Hoisting butt joint structure capable of controlling rotation

Abstract

The invention relates to a hoisting butt-joint structure capable of controlling rotation. The hoisting butt-joint structure comprises an upper butt-joint structure and a lower butt-joint structure, wherein the upper butt-joint structure comprises a butt-joint circular truncated cone, the diameter of the butt-joint circular truncated cone is gradually reduced from bottom to top, and a first magnetic attraction structure is arranged at the bottom of the butt-joint circular truncated cone; the lower butt joint structure comprises a butt joint groove matched with the butt joint circular truncated cone in shape, and a second magnetic attraction structure is arranged at the bottom of the butt joint groove. A horizontal rotation adjusting mechanism is arranged above the butt joint circular truncated cone, the horizontal rotation adjusting mechanism comprises a horizontal rotation adjusting fan and a horizontal fixing plate, the middle part of the horizontal fixing plate is fixed to the butt joint circular truncated cone, and the two sides of the horizontal fixing plate extend out of the range of the butt joint circular truncated cone; the horizontal rotation adjusting fans are arranged on the two sides of the horizontal fixing plate. Horizontal rotation in the hoisting process can be controlled, so that it is guaranteed that the cleaning robot is parallel to the photovoltaic panel in the horizontal direction when the cleaning robot reaches the photovoltaic panel.

Description

Technical Field

[0001] The invention relates to the technical field of hoisting, and in particular to a hoisting docking structure capable of controlling rotation. Background Art

[0002] For the cleaning of photovoltaic panels, the current cleaning methods mainly include manual or manual + robot-assisted methods. Among them, manual cleaning is costly and the effect is difficult to guarantee, while the mainstream cleaning robots on the market have high environmental requirements for the site and are difficult to adapt to photovoltaic sites with complex terrain such as sand dunes and mountainous areas. Especially for some agricultural photovoltaic complementary sites, their photovoltaic panels are raised in a flat single-axis manner. The current cleaning robots on the market cannot be deployed and operated quickly, and it is difficult to meet production requirements.

[0003] Based on the above situation, some existing technologies use drones to transport cleaning robots in order to overcome the harsh and complex environment of the site. However, in the process of using drones to transport cleaning robots, the following problems exist: 1. During the transportation of the cleaning robot by the drone, the cleaning robot may rotate on the horizontal plane. In this way, when the cleaning robot reaches the photovoltaic panel, it will be tilted in the horizontal direction, which is not conducive to placement and cleaning. How to ensure that the cleaning robot is horizontal with the photovoltaic panel when released is also a problem that needs to be solved. 2. During the transportation of the cleaning robot driven by the drone, if the cleaning robot frequently rotates and deviates in the horizontal direction, it may cause the cleaning robot to fall off at the docking point with the drone, causing a greater risk. How to prevent this from happening is a problem that needs to be solved. 3. Photovoltaic panels are usually tilted in the vertical direction. In this way, when the unmanned cleaning robot is transported to the top of the photovoltaic panel, it is best to be tilted at a similar angle in the vertical direction. In this way, when the cleaning robot is put down, it will not have a large impact on the photovoltaic panel. However, different photovoltaic panels have different tilt angles. How to adjust the tilt angle of the cleaning robot during transportation to adapt to photovoltaic panels with different tilt angles is a problem that needs to be solved. In addition to the above problems encountered in the example of drone hoisting cleaning robots, they are also encountered in many other hoisting situations and are common problems in the hoisting field.

[0004] In view of this, how to overcome the defects of the prior art and how to solve at least one of the above problems is a difficult problem that needs to be solved urgently in the field of this technology. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a controllable rotating hoisting docking structure, which completes the docking of the drone end and the cleaning robot end in the vertical direction by magnetic attraction, and controls the horizontal rotation during the hoisting process by providing a horizontal rotation adjustment fan on the docking mechanism to ensure that the cleaning robot is parallel to the photovoltaic panel in the horizontal direction when it reaches the photovoltaic panel. Furthermore, the wedge-shaped slots and wedge-shaped blocks arranged on the circumference of the docking mechanism limit the docking structure of the drone end and the cleaning robot end in the horizontal direction and cannot rotate relative to each other, thereby solving the problem that the rotation offset in the horizontal direction may cause the cleaning robot to fall off at the docking point with the drone. Furthermore, the docking structure adjusts the position by adjusting the slider to adjust the inclination angle of the cleaning robot during transportation to adapt to the inclination angles of different photovoltaic panels.

[0006] The present invention is achieved in that:

[0007] In the first aspect, the present invention provides a controllable rotatable hoisting docking structure, comprising an upper docking structure and a lower docking structure; wherein the upper docking structure comprises a docking cone whose diameter gradually decreases downward, and a first magnetic structure is arranged at the bottom of the docking cone; the lower docking structure comprises a docking groove matching the shape of the docking cone, and a second magnetic structure is arranged at the bottom of the docking groove, and the second magnetic structure and the first magnetic structure are connected to the upper docking structure and the lower docking structure through magnetic attraction; a horizontal rotation adjustment mechanism is arranged above the docking cone, and the horizontal rotation adjustment mechanism comprises a horizontal rotation adjustment fan and a horizontal fixed plate, the middle part of the horizontal fixed plate is fixed on the docking cone, and the two sides of the horizontal fixed plate extend outward from the range of the docking cone, and the horizontal rotation adjustment fan is arranged on both sides of the horizontal fixed plate.

[0008] In one embodiment, a plurality of wedge-shaped slots are provided on the circumference of the docking circumferential platform, and a plurality of wedge-shaped blocks corresponding to the shapes and positions of the wedge-shaped slots are provided on the inner wall of the docking groove.

[0009] In one embodiment, a position adjustment structure is provided at the bottom of the lower docking structure, and the position adjustment structure includes an adjustment slider and an adjustment slot, the adjustment slider is sleeved on the adjustment slot, and the lower docking structure is fixed on the adjustment slider.

[0010] In one embodiment, a locking device is provided on one side of the adjusting slider.

[0011] In one embodiment, the adjustment slot is arranged on a docking fixing block, and the docking fixing block is used to be fixed on the device to be docked.

[0012] In one embodiment, a docking ring is provided on the docking circular platform, and a docking through hole is opened on the horizontal fixing plate at a position corresponding to the docking ring.

[0013] In one embodiment, a docking detection switch is disposed around the second magnetic attraction structure, and a docking indicator light is disposed around the lower docking structure.

[0014] In one embodiment, the first magnetic attraction structure includes a galvanized steel plate, and the second magnetic attraction structure includes an electromagnet.

[0015] In one embodiment, the upper docking structure is used to connect to the drone, and the lower docking structure is arranged on the cleaning robot.

[0016] In one embodiment, the cleaning robot includes a split photovoltaic panel cleaning robot, which includes a trailer for hanging on the top of the photovoltaic panel and a main vehicle for walking and cleaning the photovoltaic panel, and the trailer and the main vehicle are connected by a connecting mechanism; the connecting mechanism includes a flexible cable and a winch, the winch is arranged on the main vehicle, one end of the flexible cable is fixed to the trailer, and the other end of the flexible cable is connected to the winch.

[0017] Compared with the prior art, the beneficial effects of the present invention are: providing a controllable rotating hoisting docking structure, completing the docking of the drone end and the cleaning robot end in the vertical direction by magnetic attraction, and controlling the horizontal rotation during the hoisting process by providing a horizontally rotating adjustment fan on the docking mechanism to ensure that the cleaning robot is parallel to the photovoltaic panel in the horizontal direction when it reaches the photovoltaic panel. Furthermore, the wedge-shaped slots and wedge-shaped blocks arranged on the circumference of the docking mechanism limit the docking structure of the drone end and the cleaning robot end in the horizontal direction and cannot rotate relative to each other, thereby solving the problem that the rotation offset in the horizontal direction may cause the cleaning robot to fall off at the docking point with the drone. Furthermore, the docking structure adjusts the position by adjusting the slider to adjust the tilt angle of the cleaning robot during transportation to adapt to the tilt angles of different photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a controllable rotation hoisting docking structure provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of another viewing angle of the upper docking structure provided by an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of a lower docking structure provided by an embodiment of the present invention from another perspective;

[0022] Figure 4 A schematic diagram of another viewing angle of the lower docking structure provided by an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a horizontal rotation adjustment mechanism provided by an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of a docking ring provided in an embodiment of the present invention;

[0025] Figure 7 A schematic structural diagram of a split photovoltaic panel cleaning robot provided by an embodiment of the present invention;

[0026] Figure 8 A schematic diagram of a first state of a split photovoltaic panel cleaning robot on a photovoltaic panel provided by an embodiment of the present invention;

[0027] Fig. 9 A schematic diagram of a second state of a split photovoltaic panel cleaning robot on a photovoltaic panel provided by an embodiment of the present invention;

[0028] Fig.10 A schematic diagram of a third state of a split photovoltaic panel cleaning robot on a photovoltaic panel provided by an embodiment of the present invention;

[0029] Fig.11 A schematic diagram of a winch drive structure provided by an embodiment of the present invention;

[0030] Fig.12 A schematic structural diagram of a trailer provided by an embodiment of the present invention from a first viewing angle;

[0031] Fig.13 A schematic diagram of the structure of a trailer provided by an embodiment of the present invention from a second viewing angle;

[0032] Fig.14 A schematic diagram of the structure of a main vehicle provided by an embodiment of the present invention from a first viewing angle;

[0033] Fig.15 A schematic diagram of the structure of a main vehicle provided by an embodiment of the present invention from a second viewing angle;

[0034] Fig.16 A schematic diagram of the structure of a docking device provided by an embodiment of the present invention;

[0035] Fig.17 A schematic diagram of the structure of an adjustment rod provided in an embodiment of the present invention;

[0036] Fig.18 A schematic diagram of the structure of the adjustment seat provided in an embodiment of the present invention;

[0037] Fig.19 A schematic diagram of the structure of a magnetic docking mechanism provided in an embodiment of the present invention;

[0038] Fig. 20 A schematic diagram of a control system of a split photovoltaic panel cleaning robot provided in an embodiment of the present invention;

[0039] Fig.21 A schematic diagram of a control method for a split photovoltaic panel cleaning robot provided by an embodiment of the present invention;

[0040] Fig. 22 A schematic diagram of wireless network management provided by an embodiment of the present invention;

[0041] Fig.23 A schematic diagram of vehicle mode management provided by an embodiment of the present invention;

[0042] Fig.24 A flowchart of the first cleaning logic of the working mode provided by an embodiment of the present invention;

[0043] Fig.25 A flow chart of the second cleaning logic of the working mode provided by an embodiment of the present invention;

[0044] Fig.26 A schematic diagram of a positioning algorithm provided by an embodiment of the present invention;

[0045] Fig. 27 A schematic diagram of a path following algorithm provided by an embodiment of the present invention;

[0046] Fig.28 A schematic diagram of an integrated vehicle structure provided by an embodiment of the present invention;

[0047] Fig.29 A schematic diagram of the working process of a photovoltaic panel cleaning vehicle system for a centralized photovoltaic power station provided by an embodiment of the present invention;

[0048] Fig.30 A schematic diagram of a storage device provided by an embodiment of the present invention;

[0049] Fig.31 This is a schematic diagram of the arrangement of a pull-wire displacement sensor provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "up", "down", "left", "right", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0051] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0052] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present invention. Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms and directions used in the specification of the present invention in this specification are only for the purpose of describing specific implementation methods and are not used to limit the present invention.

