper walking wheel and the lower walking wheel to perform differential movement. When the deflection angle is greater than the deflection upper limit threshold and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is controlled to be 50% of the maximum speed, and the speed of the lower walking wheel is controlled to be 70% of the maximum speed; when the deflection angle is less than the deflection lower limit threshold and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is controlled to be 70% of the maximum speed; the speed of the lower walking wheel is controlled to be 50% of the maximum speed.

[0036] Although several specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of this specification. Certain features described in the context of separate embodiments may also be implemented in a single implementation in combination. Conversely, various features described in the context of a single implementation may also be implemented in multiple implementations individually or in any suitable sub-combination.

[0037] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0038] The embodiments of the present specification have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A deflection correction method for photovoltaic panel cleaning equipment, It is characterized in that The photovoltaic panel cleaning device comprises a six-axis sensor, an upper walking wheel, a lower walking wheel, an upper motor and a lower motor; the six-axis sensor is arranged in the middle of the photovoltaic panel cleaning device, and is used to collect and store the acceleration and angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; the upper motor is used to drive the upper walking wheel to travel, and the lower motor is used to drive the lower walking wheel to travel, so as to control the photovoltaic panel cleaning device to travel on the photovoltaic panel, and the method comprises: Acquire the stored acceleration of the XYZ axis of the photovoltaic panel cleaning device in real time, calculate the gravitational acceleration of the photovoltaic panel cleaning device, and calculate the deflection angle of the photovoltaic panel cleaning device on the photovoltaic panel based on the component of the gravitational acceleration of the photovoltaic panel cleaning device and the inclination angle of the photovoltaic panel relative to the horizontal plane; the deflection angle is the deflection value of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel; When the deflection angle is greater than an upper deflection threshold or less than a lower deflection threshold, and the deflection angle is still outside a normal deflection angle range within a first limited time, the upper running wheel and the lower running wheel are controlled to perform differential motion to adjust the deflection angle to be within the normal deflection angle range; After controlling the upper walking wheel and the lower walking wheel to perform the differential movement for a second limited time, if the deflection angle is still outside the normal deflection angle range, control the upper walking wheel and the lower walking wheel to move back and forth to adjust the deflection angle to be within the normal deflection angle range.

2. The method according to claim 1, It is characterized in that The component of the gravitational acceleration of the photovoltaic panel cleaning device is converted into the deflection angle by a Cartesian coordinate conversion algorithm.

3. The method according to claim 1, It is characterized in that Controlling the upper walking wheel and the lower walking wheel to perform differential movement also includes: when the deflection angle is greater than the deflection upper limit threshold, the speed of the upper walking wheel = maximum speed * (60% - rotation speed compensation - the deflection angle * 2%), the speed of the lower walking wheel = maximum speed * (60% + the rotation speed compensation + the deflection angle * 2%); when the deflection angle is less than the deflection lower limit threshold, the speed of the upper walking wheel = maximum speed * (60% + the rotation speed compensation + the deflection angle * 2%), the speed of the lower walking wheel = maximum speed * (60% - the rotation speed compensation - the deflection angle * 2%).

4. The method according to claim 3, It is characterized in that Controlling the upper walking wheel and the lower walking wheel to perform differential movement also includes: when the deflection angle is greater than the deflection upper limit threshold and the deflection angle approaches the normal deflection angle range, controlling the speed of the upper walking wheel to be 50% of the maximum speed, and the speed of the lower walking wheel to be 70% of the maximum speed; when the deflection angle is less than the deflection lower limit threshold and the deflection angle approaches the normal deflection angle range, controlling the speed of the upper walking wheel to be 70% of the maximum speed, and the speed of the lower walking wheel to be 50% of the maximum speed.

5. The method according to claim 1, It is characterized in that The upper walking wheel and the lower walking wheel perform reciprocating motion, and also include: the reciprocating motion includes multiple times; a first reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat in sequence at a normal driving speed according to a first retracting time, and then to advance according to a first forward time; a second reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat at the normal driving speed according to the first retracting time, and then to advance according to the first forward time by the differential motion; a third reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat at the normal driving speed according to the second retracting time, and then to advance at the maximum driving speed according to the first forward time.

6. The method according to claim 5, It is characterized in that Also includes: After performing the reciprocating motion for a plurality of times, if the deflection angle is still outside the normal deflection angle range, an alarm message is sent and the photovoltaic panel cleaning device is controlled to return.

7. The method according to claim 6, It is characterized in that Also includes: The photovoltaic panel cleaning device is controlled to return according to the above process. If the reciprocating motion is performed multiple times and the deflection angle is still outside the normal deflection angle range, the alarm information is sent and the photovoltaic panel cleaning device is controlled to pause returning.

8. A photovoltaic panel cleaning equipment deflection correction system, It is characterized in that The photovoltaic panel cleaning device includes a six-axis sensor, an upper walking wheel, a lower walking wheel, an upper motor and a lower motor; the six-axis sensor is arranged in the middle of the photovoltaic panel cleaning device, and is used to collect and store the acceleration and angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; the upper motor is used to drive the upper walking wheel to travel, and the lower motor is used to drive the lower walking wheel to travel, so as to control the photovoltaic panel cleaning device to travel on the photovoltaic panel. The system includes: An acquisition module, used for acquiring the stored acceleration of the XYZ axis of the photovoltaic panel cleaning device in real time; A calculation module, used to calculate the gravitational acceleration of the photovoltaic panel cleaning device, and based on the component of the gravitational acceleration of the photovoltaic panel cleaning device and the angle of inclination of the photovoltaic panel relative to the horizontal plane, calculate the deflection angle of the photovoltaic panel cleaning device on the photovoltaic panel; the deflection angle is the deflection value of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel; A first judgment module is used to judge that when the deflection angle is greater than an upper deflection threshold or less than a lower deflection threshold, and the deflection angle is still outside a normal deflection angle range within a first limited time, control the upper running wheel and the lower running wheel to perform differential motion to adjust the deflection angle to be within the normal deflection angle range; The second judgment module is used to judge if the deflection angle is still outside the normal deflection angle range after controlling the upper walking wheel and the lower walking wheel to perform the differential movement for a second limited time, and control the upper walking wheel and the lower walking wheel to perform reciprocating movement to adjust the deflection angle to be within the normal deflection angle range.

9. The system according to claim 8, It is characterized in that The first judgment module also includes a control unit, which is used to control the upper walking wheel and the lower walking wheel to perform differential movement. When the deflection angle is greater than the deflection upper limit threshold, the speed of the upper walking wheel = maximum speed * (60% - speed compensation - the deflection angle * 2%), and the speed of the lower walking wheel = maximum speed * (60% + speed compensation + deflection angle * 2%); when the deflection angle is less than the deflection lower limit threshold, the speed of the upper walking wheel = maximum speed * (60% + speed compensation + deflection angle * 2%), and the speed of the lower walking wheel = maximum speed * (60% - speed compensation - deflection angle * 2%).

10. The system according to claim 9, It is characterized in that The control unit is also used to control the upper walking wheel and the lower walking wheel to perform differential movement. When the deflection angle is greater than the deflection upper limit threshold and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is controlled to be 50% of the maximum speed, and the speed of the lower walking wheel is controlled to be 70% of the maximum speed; when the deflection angle is less than the deflection lower limit threshold and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is controlled to be 70% of the maximum speed; the speed of the lower walking wheel is controlled to be 50% of the maximum speed.

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