[0053] Unless the context requires otherwise, throughout the specification and claims, the term "including" is to be interpreted as open inclusion, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner, that is, although they may be carried in the embodiments or examples of the above terms due to reasons such as the order and position of appearance, it is not limited to that they can be carried in combination by one embodiment or example.

[0054] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0055] Example 1

[0056] refer to Figure 1 , Figure 2 and Figure 3As shown, an embodiment of the present invention provides a controllable rotatable lifting docking structure, comprising an upper docking structure 11 and a lower docking structure 12; wherein the upper docking structure 11 comprises a docking cone 111 whose diameter gradually decreases downward, and a first magnetic attraction structure 112 is arranged at the bottom of the docking cone 111; the lower docking structure 12 comprises a docking groove 121 matching the shape of the docking cone 111, and a second magnetic attraction structure 122 is arranged at the bottom of the docking groove 121, and the second magnetic attraction structure 122 and the first magnetic attraction structure 112 are connected to the upper docking structure 11 and the lower docking structure 12 through magnetic attraction.

[0057] refer to Figure 2 and Figure 5 As shown, in one embodiment, a horizontal rotation adjustment mechanism is arranged above the docking truncated plate 111, and the horizontal rotation adjustment mechanism includes a horizontal rotation adjustment fan 17 and a horizontal fixed plate 18, the middle part of the horizontal fixed plate 18 is fixed on the docking truncated plate 111, and the two sides of the horizontal fixed plate 18 extend outward from the range of the docking truncated plate 111, and the horizontal rotation adjustment fan 17 is arranged on both sides of the horizontal fixed plate 18. The horizontal rotation adjustment fan 17 can be a ducted fan, and the two ducted fans are respectively located on both sides of the horizontal fixed plate 18, and the air outlets face opposite directions, so that the rotation angle in the horizontal direction can be controlled to ensure that the cleaning robot is parallel to the photovoltaic panel in the horizontal direction when it reaches the photovoltaic panel. In one embodiment, the extension distance of the two sides of the horizontal fixed plate 18 is adjustable, and the extension distance can be adjusted according to the weight of the suspended object, so that the horizontal rotation adjustment fan 17 can achieve the best effect. The distance adjustment of the extensions on both sides of the horizontal fixed plate 18 can be achieved by pre-designing horizontal fixed plates 18 of different lengths and then selecting them according to the different weights of the objects to be hoisted; or electric push rods can be set on both sides of the horizontal fixed plate 18 to adjust the distance, and the horizontal rotating adjustment fan 17 is set at the end of the electric push rod to follow the electric push rod to adjust the distance.

[0058] In one embodiment, a plurality of wedge-shaped slots 113 are provided along the circumference of the docking truncated platform 111, and a plurality of wedge-shaped blocks 123 corresponding to the shape and position of the wedge-shaped slots 113 are provided on the inner wall of the docking groove 121. Through the magnetic attraction of the second magnetic attraction structure 122 and the first magnetic attraction structure 112, the upper docking structure 11 and the lower docking structure 12 can be connected together in the vertical direction, and the docking truncated platform 111 and the docking groove 121 can provide a guiding effect so that the upper docking structure 11 and the lower docking structure 12 will not be offset from docking; through the wedge-shaped slots 113 and the wedge-shaped blocks 123, the upper docking structure 11 and the lower docking structure 12 can be limited in the horizontal direction and cannot rotate relative to each other, thereby solving the problem that the upper docking structure 11 and the lower docking structure 12 may fall off at the docking point due to rotational offset in the horizontal direction.

[0059] refer to Figure 1 and Figure 4 As shown, in one embodiment, a position adjustment structure is provided at the bottom of the lower docking structure 12, and the position adjustment structure includes an adjustment slider 13 and an adjustment slot 14. The adjustment slider 13 is sleeved on the adjustment slot 14, and the lower docking structure 12 is fixed on the adjustment slider 13. In addition, a locking device 15 is provided on one side of the adjustment slider 13, and the locking device 15 can be a locking device such as a locking bolt, which is used to lock the adjustment slider 13 after it slides to the desired position to prevent it from continuing to slide. The adjustment slot 14 is provided on a docking fixing block 16, and the docking fixing block 16 is used to be fixed on the device to be docked. The adjusting slot 14 as a whole is a cylindrical slot plus an elongated fixed plate, and the elongated fixed plate is used to be fixed on the docking fixed block 16. The cylindrical slot is arranged lying down, and is connected to the elongated fixed plate through a connecting block with a smaller diameter than itself. In this way, the adjusting slider 13 can be sleeved on the cylindrical slot through its internal through hole. Baffles with a diameter larger than the through hole of the adjusting slider 13 are also provided on both sides of the cylindrical slot to limit the adjusting slider 13.

[0060] For example, the device to be docked is a cleaning robot, and the entire position adjustment structure is fixed to the cleaning robot through the docking fixing block 16, and the lower docking structure 12 can slide on the adjusting slide groove 14 through the adjusting slider 13 to adjust the position, so that after the drone is connected to the docking structure 11, when the lower docking structure 12 and the cleaning robot are lifted, the up and down tilt amplitude of the cleaning robot is different according to the position of the adjusting slider 13, thereby achieving the purpose of adapting to the tilt angles of different photovoltaic panels.

[0061] refer to Figure 5 and Figure 6As shown, in one embodiment, a docking ring 114 is provided on the docking truncated table 111, and a docking through hole 181 is provided on the horizontal fixing plate 18 at a position corresponding to the docking ring 114. The docking ring 114 is used to fix the drone, for example, the drone is fixed to the docking ring 114 by tying a rope, and then the upper docking structure 11 can be lifted, and after the upper docking structure 11 and the lower docking structure 12 are successfully docked, the cleaning robot provided with the lower docking structure 12 can be further lifted.

[0062] refer to Figure 3 and Figure 4 In one embodiment, a docking detection switch 124 is provided around the second magnetic structure 122, and a docking indicator light 125 is provided around the lower docking structure 12. The docking detection switch 124 can be a micro switch. When the upper docking structure 11 and the lower docking structure 12 are successfully docked, the docking detection switch 124 will be triggered to transmit a signal indicating that the docking is successful. At this time, the docking indicator light 125 can be turned on to prompt. In one embodiment, the first magnetic structure 112 includes a galvanized steel plate or other material that can be fixed by magnetic attraction, and the second magnetic structure 122 includes an electromagnet.

[0063] In one embodiment, the upper docking structure 11 is used to connect with the drone, and the lower docking structure 12 is provided on the cleaning robot. It should be noted that hoisting the cleaning robot with a drone is only one application scenario of this embodiment, and it is scalable. The controllable rotation hoisting docking structure provided in this embodiment can be used in all similar hoisting scenarios, or docking scenarios where rotation occurs and the docking point is easy to fall off. The embodiment of the present invention is mainly explained by taking the scenario of hoisting the cleaning robot with a drone as an example.

[0064] The cleaning robot of the embodiment of the present invention may be a common cleaning robot or a split photovoltaic panel cleaning robot. The split photovoltaic panel cleaning robot will be described in detail through subsequent embodiments.

[0065] In summary, the embodiment of the present invention provides a controllable rotating hoisting docking structure, which completes the docking of the drone end and the cleaning robot end in the vertical direction by magnetic attraction, and controls the horizontal rotation during the hoisting process by providing a horizontally rotating adjustment fan on the docking mechanism to ensure that the cleaning robot is parallel to the photovoltaic panel in the horizontal direction when it reaches the photovoltaic panel. Furthermore, the wedge-shaped slots and wedge-shaped blocks arranged on the circumference of the docking mechanism limit the docking structure of the drone end and the cleaning robot end in the horizontal direction and cannot rotate relative to each other, thereby solving the problem that the rotation offset in the horizontal direction may cause the cleaning robot to fall off at the docking point with the drone. Furthermore, the docking structure adjusts the position by adjusting the slider to adjust the tilt angle of the cleaning robot during transportation to adapt to the tilt angles of different photovoltaic panels.

[0066] Example 2

[0067] refer to Figure 7 As shown, embodiment 1 of the present invention provides a split photovoltaic panel cleaning robot, including a trailer 1 for hanging on the top of the photovoltaic panel and a main vehicle 2 for walking and cleaning the photovoltaic panel, the trailer 1 and the main vehicle 2 are connected by a connecting mechanism 3; the connecting mechanism 3 includes a flexible cable 301 and a winch 302, the winch 302 is arranged on the main vehicle 2, one end of the flexible cable 301 is fixed on the trailer 1, and the other end of the flexible cable 301 is connected to the winch 302, the flexible cable 301 is retracted and released by the winch 302 to control the distance between the trailer 1 and the main vehicle 2.

[0068] Specifically, in one embodiment, the main vehicle 2 is in the shape of an elongated strip, and the trailer 1 is much shorter than the main vehicle 2, similar to a vehicle head. Figure 8 , Fig. 9 as well as Fig.10 As shown, when cleaning the photovoltaic panel 100, the side of the trailer 1 away from the main vehicle 2 can be hung on the top of the photovoltaic panel 100, and the entire trailer 1 and the main vehicle 2 rely on their own gravity to press on the photovoltaic panel 100 at the same inclination angle as the photovoltaic panel 100, and then the trailer 1 and the main vehicle 2 move synchronously on the photovoltaic panel 100 horizontally through the moving walking structure, and at the same time, the trailer 1 and the main vehicle 2 clean the photovoltaic panel 100 through the cleaning structure. Figure 8 In the initial state, the flexible cable 301 is in a fully retracted state. At this time, the trailer 1 and the main vehicle 2 are close together, and both are located at the upper left corner of the spliced ​​photovoltaic panel 100, and then start to clean to the right, reaching Fig. 9 After the state, trailer 1 and main vehicle 2 come to the rightmost side of the spliced ​​photovoltaic panel 100, and then clean it to the left again, and return to Figure 8After such a back and forth, the upper row of photovoltaic panels 100 is cleaned. Next, the flexible cable 301 is released for a certain distance, the trailer 1 is still hung on the upper edge of the photovoltaic panel 100, and the main vehicle 2 slides down to the next row of photovoltaic panels 100 by gravity, reaching Fig.10 state, then, in Fig.10 In the state, trailer 1 and main vehicle 2 start to move to the right to clean at the same time. After reaching the limit on the right, they return to move to the left to clean, and return to Fig.10 state, thus completing the cleaning task of the next row of photovoltaic panels 100. By analogy, if there are more rows of photovoltaic panels 100, it is only necessary to release the flexible cable 301 for a certain distance to repeat the above cleaning process. It should be noted that in the above process, the walking structure and cleaning structure of the trailer 1 and the main vehicle 2 can adopt any non-conflicting walking structure and cleaning structure in the existing cleaning robot, and are not limited in this embodiment. The above cleaning process is based on a horizontal back and forth as a unit, and then the longitudinal distance is adjusted to clean again. In another embodiment, it can also be directly based on one action as a unit, for example, at the beginning in the upper left corner, first clean horizontally to the upper right corner, and after reaching the upper right corner, there is no need to return to the upper left corner, directly release the flexible cable 301 for a certain distance, so that the main vehicle 2 descends, and then cleans horizontally to the left; then descends and cleans to the right, and so on, until the last row is cleaned, and the main vehicle 2 returns to the original position at the beginning of the cleaning.

[0069] refer to Fig.11 As shown, in one embodiment, the winch 302 is arranged on the main vehicle 2 through a winch mounting frame 303, a turbine 304 is arranged on one side of the winch 302, a winch drive motor 305 is arranged on one side of the winch mounting frame 303, a worm rod 306 is connected to the output end of the winch drive motor 305, and the turbine 304 is meshed with the worm rod 306. Through the above arrangement, when the winch 302 needs to retract the flexible cable 301, the worm rod 306 is driven to rotate by the winch drive motor 305, and then the turbine 304 is driven to rotate by the worm rod 306, and then the winch 302 is driven to rotate by the turbine 304, so that the flexible cable 301 can be retracted; when the winch 302 needs to release the flexible cable 301, the winch drive motor 305 is driven in the opposite direction to release the flexible cable 301. It should be noted that the rack on the worm gear 306 and the rack on the turbine 304 are staggered and meshed with each other. The rack of the worm gear 306 is not shown in the figure, but based on the existing common worm gear structure, people skilled in the art should understand the above structure.

[0070] In one embodiment, the winch mounting frame 303 may include two L-shaped brackets, the L-shaped brackets include a bottom plate and a vertical plate perpendicular to each other, wherein the bottom plate is used to be fixed on the main vehicle 2, and a through hole is opened on the vertical plate, which is used to allow the central axis of the winch 302 to pass through the through hole, and then the winch 302 is set between the two L-shaped brackets. The winch 302 is also provided with a limit plate 307 with a larger diameter near the inner side of the L-shaped bracket. The left and right limit plates 307 can prevent the winch 302 from slipping out of the through hole of the L-shaped bracket. After passing through the through hole of one of the L-shaped brackets, the central axis on one side of the capstan 302 extends a certain distance to connect the turbine 304 thereon, and the turbine 304 is located on the outside of one of the L-shaped brackets; below the turbine 304, a vortex rod limiting ring 308 is provided at a position corresponding to the L-shaped bracket, and after the capstan drive motor 305 is provided on one side of the L-shaped bracket, the vortex rod 306 connected thereto is located below the turbine 304 and the two are meshed, and the end of the vortex rod 306 is located in the vortex rod limiting ring 308 to prevent the vortex rod 306 from shifting or falling off. A connecting rod is also provided between the two L-shaped brackets below the winch 302, and a cable limiting ring 309 is provided above the connecting rod near the middle of the winch 302. When the flexible cable 301 is connected to the trailer 1 and the main vehicle 2, one end of the flexible cable 301 passes through the cable limiting ring 309 and then is connected to the winch 302. In this way, the flexible cable 301 can be limited to a certain extent to prevent it from shaking everywhere, so that the winch 302 can better retract and release the flexible cable 301. It should be noted that in order to enable the winch 302 to have the characteristics of stopping at any position and maintaining power off, the present embodiment uses a worm gear reducer to meet the use requirements, wherein the motor uses a stepping motor.

[0071] In summary, the embodiment of the present invention provides a split photovoltaic panel cleaning robot, which divides the photovoltaic panel cleaning robot into a trailer and a main vehicle, so that the trailer is suspended on the top of the photovoltaic panel, and the main vehicle walks and cleans the photovoltaic panel, and the trailer and the main vehicle are connected by a flexible cable, and the distance between the trailer and the main vehicle can be adjusted by retracting and releasing the flexible cable through a winch, so that photovoltaic panels of different splicing lengths can be adapted. When the spliced ​​photovoltaic panels are longer, the distance between the trailer and the main vehicle is adjusted, so that the length of the photovoltaic panel that was originally not cleaned can be cleaned, thereby improving the adaptability of the cleaning robot to photovoltaic panels of different lengths; and compared with the existing cleaning robot, which has the disadvantage of requiring additional multiple adjustments to the cleaning route each time the use scenario of changing photovoltaic panels of different lengths, the split photovoltaic panel cleaning robot provided by the embodiment of the present invention only needs to adjust the length of the flexible cable through the winch, so that the cleaning robot can clean the position that was originally not cleaned, and can quickly perform cleaning operations.

[0072] Example 3

[0073] The above-mentioned embodiment 2 describes the overall structure and working principle of a split photovoltaic panel cleaning robot provided by the present invention. Based on the embodiment 2, this embodiment 3 describes its trailer structure in detail.

[0074] refer to Fig.12 and Fig.13 As shown, in one embodiment, the trailer 1 includes a first traveling component, a first cleaning component and a suspension component, wherein the first cleaning component is arranged on one side of the first traveling component, and the suspension component is arranged on the other side of the first traveling component; the rolling direction of the first cleaning component and the suspension component is consistent with the traveling direction of the first traveling component.

[0075] Specifically, in one embodiment, the first walking component includes a first walking support frame 101 and a first crawler walking mechanism 102 arranged on the first walking support frame 101. The first walking support frame 101 includes two vertically and parallel support plates, the two support plates are connected by a connecting column, the first crawler walking mechanism 102 is arranged between the two parallel support plates, the suspension assembly is arranged on one of the support plates, and the first cleaning assembly is arranged on the other support plate; the top of the support plate provided with the first cleaning assembly is provided with a through hole for fixing one end of the flexible cable 301. The first crawler walking mechanism 102 can adopt the existing crawler walking technology, and the description of its driving force and detailed structure is omitted in this embodiment. The crawler of the first crawler walking mechanism 102 needs to extend a little beyond the first walking support frame 101 at the bottom so that the crawler can contact the photovoltaic panel, thereby realizing the walking function.

[0076] In one embodiment, the first cleaning assembly includes a first cleaning roller brush 103 and a supporting roller 104, wherein the supporting roller 104 is rotatably connected to the first walking support frame 101 via a connecting shaft, and the first cleaning roller brush 103 is arranged on the connecting shaft of the supporting roller 104; a baffle 108 may also be arranged on the outside of the first cleaning roller brush 103, and the baffle 108 blocks the inner side and the upper side of the first cleaning roller brush 103 for blocking dust. During specific operation, the first crawler walking mechanism 102 is used for walking, and the supporting roller 104 can be driven to roll during walking, thereby driving the first cleaning roller brush 103 to roll and clean. In one embodiment, in order to prevent the first cleaning roller brush 103 from being underpowered, a separate power may be provided to the first cleaning roller brush 103; for example, a motor is provided, and the motor output end is connected to the central axis of the first cleaning roller brush 103, and the first cleaning roller brush 103 is driven to move by the motor; of course, the motor may also drive the first cleaning roller brush 103 to move by a worm gear, and the partial description of the capstan 302 and the capstan drive motor 305 in Example 1 is referred to, and will not be repeated here.

[0077] In one embodiment, the suspension assembly includes a plurality of suspension wheels 105, which are rotatably connected to the first walking support frame 101 through a connecting shaft; the axis of the suspension wheel 105 is perpendicular to the axis of the first cleaning roller brush 103. Specifically, a suspension wheel mounting seat 107 is provided on a support plate on one side of the first walking support frame 101, and the suspension wheel mounting seat 107 is provided with a through hole in the vertical direction, so that the connecting shaft of the suspension wheel 105 can be rotatably connected in the through hole of the suspension wheel mounting seat 107 along the vertical direction, and the bottom of the suspension wheel 105 extends a distance relative to the bottom of the first walking support frame 101 and the bottom of the first crawler walking mechanism 102, so that the suspension wheel 105 can be hung on the top of the inclined photovoltaic panel, and when the first crawler walking mechanism 102 walks along the photovoltaic panel, the suspension wheel 105 can not only remain hung on the photovoltaic panel, but also roll along the same direction, and at the same time, the first cleaning roller brush 103 can also roll and clean along the same direction.

[0078] In one embodiment, the trailer 1 is provided with a plurality of limiting holes 106 on the side facing the main vehicle 2, and the limiting holes 106 are used to perform corresponding limiting with the limiting posts 213 on the main vehicle 2, so that when the trailer 1 and the main vehicle 2 are brought together, not only can the two be kept close to each other longitudinally by tightening the flexible cable 301, but also the limiting holes 106 and the limiting posts 213 can be used to perform corresponding limiting so that the trailer 1 and the main vehicle 2 will not have lateral displacement with each other. Optionally, the limiting posts can be provided on the trailer 1 and the limiting holes can be provided on the main vehicle 2, and it is sufficient to be able to dock and limit.

[0079] In summary, this embodiment provides a detailed structure of a trailer, which can be quickly hooked on the upper edge of the photovoltaic panel to provide an upward pulling force to ensure that the robot works stably on the panel. The trailer has a simple structure and is easy to operate, which can greatly improve the cleaning efficiency. In addition, the trailer also has a highly adaptive function, which can be applied to photovoltaic panels of different thicknesses, maintain fit with the panel, and ensure the cleaning effect. The trailer provided in this embodiment can solve the defect that the photovoltaic cleaning robot is easy to slide down when working on a photovoltaic panel with a large inclination angle.

[0080] Example 4

[0081] Based on the above-mentioned embodiment 2, embodiment 4 of the present invention describes in detail the main vehicle structure of the split-type photovoltaic panel cleaning robot.

[0082] refer to Fig.14 and Fig.15As shown, in one embodiment, the main vehicle 2 includes a second cleaning component, a second walking component, a third walking component and a fourth walking component, wherein the second walking component is arranged at one end of the second cleaning component, the third walking component is arranged at the other end of the second cleaning component, and the fourth walking component is arranged on the second cleaning component; the rolling direction of the second cleaning component is consistent with the walking direction of the second walking component and the third walking component, and the walking direction of the fourth walking component is perpendicular to the walking direction of the second walking component and the third walking component. It should be noted that the second walking component and the third walking component of the main vehicle 2 in this embodiment 3 are consistent with the walking direction of the first walking component of the trailer 1 in embodiment 2, and the three walking components walk synchronously when working. The second cleaning component of the main vehicle 2 in this embodiment 3 is consistent with the rolling direction of the first cleaning component of the trailer 1 in embodiment 1. The fourth walking component of the main vehicle 2 in this embodiment 3 is used separately from other parts and is responsible for the displacement adjustment of the main vehicle 2 in the longitudinal displacement, and the other walking components and cleaning components are all lateral displacements. In this embodiment, when the longitudinal displacement is performed, the lateral displacement is not performed; when the lateral displacement is performed, the longitudinal displacement is not performed.

[0083] Specifically, in one embodiment, the second walking assembly includes a second walking support frame 201 and a second crawler walking mechanism 202 arranged on the second walking support frame 201. The second walking support frame 201 includes two vertical and parallel support plates, the two support plates are connected by a connecting column, the second crawler walking mechanism 202 is arranged between the two parallel support plates, and a cable limit seat 214 is also arranged above the two support plates, and a through hole is opened on the cable limit seat 214. When the flexible cable 301 is connected to the trailer 1 and the main vehicle 2, one end of the cable limit seat 214 passes through the through hole of the cable limit seat 214 and then connects to the trailer 1. In this way, the flexible cable 301 can play a certain limiting role to prevent it from shaking everywhere, so that the winch 302 can better retract and release the flexible cable 301. In one embodiment, the cable limit seat 214 is set to a rotatable state, and an angle sensor is arranged below it to measure its rotation angle, which is used to obtain the offset angle of the main vehicle relative to the trailer, thereby facilitating subsequent adjustment. The second crawler walking mechanism 202 can adopt the existing crawler walking technology, and the description of its driving force and detailed structure is omitted in this embodiment. The crawler of the second crawler walking mechanism 202 needs to extend a little beyond the second walking support frame 201 at the bottom so that the crawler can contact the photovoltaic panel, thereby realizing the walking function.

[0084] In one embodiment, the third walking assembly includes a third walking support frame 203 and a third crawler walking mechanism 204 arranged on the third walking support frame 203. The third walking support frame 203 includes two vertically and parallel support plates, and the two support plates are connected by a connecting column. The third crawler walking mechanism 204 is arranged between the two parallel support plates, and a battery 215 is also arranged above the two support plates. The battery 215 is used to power various components. The third crawler walking mechanism 204 can adopt the existing crawler walking technology, and the description of its driving force and detailed structure is omitted in this embodiment. The crawler of the third crawler walking mechanism 204 needs to extend a little beyond the third walking support frame 203 at the bottom so that the crawler can contact the photovoltaic panel, thereby realizing the walking function.

[0085] In one embodiment, edge cleaning roller brushes 216 may be provided on both sides of the third crawler walking mechanism 204, and the central axis of the edge cleaning roller brush 216 may be rotatably connected between the two support plates of the third walking support frame 203, and the rolling direction of the edge cleaning roller brush 216 is consistent with the rolling direction of the second cleaning component. During specific operation, the main vehicle 2 is moved by the second crawler walking mechanism 202 and the third crawler walking mechanism 204, and the edge cleaning roller brush 216 may be driven to roll and clean during walking. In one embodiment, in order to prevent the edge cleaning roller brush 216 from being insufficiently powered, a power may be provided to the edge cleaning roller brush 216 alone; for example, a motor is provided, and the central axis of the edge cleaning roller brush 216 is connected to the motor output end, and the edge cleaning roller brush 216 is driven to move by the motor; of course, the motor driving the edge cleaning roller brush 216 to move may also be achieved by a worm gear, and the partial description of the capstan 302 and the capstan drive motor 305 in Example 1 is referred to, and will not be repeated here.

[0086] In one embodiment, the second cleaning assembly includes a main body support frame 205 and a second cleaning roller brush 206 disposed in the main body support frame 205. The two ends of the main body support frame 205 are respectively fixed to the second walking support frame 201 and the third walking support frame 203. The second cleaning roller brush 206 is rotatably connected to the second walking support frame 201 and the third walking support frame 203 via a connecting shaft. During specific operation, the main vehicle 2 travels via the second crawler walking mechanism 202 and the third crawler walking mechanism 204, and the second cleaning roller brush 206 can be driven to perform rolling cleaning during travel. In one embodiment, in order to prevent the second cleaning roller brush 206 from being underpowered, a separate power may be provided to the second cleaning roller brush 206; for example, a motor is provided, which is connected to the central axis of the second cleaning roller brush 206 through the motor output end, and the second cleaning roller brush 206 is driven to move by the motor; of course, the motor may drive the second cleaning roller brush 206 to move through a worm gear, for example, a main roller brush driving motor 217 is provided above one end of the main support frame 205, and the main roller brush driving motor 217 is connected to the second cleaning roller brush 206 through a worm gear, so that the second cleaning roller brush 206 is driven to work through the main roller brush driving motor 217, thereby providing stronger and more stable power; the specific structure of the worm gear may refer to the connection description of the capstan 302 and the capstan driving motor 305 in Example 1, and will not be repeated here. It should be noted that the bristles of all roller brushes used in the embodiments of the present invention can be semi-soft nylon bristles, which can effectively clean floating dust on the photovoltaic panel and can also be cleaned in the presence of water. At the same time, it is easy to clean itself and has strong durability.

[0087] In one embodiment, the main vehicle 2 is provided with a plurality of ducted fans 6. Specifically, the ducted fan 6 can be arranged outside the third walking support frame 203, and the number of ducted fans 6 can be two, and the two ducted fans 6 are arranged at 180 degrees. The purpose of setting the ducted fan 6 is to adjust the inclination angle of the cleaning robot on the horizontal plane through the ducted fan 6 when the cleaning robot swings in the air during the process of using the drone to transport the cleaning robot, so that the cleaning robot can be stabilized on the horizontal plane in a state parallel to the side of the photovoltaic panel, so that when the drone puts the cleaning robot down on the photovoltaic panel, the cleaning robot is in a parallel state on the photovoltaic panel instead of an inclined state, thereby facilitating the cleaning robot to clean and the trailer 1 to hang. It should be noted that the ducted fan 6 can also be set in greater numbers and at different angles, which is not limited here, as long as the angle adjustment and stability of the cleaning robot can be guaranteed.

[0088] In one embodiment, the fourth walking assembly includes a rigid rod 207, a lifting assembly and a plurality of pulley assemblies arranged on the rigid rod 207. The fourth walking assembly is perpendicular to the second walking assembly and the third walking assembly as a whole, wherein there may be two rigid rods 207, which are arranged on both sides of the main support frame 205, respectively, and there may be one lifting assembly for the rigid rod 207 on each side, which plays a role in lifting and lowering the rigid rod 207; there may be multiple pulley assemblies for the rigid rod 207 on each side, and when the rigid rod 207 is lifted or lowered, the pulley assembly is lifted or lowered along with the rigid rod 207. There may be four pulley assemblies on each side, and the four pulley assemblies are arranged in pairs on both sides of the lifting assembly. Of course, the number and position arrangement are only for example and are not limited.

[0089] In one embodiment, the lifting assembly includes a steering gear 208 and a first eccentric wheel 209, wherein the steering gear 208 is fixed to the main support frame 205, one end of the first eccentric wheel 209 is connected to the steering gear 208, and the other end of the first eccentric wheel 209 is connected to the rigid rod 207. Through the above arrangement, during specific operation, the first eccentric wheel 209 can be driven to rotate by the steering gear 208, and the end of the first eccentric wheel 209 connected to the rigid rod 207 drives the rigid rod 207 to move up and down.

[0090] In one embodiment, the pulley assembly includes a second eccentric wheel 210 and a pulley 211, one end of the second eccentric wheel 210 is connected to the pulley 211, the other end of the second eccentric wheel 210 is connected to the rigid rod 207, and the middle part of the second eccentric wheel 210 is rotatably connected to the eccentric wheel fixing seat 212, and the eccentric wheel fixing seat 212 is fixed to the main support frame 205. Through the above arrangement, during specific operation, when the servo 208 drives the first eccentric wheel 209 and then drives the rigid rod 207 to move up and down, the rigid rod 207 can drive the second eccentric wheel 210 to rotate, and then drive the pulley 211 to move up and down. It should be noted that the two sides of the main support frame 205 need to be provided with through holes with a length greater than the diameter of the pulley 211 at the corresponding positions of the pulley 211, so that the pulley 211 can descend or ascend along the corresponding through holes. Through the above-mentioned arrangement, the lifting and lowering of the pulley 211 can be realized, and the lifting and lowering amplitude of the pulley 211 needs to be ensured: when the pulley 211 is lowered to the lowest point, its bottom exceeds the bottom of other parts of the main vehicle 2, so that the main vehicle 2 can switch to a state of sliding through the pulley 211, and the sliding direction of the pulley 211 is along the direction of up and down movement of the photovoltaic panel, so that the main vehicle 2 can move up and down on the photovoltaic panel through the pulley 211; when the pulley 211 is raised to the highest point, its bottom needs to be retracted into the main support frame 205, so that it does not affect the cleaning work of the second cleaning component, and does not affect the walking work of the second walking component and the third walking component.

[0091] In one embodiment, the main vehicle 2 is provided with a plurality of limit posts 213 on the side facing the trailer 1, and the trailer 1 is provided with a plurality of limit holes 106 on the side facing the main vehicle 2, and the positions of the limit posts 213 and the limit holes 106 correspond to each other. Under the above setting, when the main vehicle 2 and the trailer 1 are close to each other, not only can the two be kept close to each other longitudinally by tightening the flexible cable 301, but also the main vehicle 2 and the trailer 1 will not produce lateral displacement between each other after the limit posts 213 and the limit holes 106 are correspondingly limited. Optionally, the limit holes can be provided on the main vehicle 2, and the limit posts can be provided on the trailer 1, as long as they can be connected and limited. In one embodiment, the flexible cable and the winch are an integrated component, and the flexible cable between the two vehicles is used as a rope, which also has the function of a traction rope, and the flexible cable can also be used as a wire to transmit power and signals.

[0092] In summary, the present embodiment provides a detailed structure of a main vehicle, which is connected to the trailer by a flexible cable and stored in a pull rope winch. During operation, the longitudinal position of the main vehicle is controlled by retracting and releasing the cable. There is a docking positioning mechanism between the two vehicle bodies to ensure that the two vehicles are tightly connected in a tightened state without shaking, which is convenient for the storage and transportation of the drone. The main vehicle is provided with a second walking component and a third walking component for transverse movement, a second cleaning component for transverse cleaning, and a fourth walking component for longitudinal displacement adjustment, which can adapt to photovoltaic panels of different lengths, and has a wide adaptability and can clean quickly.

[0093] Example 5

[0094] On the basis of the above-mentioned embodiments, Embodiment 5 of the present invention describes in detail the docking device of the split-type photovoltaic panel cleaning robot. The docking device is used to dock with a drone. After docking, the drone can move with the cleaning robot, thereby freeing up manpower. The cleaning robot is brought to the photovoltaic panel for cleaning by the drone, which is convenient and fast and can adapt to different site environments. In addition to being used for the split-type photovoltaic panel cleaning robot provided in the embodiment of the present invention, the docking device can also be used for ordinary cleaning robots. When used for a split-type photovoltaic panel cleaning robot, the trailer and the main vehicle of the split-type photovoltaic panel cleaning robot must be combined and fixed as one before they can be hoisted and transported by a drone.

[0095] When releasing the cleaning robot on the photovoltaic panel by the drone, it is necessary to control the position of the drone to ensure that the center of gravity of the cleaning robot is within the photovoltaic panel, otherwise the cleaning robot may be at risk of tipping over from the photovoltaic panel. Based on this, in one embodiment, a release mark can be set on the main support frame 205 of the front part of the main vehicle 2, for example, the part is painted in a conspicuous different color, indicating that when the upper edge of the photovoltaic panel is within the range of the release mark, the center of gravity of the cleaning robot is within the photovoltaic panel and can be released. It should be noted that when released, the height of the drone drops, and the descent speed is less than 0.3m / s, so that the cleaning robot falls on the photovoltaic panel. The cleaning robot, through the preset hook angle, should first contact the photovoltaic panel with the buffer rubber foam part set at the lower pulley or the bottom. After the drone continues to slowly descend, the cleaning robot falls on the photovoltaic panel. After the cleaning robot is fully in contact with the photovoltaic panel and the trailer is successfully hung on the upper edge of the photovoltaic panel, the drone releases the connection mechanism with the cleaning robot and then flies away from the photovoltaic panel.

[0096] refer to Figure 1 and Fig.16 As shown, in one embodiment, the main vehicle 2 is provided with a docking device for docking with a drone, and the docking device includes an angle adjustment locking mechanism 4 and a magnetic docking mechanism 5, one end of the angle adjustment locking mechanism 4 is fixed on the main vehicle 2, and the other end of the angle adjustment locking mechanism 4 is fixed to the magnetic docking mechanism 5, and the angle adjustment locking mechanism 4 is tilted upward relative to the main vehicle 2. During specific operation, the drone is connected to the magnetic docking mechanism 5 through a rope or a telescopic rod, and after the connection is completed, the cleaning robot can be driven by the drone to move. The appearance of the magnetic docking mechanism 5 is made of nylon material as the main body, which has both strength and protection to avoid damage caused by bumping against the photovoltaic panel during operation. The angle adjustment locking mechanism 4 is used to adjust the angle of the magnetic docking mechanism 5 according to the installation angle of the photovoltaic array, so that when the drone is released with the cleaning robot on the photovoltaic panel, the inclination angle of the cleaning robot is consistent with the inclination angle of the photovoltaic panel, or is kept within an allowable angle range, so that when the cleaning robot is released, it is not easy to have adverse conditions such as strong collision, offset and rollover.

[0097] refer to Fig.16 , Fig.17 and Fig.18As shown, in one embodiment, the angle adjustment locking mechanism 4 includes an adjustment seat 401 and an adjustment rod 402, one end of the adjustment rod 402 is rotatably connected to the adjustment seat 401, and the other end of the adjustment rod 402 extends out of the range of the adjustment seat 401 and is fixedly connected to the magnetic docking mechanism 5; a plurality of angle adjustment locking grooves 403 are provided on the edge of the adjustment seat 401, and the adjustment rod 402 is provided with an angle adjustment locking block 404 at a position corresponding to the angle adjustment locking groove 403, the angle adjustment locking block 404 is connected to the adjustment rod 402 through a spring 405, and an angle adjustment locking protrusion 406 matching the angle adjustment locking groove 403 is provided at the end of the angle adjustment locking block 404.

[0098] In one embodiment, the adjustment seat 401 includes a base plate 407 and two fan-shaped plates 408. The two fan-shaped plates 408 are respectively vertically arranged on both sides of the base plate 407, and the two fan-shaped plates 408 are parallel. The fan-shaped edges of the fan-shaped plates 408 face diagonally upward. Through holes are opened at the diagonally opposite ends of the fan-shaped edges of the two fan-shaped plates 408, and a through hole is also opened at the corresponding position at the bottom end of the adjustment rod 402. After the two through holes are aligned, the two can be rotatably connected together through a rotating shaft.

[0099] In one embodiment, the angle adjustment locking groove 403 is arranged on the fan-shaped edge of the fan-shaped plate 408, and a specific angle is marked next to each angle adjustment locking groove 403, such as 20°, 30°, 40°, 50° and 60°, corresponding to different angle adjustment gears: 1st gear, 2nd gear, 3rd gear, 4th gear and 5th gear. Through different angle adjustment gear settings, the inclination angle of the photovoltaic panel and different angle adjustment gears can be mapped and associated. For example, when the inclination angle of the photovoltaic panel to be cleaned is less than or equal to 20°, it corresponds to the angle adjustment gear of gear 1; when the inclination angle of the photovoltaic panel to be cleaned is in the range of 20°-30° (excluding 20°, including 30°), it corresponds to the angle adjustment gear of gear 2; when the inclination angle of the photovoltaic panel to be cleaned is in the range of 30°-40° (excluding 30°, including 40°), it corresponds to the angle adjustment gear of gear 3; when the inclination angle of the photovoltaic panel to be cleaned is in the range of 40°-50° (excluding 40°, including 50°), it corresponds to the angle adjustment gear of gear 4; when the inclination angle of the photovoltaic panel to be cleaned is in the range of 50°-60° (excluding 50°, including 60°), it corresponds to the angle adjustment gear of gear 5. The above angle mapping is divided into an example. In other examples, it can also be considered to normalize the 20°-60° scale into three gears according to the posture of the drone hoisting, that is: when the inclination angle of the photovoltaic panel to be cleaned is less than or equal to 30°, it corresponds to the angle adjustment gear of gear 1; when the inclination angle of the photovoltaic panel to be cleaned is in the range of 30°-45° (excluding 30° and including 45°), it corresponds to the angle adjustment gear of gear 2; when the inclination angle of the photovoltaic panel to be cleaned is greater than 45°, it corresponds to the angle adjustment gear of gear 3.

[0100] As for the angle adjustment locking mechanism 4, during specific use, the angle adjustment locking block 404 is pushed upward to compress the spring 405. At this time, the angle adjustment locking protrusion 406 slides out of the angle adjustment locking groove 403, and the adjusting rod 402 can be rotated; when the adjusting rod 402 is rotated to the required angle position, the angle adjustment locking block 404 is released, and the angle adjustment locking block 404 rebounds under the elastic force of the spring 405, so that the angle adjustment locking protrusion 406 slides into the angle adjustment locking groove 403 of the required angle, thereby locking the adjusting rod 402.

[0101] refer to Fig.16 and Fig.19As shown, in one embodiment, the magnetic docking mechanism 5 includes a docking base 501 and a docking cover 502, the top of the docking cover 502 is provided with a hanging ring 503, the lower part of the docking cover 502 is a truncated cone with a diameter gradually decreasing downward, and the bottom of the docking cover 502 is provided with a magnetically absorbable object 504; the docking base 501 is provided with a truncated cone groove 505 matching the lower part of the docking cover 502, the bottom of the truncated cone groove 505 is provided with an electromagnet 506, the top of the docking base 501 is provided with adsorption detection switches 507 on both sides, and the bottom of the docking base 501 is provided with an indicator light 508. Among them, the bottom of the docking base 501 is fixed on the adjustment rod 402, so that the magnetic docking mechanism 5 as a whole changes with the angle change of the adjustment rod 402; and when the docking cover 502 is not docked, it is connected to the drone through the hanging ring 503. When docking is required, the drone comes to the docking base 501 with the docking cover 502. When the drone puts down the docking cover 502, the truncated cone-shaped lower part of the docking cover 502 and the truncated cone-shaped groove 505 inside the docking base 501 have a guiding function, making the docking operation more convenient, and there is no need to achieve accurate docking from the beginning. When the magnetically absorbable object 504 at the bottom of the docking cover 502 approaches the electromagnet 506 in the docking base 501, the docking cover 502 will self-align under the magnetic force of the electromagnet 506. After docking is completed, the docking cover 502 presses down the two adsorption detection switches 507 located below. The adsorption detection switches 507 can be micro switches. When the two micro switches are activated, a signal of docking completion will be given to ensure that the adsorption position is accurate. At the same time, the indicator light 508 can also be used to indicate that the adsorption is correct. In the above process, the electromagnet 506 can adopt a power-off holding type electromagnet, which relies on a permanent magnet to generate suction, and uses an excitation coil to control the suction of the magnet, thereby acting as a suction switch; in addition, the magnetically attractive object 504 arranged at the bottom of the docking cover 502 can be a galvanized steel plate or any other material that can be magnetically attracted and has strong magnetic attraction.

[0102] It should be noted that the drone and the docking cover 502 can be regarded as an integrated whole, that is, the drone is initially fixed to the lifting ring 503 of the docking cover 502 by means of a connecting piece such as a lifting rope or a connecting rod, for example, by tying a knot between the lifting rope and the lifting ring 503; and then the drone is docked with the docking base 501 through the docking cover 502.

[0103] In summary, the docking device provided in this embodiment can make it easy and convenient for the drone to transport the cleaning robot to the photovoltaic panel for operation, which can adapt to photovoltaic stations in different environments and save manpower. The docking device provided in this embodiment also has an angle adjustment function, which can adjust the cleaning robot to the corresponding angle gear for photovoltaic panels with different inclination angles, so that it is not easy to cause accidents when putting the cleaning robot on the photovoltaic panel.

[0104] Example 6

[0105] Based on the above embodiments, Embodiment 6 of the present invention describes in detail the control system of the split-type photovoltaic panel cleaning robot.

[0106] It should be noted that the split photovoltaic panel cleaning robot provided in the embodiment of the present invention may also be provided with a plurality of edge detection devices 500 on the trailer 1 and the main vehicle 2. Fig.13 , Fig.14 as well as Fig.15 As shown, the edge detection device 500 can be an edge measurement sensor, which is a high-precision optical sensor that uses optical principles to accurately measure the edge of an object. It is used to detect the edge position of the cleaning robot on the photovoltaic panel, prevent the cleaning robot from falling, and ensure the cleanliness of the cleaning robot.

[0107] In one embodiment, the edge detection device on the trailer 1 can be four sensors, which are the trailer left edge detection sensor, the trailer left limit detection sensor, the trailer right limit detection sensor and the trailer right edge detection sensor. These sensors are used for position recognition, wherein when the signals of the trailer left edge detection sensor and the trailer right edge detection sensor are fed back to the controller, it is used to determine that the trailer is at the edge of the photovoltaic panel; if the trailer continues to move, the trailer left limit detection sensor or the trailer right limit detection sensor is triggered to send a feedback signal to the controller, determining that the current limit position has been reached and it is no longer possible to move in the same direction.

[0108] In one embodiment, the edge detection device on the main vehicle 2 can be eight sensors, which are distributed on both sides and the end of the main vehicle 2, namely the left edge detection sensor of the front of the vehicle, the right edge detection sensor of the front of the vehicle, the left edge detection sensor of the rear of the vehicle, the left limit detection sensor of the rear of the vehicle, the right limit detection sensor of the rear of the vehicle, the right edge detection sensor of the rear of the vehicle, the lower edge detection sensor of the photovoltaic panel and the lower edge limit detection sensor of the photovoltaic panel. The edge detection sensors are used for edge recognition. When the edge detection sensor signal is fed back to the controller, it is determined that the main vehicle is at the edge of the photovoltaic panel; if the main vehicle continues to move, the limit sensor is triggered to send a feedback signal to the controller, determining that the current limit position has been reached and it is no longer possible to move in the same direction.

[0109] In one embodiment, three pull-rope displacement sensors can also be set inside the main vehicle 2 to be used for positioning and deviation correction between the main vehicle 2 and the trailer 1. Two are installed on one side of the main vehicle 2 and one is installed on the other side. The lead wire comes out from the front of the vehicle and is connected to the trailer 1. The whole is in an N-shaped cross shape. The sensor itself has an IP68 protection level. Optionally, it is also possible to consider using a photoelectric laser sensor as the basis for positioning between the main vehicle 2 and the trailer 1. The advantage of using a laser sensor is that it is easy to install, and the structure of the two small workshops is relatively optimized and more concise.

[0110] It should be noted that the split-type photovoltaic panel cleaning robot provided by the embodiment of the present invention is divided into two parts: trailer 1 and main vehicle 2. The trailer 1 runs on the edge of the photovoltaic panel, and controls the main vehicle 2 to prevent it from sliding down along the photovoltaic panel; the main vehicle 2 performs cleaning work, and the two are connected by a cable, and the maximum extension distance of the cable can be designed according to needs. In order to make charging convenient and power monitoring convenient, the battery is installed on the main vehicle 2 and connected to the trailer 1 through a wire; in addition, there are multiple proximity switches (that is, the aforementioned sensors) at the end of the trailer 1 to detect whether the current position has reached the edge of the photovoltaic panel. Therefore, a circuit board is designed at the end of the trailer 1 to collect all proximity switch signals, and transmit them to the main control card end of the main vehicle 2 through CAN. In this way, the line between the trailer 1 and the main vehicle 2 is greatly simplified, and the control system based on the above setting is referenced. Fig. 20 shown.

[0111] refer to Fig. 20As shown, in one embodiment, a signal acquisition card is provided at the trailer 1 end, and a main control board is provided at the main vehicle 2 end. Among them, at the trailer 1 end, the trailer servo motor (that is, the drive motor of the first crawler walking mechanism 102) is connected to the signal acquisition card through CAN, and the 4-way proximity switch (that is, the edge detection device on the trailer 1) is connected to the signal acquisition card through 4-way digital IO, and the signal acquisition card is connected to the main control board through power supply + CAN. At the end of the main vehicle 2, the main control board is connected to the upper crawler servo motor (i.e., the drive motor of the second crawler walking mechanism 202) and the lower crawler servo motor (i.e., the drive motor of the third crawler walking mechanism 204) through CAN; the main control board is connected to the wireless transceiver through RS485; the main control board is connected to the proximity switch (i.e., the edge detection device on the main vehicle 2) through 10-way digital IO; the main control board is connected to the servo (i.e., the servo 208 of the lifting component) through uart half-duplex; the main control board is connected to the winding drum motor (i.e., the winch drive motor 305) through 2-phase 4-wire; the main control board is connected to the cleaning brush motor (i.e., the main roller brush drive motor 217) through a 2-wire power supply; the main control board is connected to the cleaning brush motor (i.e., the main roller brush drive motor 217) through a 3 The main control board is connected to the pull-rope displacement sensor (that is, the pull-rope displacement sensor set inside the main vehicle 2) through the pulse capture through the UART; the main control board is connected to the gyroscope through the UART (the offset data of the main vehicle 2 is obtained through the gyroscope, and the gyroscope can be set at any position on the main vehicle 2 that does not affect the operation); the main control board is connected to the battery (that is, the battery 215 on the main vehicle 2) through the SMBUS; the main control board is connected to the status indicator light through the 3-way digital IO (the status indicator light is used to display the working status of the cleaning robot); the main control board is connected to the demagnetization coil (that is, the control switch of the electromagnet 506 of the magnetic docking mechanism 5) through the relay switch; the main control board is connected to the duct (that is, the duct fan 6) through the ESC interface.

[0112] In the above control system, the main control chip of the main control board should meet the performance requirements of the FreeRTOS operating system, and the number of IO ports should meet the signal requirements of sensors and motors; for example, its model can be STM32F4, the package can be QFP100, the main frequency>168Mhz, RAM>128KB, FLASH>256KB.

[0113] Example 7

[0114] Based on the above embodiments, Embodiment 7 of the present invention describes in detail the control method of the split photovoltaic panel cleaning robot. Fig.21 As shown, in one embodiment, the control method of the split photovoltaic panel cleaning robot mainly includes wireless network management, vehicle mode management and trajectory correction control algorithm.

[0115] refer to Fig. 22As shown, in one embodiment, wireless network management is used to establish a network connection between a cleaning robot (hereinafter referred to as a cleaning vehicle in this embodiment) and a ground station, such as initializing handshakes, keeping links alive, disconnecting and reconnecting, etc. Specifically, after the cleaning vehicle is turned on, it uses a random channel (to avoid channel conflicts) to continuously send connection request frames until a response is received from the ground station (it can be designed to send once every 1s); after receiving the connection request response frame, the cleaning vehicle continues to send a heartbeat frame to the ground station (with various detection data of the sensor) every 1s, and the ground station responds to the keep-alive frame; if a link is broken in the working mode (no response for three consecutive times), the cleaning vehicle immediately enters the abnormal termination mode and continuously sends connection request frames until the connection is re-established and the abnormal termination mode is exited.

[0116] refer to Fig.23 As shown, in one embodiment, the vehicle mode management is used to control the design of a solution for managing the interaction between the sweeper and the ground station, which is the main software function. The mode switching of the vehicle mode management is as follows Fig.23 As shown, in idle mode, if edge finding is completed, it enters ready mode, if self-test is abnormal, it enters abnormal mode, and if a debug signal is received, it enters debug mode; in ready mode, if a start signal is received, it enters working mode, and if a debug signal is received, it enters debug mode; in working mode, if an emergency stop / abnormality occurs, it enters abnormal mode, if cleaning is completed, it enters idle mode, and if a pause signal is received, it enters pause mode; in abnormal mode, if a debug signal is received, it enters debug mode; in pause mode, if a start signal is received, it enters working mode, and if a debug signal is received, it enters debug mode; in debug mode, after debugging is completed, if the previous state is idle, it enters idle mode, and if the previous state is not idle, it enters ready mode.

[0117] Based on the above modes, the software function logic is further explained below.

[0118] First, for the startup behavior, it enters the idle mode after startup; after startup, it needs to self-check all sensors and generate fault codes stored in the EEPROM; after the self-check is completed (if an error occurs, it enters the abnormal mode), it waits in a loop for the ground station to send an edge-finding command; after receiving the edge-finding command, the sweeper is controlled to start edge-finding to the preset edge-finding side (either the left or the right, depending on the needs), and enters the ready mode after the edge-finding is successful.

[0119] For wireless connection, after powering on, a random channel is used (to avoid channel conflicts) to continuously send connection request frames until a response is received from the ground station (it can be designed to send once every 1s); after receiving the connection request response frame, the car sends a heartbeat frame to the ground station (with various detection data of the sensor) every 1s, and the ground station responds to keep alive; if a link is broken in the working mode (no response for three consecutive times), the sweeper immediately enters the abnormal termination mode and continuously sends connection request frames until the connection is re-established and exits the abnormal termination mode; if a link is broken in other modes, the sweeper does not switch modes and only sends connection request frames.

[0120] As for the mode description, the sweeper supports idle mode, ready mode, working mode, pause mode, abnormal mode (abnormal termination mode) and debugging mode; the default mode is idle mode when powered on; it enters ready mode after edge finding is completed; it enters working mode after receiving the start button signal; it enters pause mode after receiving the pause button signal; it enters abnormal termination mode after detecting an abnormality in its own sensor or receiving the emergency stop button signal; the sweeper can only be controlled to enter debugging mode when it is in non-working mode, and it is controlled by the ground station to enter.

[0121] For idle mode, the sweeper is turned on and enters idle mode by default; idle mode cannot respond to pause, emergency stop, and start button signals, but can only respond to edge-finding button signals or debugging mode signals; it enters ready mode after edge-finding is completed, or enters abnormal termination mode after self-test fails.

[0122] For the ready mode, the control enters the ready mode after the edge finding is completed; after the debug mode is exited, if it was idle mode before, it will also be idle mode after exiting, otherwise it will be in ready mode after exiting; the ready mode does not respond to the edge finding, pause, and emergency stop button signals, and can only respond to the start button signal or debug mode signal; the ready mode sweeper is in the state of waiting for the start command.

[0123] For the working mode, all the executive parts of the sweeper in working mode execute normally according to the cleaning logic and are not affected by the ground station; there are two types of cleaning logic, which will be described later; the working mode does not respond to the edge finding and start button signals, nor does it respond to the debugging mode entry signal, and can only respond to the pause and emergency stop button signals; when the proximity switch detects an edge, the servo motor speed is immediately controlled to reduce to 0.25m / s, and after confirming the boundary or gap, it decides whether to speed up to normal.

[0124] For the pause mode, receiving the pause command terminates the control of all the executive parts of the sweeper, such as the motor, status light, and degaussing coil, but the signal collection of the sensor continues; the command of the ground station is continuously monitored; the pause mode only responds to the start button signal, or the signal to enter the debugging mode.

[0125] For abnormal mode, when the sweeper detects a sensor abnormality or receives an emergency stop button signal, it immediately enters abnormal mode; all execution components stop working, and sensor collection continues; the abnormal mode requires the ground station to enter the debugging interface to check the cause, and clear the state after confirmation before entering the idle / ready mode again; the abnormal mode can only respond to the signal to enter the debugging mode.

[0126] For debug mode, only non-working mode can switch to debug mode; in debug mode, all execution components are not executed, and the sensor continues to collect data; the loop waits for the ground station command; the ground station sends a debug mode exit, and if the sweeper was in idle mode before the detection, the current mode will continue to be set to idle mode, otherwise the current mode will be set to ready mode; it supports receiving the sweeper mode reset signal, and it will be in idle state after reset.

[0127] For the status indicator light, the green light is always on: idle mode, ready mode; the green light flashes: working mode; the yellow light flashes: pause mode; the yellow light is always on: debugging mode; the red light is always on: abnormal mode.

[0128] For the degaussing coil, the degaussing coil relay is turned on and it is only valid in idle mode or debugging mode; if it is idle mode, all proximity switches must be valid to consider that the sweeper is in the photovoltaic panel, and then the degaussing coil relay switch can be turned on.

[0129] For the posture adjustment duct, the posture adjustment duct control is only valid in idle mode or debugging mode; the posture adjustment can be adjusted only when all proximity switches are out of position, then it is considered that the sweeper is not on the photovoltaic panel but in the lifting process, and the posture can be adjusted.

[0130] For the trajectory correction algorithm, the proximity switch collects data every 1ms; the gyroscope collects data every 10ms; and the pull-rope displacement sensor collects data every 1ms. Based on the data collected by the sensors, mathematical modeling is used to calculate whether the current trajectory of the sweeper deviates. If deviation occurs, proportional, integral, and differential control (proportion integration differentiation, abbreviated as: PID) adjustments are required to reasonably control the three servo motors.

[0131] For the cleaning logic in working mode, refer to Fig.24 As shown, the first cleaning logic includes the following processes:

[0132] Step 101: After entering the working mode, the sweeper will be controlled to move to the other side after finding the edge and clean the photovoltaic panels.

[0133] Step 102: After running to the other side of the photovoltaic panel, stop, start to lift the longitudinal moving pulley, control the winch to release the line, and stop releasing the line until the line is as long as the length of a main vehicle, and start to move forward to the side where the edge was initially found and clean it.

[0134] Step 103: Repeat the above process until the main vehicle reaches the lower boundary of the photovoltaic panel, cleans the current row of photovoltaic panels, retracts the line, returns to the position where the cleaning vehicle was originally deployed, and enters the idle mode.

[0135] For the cleaning logic in working mode, refer to Fig.25 As shown, the second cleaning logic includes the following processes:

[0136] Step 201: After entering the working mode, the cleaning vehicle will be controlled to move to the other side after finding the edge and clean the photovoltaic panel.

[0137] Step 202: After running to the other side of the photovoltaic panel, return to the side where the edge was initially found and clean it.

[0138] Step 203: After cleaning back and forth once and returning to the side where the edge is found, stop, start to lift the longitudinal moving pulley, and control the winch to release the line until the line reaches the length of a main vehicle.

[0139] Step 204: Repeat the above process and perform back and forth cleaning again until the main vehicle reaches the lower boundary of the photovoltaic panel, and after cleaning the current row of photovoltaic panels, retract the line, return to the position where the cleaning vehicle was originally deployed, and enter idle mode.

[0140] In addition, during the cleaning process of the sweeper, because the photovoltaic panels may be spliced, when sweeping to the left or right, and when laying out the line for longitudinal position adjustment, in addition to reaching the very edge, there may also be splicing gaps.

[0141] For leftward cleaning, when the left edge detection sensor detects an edge, it means that the gap between photovoltaic panels has been encountered or the leftmost side of all photovoltaic panels has been reached, and the lateral speed needs to be slowed down. When the left limit detection sensor detects an edge, it is necessary to determine whether the left edge detection sensor has detected a photovoltaic panel. If a photovoltaic panel is detected, it means that the gap between photovoltaic panels has been encountered, so choose to cross the lateral interval between photovoltaic panels, continue to move to the left for cleaning, and restore the original speed; if no signal is detected, it means that the leftmost side of all photovoltaic panels has been reached, so stop moving to the left. Then, according to the preset cleaning logic, choose to start cleaning to the right, or choose to release a vehicle body position and then start cleaning to the right.

[0142] For cleaning to the right, when the right edge detection sensor detects an edge, it means that the gap between photovoltaic panels has been encountered or the rightmost side of all photovoltaic panels has been reached, and the lateral speed needs to be slowed down. When the right limit detection sensor detects an edge, it is necessary to determine whether the right edge detection sensor has detected a photovoltaic panel. If a photovoltaic panel is detected, it means that the gap between photovoltaic panels has been encountered, so choose to cross the lateral interval between photovoltaic panels, continue to move to the right for cleaning, and restore the original speed; if no signal is detected, it means that the rightmost side of all photovoltaic panels has been reached, so stop moving to the right. Then, according to the preset cleaning logic, choose to start cleaning to the left, or choose to release a vehicle body position and then start cleaning to the left.

[0143] For longitudinal position adjustment of the line payout, when the lower edge detection sensor detects an edge, it means that the gap between the photovoltaic panels has been encountered or the bottom of all photovoltaic panels has been reached, and the longitudinal payout speed needs to be slowed down. When the lower limit detection sensor detects an edge, it is necessary to determine whether the lower edge detection sensor has detected a photovoltaic panel at this time. If a photovoltaic panel is detected, it means that the gap between the photovoltaic panels has been encountered at this time, so choose to cross the longitudinal interval between the photovoltaic panels, restore the original payout speed, continue to pay out downwards until a car body is paid out, and then start horizontal cleaning; if there is no signal detected, it means that the bottom of all photovoltaic panels has been reached at this time, so stop paying out downwards and directly start the last round of horizontal cleaning.

[0144] In one embodiment, after entering the working mode, a track deviation correction control algorithm is also performed in real time to ensure that the main body of the sweeper and the trailer are always aligned and parallel, and the sweeping is performed synchronously, rather than maintaining an offset state for sweeping, which may cause abnormal situations. The track deviation correction control algorithm may include a positioning algorithm and a path following algorithm.

[0145] refer to Fig.31 As shown, it is a schematic diagram of the arrangement of the pull rope displacement sensor provided by the embodiment of the present invention. Three pull rope displacement sensors 600 are arranged on both sides of the main vehicle 2. One of the three pull rope displacement sensors 600 is arranged on one side and two on the other side. The ends of the pull ropes pass through the gap in the middle of the front track and are then connected to the trailer 1. Two of the pull ropes are arranged in parallel and one is arranged obliquely so that the pull ropes form an N shape. For the convenience of representation in the figure, the position of the pull rope displacement sensor 600 is represented by a box, and it should be noted that the position arrangement of the pull rope displacement sensor is only an example, and it is only necessary to ensure that it does not affect the operation of other components and ensure the N-type pull rope arrangement.

[0146] refer to Fig.26As shown in the figure, the main function of the positioning algorithm is to determine the relative position and angle of the two vehicle bodies, and to determine the relative Δx, θ, and h values ​​of the brush mechanism, i.e., the lateral relative offset, relative offset angle, and longitudinal offset of the two vehicles, based on the edge hanging vehicle body, i.e., the trailer end. Due to the harsh working environment, the presence of a large amount of dust, sewage and other pollutants, and the poor reliability of photoelectric sensors, a pull-rope displacement sensor is used to obtain the relative position using triangulation. The formula is as follows:

[0147] ·

[0148] ·

[0149] ·

[0150] Fig.26 In the above formula, d1 and d2 represent the width of the two vehicles, l1, l2, and l3 represent the length values ​​measured by the three distance sensors. x0y0 represents the horizontal and vertical coordinates of a point on the vehicle body, and θ represents the inclination angle of the sweeper relative to the trailer. θ is calculated using the direction cosine formula.

[0151] refer to Fig. 27 As shown, the path following algorithm is used to control the vehicle body to travel along the predetermined path on the photovoltaic panel after obtaining the position information. The input values ​​of the path following algorithm are Δx, θ, h, and the output values ​​are the speeds of the three tracks, that is, the rotation speeds of the three track motors. The linear quadratic regulator LQR is used to adjust the value of the gain K so that the closed-loop feedback system achieves the optimal effect. The above-mentioned path following algorithm and linear quadratic regulator can be existing technologies and will not be described in detail here.

[0152] In one embodiment, when a cleaning robot corrects its deviation too frequently, the control system will trigger a drone to shoot the scene at the work site as a basis for subsequent maintenance; at this time, after the drone enters the wireless connection environment, it will establish a wireless connection with the nearest cleaning robot, thereby generating a monitoring video and a synchronous recording mode of the cleaning robot's sensor data; when it is confirmed that the shooting offset has not reached the amount that requires correction, but the cleaning robot has triggered correction, the faulty rope displacement sensor is eliminated by stopping a specified one of the three rope displacement sensors in turn, wherein the offset algorithm is adjusted synchronously when one rope displacement sensor is stopped; if it is confirmed that only one rope displacement sensor is faulty, the remaining two rope displacement sensors are used to complete the task using the corresponding second set of offset algorithms, and a repair report is recorded; if it is confirmed that two rope displacement sensors are faulty, the drone will take over the cleaning robot's correction, and send correction instructions through camera target tracking, and after completing the current photovoltaic panel cleaning, press Enter to report the repair. It should be noted that the positions of the three pull-rope displacement sensors of the cleaning robot are marked on the shell, so that the drone can easily capture and calculate the position through the camera. In addition, before taking photos of the target cleaning robot for correction, the drone can first take photos of the normally operating robot next to it to establish a mapping relationship between the actual parameters and the distance calculated by the image. This mapping relationship can also be stored in the drone in advance during the test phase, so that it can be directly called for correction when in use.

[0153] In summary, the embodiments of the present invention provide a control method for a split photovoltaic panel cleaning robot, which can realize multiple operation modes of the split photovoltaic panel cleaning robot, so that it can achieve good cleaning effects on photovoltaic panels that are longer than its own length, and can adapt to photovoltaic panels spliced ​​with different lengths, and has a wide range of applications; and when working, it can also perform real-time trajectory correction control to ensure that the main body of the cleaning vehicle and the trailer are always in an aligned and parallel state, and clean synchronously, instead of maintaining an offset state for cleaning, causing abnormal situations.

[0154] Example 8

[0155] On the basis of the above embodiments, embodiment 8 of the present invention describes in detail the drone transportation process and the integrated vehicle transportation process of the split photovoltaic panel cleaning robot. The split photovoltaic panel cleaning robot, drone and integrated vehicle provided in this embodiment constitute a photovoltaic panel cleaning vehicle system for centralized photovoltaic power stations. The whole set of system equipment consists of an integrated vehicle, a hoisting drone and multiple groups of cleaning robots. Among them, for the cleaning robot: it has the functions of fully automatic cleaning, good hooking reminder, manual start, automatic process and end reminder, and these functions can be displayed and controlled on the integrated vehicle. In addition, the cleaning robot can intelligently identify whether it is normally hooked on the photovoltaic panel, and manually start after manual secondary confirmation; the cleaning robot is an intelligent full-process cleaning without manual intervention. For the integrated vehicle: it has a storage device, a protection device, a centralized display screen, and the function of displaying the status and power of each cleaning robot and remotely controlling the robot to start / emergency stop. For the drone: it has a hoisting function, and its hoisting function can be manually hooked, and then the drone is manually operated by the pilot. The drone is also provided with a safety protection mechanism, and the hoisting function is provided with an emergency cut-off mechanism. In addition, the drone also has the ability to intelligently identify obstacles and avoid photovoltaic panels. The hoisting device can intelligently identify the attachment status and can adaptively control the hoisting load and the drone to eliminate swings and shocks. During the release and attachment process, there are intelligent auxiliary devices to assist the pilot. The entire system has the ability to upgrade to a higher level of automation in the future.

[0156] It should be noted that the vehicle system provided by the embodiment of the present invention can be used for a split photovoltaic panel cleaning robot, and can also be used for an ordinary cleaning robot. When used for a split photovoltaic panel cleaning robot, the trailer and the main vehicle of the split photovoltaic panel cleaning robot must be combined and fixed as one, and then they can be put into the integrated vehicle and lifted and transported by a drone.

[0157] For drones, you can choose existing drones on the market, such as the DJI FC30 finished model.

[0158] For integrated vehicles, existing operation and maintenance vehicles should be reused to the greatest extent possible, and they should be able to store and transport the hoisting drones and cleaning robots included in this plan. There should be different areas to store the equipment for easy transportation. At the same time, they should be able to quickly charge the cleaning robots and hoisting drones, and they should have a certain amount of power reserve. For the take-off and landing of drones, there should be a dedicated take-off and landing area setting method and identification belt, which can be quickly deployed on site to form a protection area to ensure the safety of on-site operations. For the storage and release of cleaning robots, special areas and mechanisms should also be designed to achieve rapid release, storage and charging. At least 4-6 groups of cleaning robots should be able to be stored.

[0159] refer to Fig.28As shown, the rear compartment of the integrated vehicle 200 includes a drone storage area 201, a drone landing area 202, a cleaning robot storage area 203 and a cleaning robot control area 204; in addition, a cleaning robot charging mechanism and a cleaning robot cleaning mechanism may also be provided.

[0160] Specifically, the drone storage area 201 is set in the upper space of the rear compartment, and the upper space of the rear compartment can be separated by a partition to serve as the drone storage area 201. Slideways can be set on both sides of the partition so that the partition can be moved in and out along the slideways, which is convenient for carrying the drone 300 placed on the partition in and out. A locking structure can be set at the corresponding position of the partition and the rear compartment, so that the partition is locked after it is completely slid into the rear compartment and will not slide out automatically. When it needs to slide out, the locking structure is opened to slide it out. A post-storage fixing device can be set on the partition or on the inner wall of the rear compartment, which is used to fix the drone through the post-storage fixing device after the partition is completely returned to the rear compartment with the drone through the slideway to complete the storage; the post-storage fixing device can be a strap structure. The drone landing area 202 is the landing area when the drone returns to the integrated vehicle after work, and the drone landing area 202 can be set to the top of the rear compartment.

[0161] The cleaning robot storage area 203 is arranged below the drone storage area 201, including multiple layers of storage space, for example, two layers, or three layers or more. Two or more cleaning robots 400 can be placed side by side on each layer of space, which is convenient for storing the cleaning robots 400 and saves space. The cleaning robot storage area 203 should be able to accommodate at least 4-6 groups of cleaning robots. A partition is provided in each layer of storage space, and the structure and supporting facilities of each partition are similar to those of the partition of the drone storage area 201, so they will not be repeated. In addition, the cleaning robot charging mechanism can be arranged on the partition, and the cleaning robot 400 can be automatically charged through the contact charging mechanism when it is stored on the partition; the cleaning robot cleaning mechanism can be arranged in the internal space of the rear compartment, and the interior thereof is a water tank equipped with a battery, an air compressor and a water gun. After the water gun is connected to the water tank, it can be extended from the side or back of the rear compartment to clean the cleaning robot 400. The cleaning robot 400 may be the split-type photovoltaic panel cleaning robot in the aforementioned embodiment, or may be an ordinary cleaning robot.

[0162] The cleaning robot control area 204 can be set on the side outside the rear compartment, and can be a computer, which mainly has two functions: cleaning robot control and cleaning robot status display; the cleaning robot control function includes: controlling the cleaning robot to start working (from standby to automatic edge finding), controlling the cleaning robot to start cleaning (from edge finding completion to normal working), controlling the cleaning robot to stop cleaning (return to the initial position) and emergency stop control, and the cleaning robot control function can also include individual control of each sensor and each motor in the cleaning robot. The cleaning robot status display function can display the power of each cleaning robot and the status of each cleaning robot, wherein the status of the cleaning robot includes: connected (standby state), edge hanging (waiting to find edge state), automatic edge finding completed (waiting to start state), working (normal working state), fault (stop state) and operation completed (waiting to be recycled state). The cleaning robot status display function can also display the debugging status, that is, enter the debugging interface (password entry). In the debugging interface, you can select a single cleaning robot and graphically display the status of all its sensors and motors. You can control a single sensor or a single motor in turn for debugging; in the debugging interface, you can also add a paired cleaning robot or delete a paired cleaning robot.

[0163] refer to Fig.29 As shown, the working process of a photovoltaic panel cleaning vehicle system for a centralized photovoltaic power station provided in this embodiment is as follows.

[0164] Step 1: The integrated vehicle arrives at the station work area, takes safety precautions upon arrival, and opens the drone storage area and the cleaning robot storage area.

[0165] Step 2: The drone takes off, hoists the first group of cleaning robots through the drone, flies to the designated work area, and releases the cleaning robots.

[0166] Step 3: After the cleaning robot reaches the photovoltaic panel, it automatically starts to work and cleans the photovoltaic panel, and returns to the initial release position after cleaning.

[0167] Step 4: The drone repeats step 2 to release all cleaning robots in the integrated vehicle. In this step, each group of cleaning robots corresponds to a cleaning area, and the drone releases the corresponding cleaning robot to the preset area to be cleaned.

[0168] Step 5. After the cleaning robot completes the work, the drone flies to the upper part of the cleaning robot and recovers the cleaning robot. After recovery, the cleaning robot is transported to the next group of cleaning areas or transported to the integrated vehicle area. In the above steps, the drone first releases all the cleaning robots that need to be released, and then waits for each cleaning robot to work. Whenever a cleaning robot finishes cleaning and returns to the initial release position, the cleaning robot that has finished cleaning can be recovered by the drone. When recycling, there are two situations. The first situation is that there is still a preset idle cleaning area without a cleaning robot working, then the recovered cleaning robot is transported to the idle cleaning area for cleaning; the second situation is that all cleaning areas have cleaning robots working or have been cleaned, then the recovered cleaning robot is transported back to the integrated vehicle.

[0169] Step 6: After all cleaning robots are recovered to the integrated vehicle area, turn off the drone, recover the drone into the integrated vehicle, and the integrated vehicle drives away from the station work area.

[0170] It should be noted that the cleaning robot in this embodiment can be the split-type photovoltaic panel cleaning robot in the aforementioned embodiment, and can also be replaced by an ordinary cleaning robot.

[0171] In summary, this embodiment provides a photovoltaic panel cleaning vehicle system for centralized photovoltaic power stations, which includes three parts: a fully automatic cleaning robot, a dedicated suspended drone, and an integrated vehicle for integrated operations. By combining the fully automatic cleaning robot and the drone, rapid cleaning of the area within the station can be achieved, reducing labor costs and improving power generation efficiency. The drone and cleaning robot are transported and controlled by the integrated vehicle, and multiple cleaning robots and drones can be transported at one time, which can meet the use requirements in most scenarios, is easy to transport, and can be quickly released, stored, and charged.

[0172] Example 9

[0173] Based on the above embodiments, the present invention also provides a storage device that can be used to implement the above method flow and system functions, such as Fig.30 , which is a schematic diagram of the device architecture of an embodiment of the present invention. The storage device of this embodiment includes one or more processors 21 and a memory 22. Fig.30 A processor 21 is taken as an example.

[0174] The processor 21 and the memory 22 may be connected via a bus or other means. Fig.30 The example of connecting through bus is taken in the following.

[0175] The memory 22 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the control method of the split photovoltaic panel cleaning robot in Example 7. The processor 21 executes various functional applications and data processing of the storage device by running the non-volatile software programs, instructions and modules stored in the memory 22, that is, the control method of the split photovoltaic panel cleaning robot in Example 7 is implemented.

[0176] The memory 22 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 22 may optionally include a memory remotely arranged relative to the processor 21, and these remote memories may be connected to the processor 21 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0177] The program instructions / modules are stored in the memory 22, and when executed by one or more processors 21, the control method of the split photovoltaic panel cleaning robot in the above-mentioned embodiment 7 is executed, for example, the above-described Figure 24 to Figure 25 The steps shown.

[0178] A person skilled in the art may understand that all or part of the steps in the various methods of the embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A controllable rotation lifting docking structure, characterized in that: The invention comprises an upper docking structure (11) and a lower docking structure (12); wherein the upper docking structure (11) comprises a docking truncated platform (111) whose diameter gradually decreases downwards, and a first magnetic attraction structure (112) is arranged at the bottom of the docking truncated platform (111); the lower docking structure (12) comprises a docking groove (121) whose shape matches that of the docking truncated platform (111), and a second magnetic attraction structure (122) is arranged at the bottom of the docking groove (121), and the second magnetic attraction structure (122) is connected to the first magnetic attraction structure (112) by The upper docking structure (11) and the lower docking structure (12) are connected by magnetic attraction; a horizontal rotation adjustment mechanism is arranged above the docking truncated platform (111), and the horizontal rotation adjustment mechanism comprises a horizontal rotation adjustment fan (17) and a horizontal fixed plate (18); the middle part of the horizontal fixed plate (18) is fixed on the docking truncated platform (111), and the two sides of the horizontal fixed plate (18) extend outward from the range of the docking truncated platform (111); and the horizontal rotation adjustment fan (17) is arranged on both sides of the horizontal fixed plate (18).

2. The controllable rotation hoisting docking structure according to claim 1, characterized in that: The docking truncated platform (111) is provided with a plurality of wedge-shaped slots (113) along the circumference, and the inner wall of the docking groove (121) is provided with a plurality of wedge-shaped blocks (123) corresponding in shape and position to the wedge-shaped slots (113).

3. The controllable rotation hoisting docking structure according to claim 1, characterized in that: A position adjustment structure is provided at the bottom of the lower docking structure (12), and the position adjustment structure comprises an adjustment slider (13) and an adjustment slot (14). The adjustment slider (13) is sleeved on the adjustment slot (14), and the lower docking structure (12) is fixed on the adjustment slider (13).

4. The split photovoltaic panel cleaning robot according to claim 3, characterized in that: A locking device (15) is provided on one side of the adjusting slide block (13).

5. The controllable rotation hoisting docking structure according to claim 3, characterized in that: The adjusting slide groove (14) is arranged on a docking fixing block (16), and the docking fixing block (16) is used to be fixed on the device to be docked.

6. The controllable rotation hoisting docking structure according to claim 1, characterized in that: The docking truncated table (111) is provided with a docking lifting ring (114), and the horizontal fixing plate (18) is provided with a docking through hole (181) at a position corresponding to the docking lifting ring (114).

7. The controllable rotation hoisting and docking structure according to any one of claims 1 to 6, characterized in that: A docking detection switch (124) is arranged around the second magnetic attraction structure (122), and a docking indicator light (125) is arranged around the outer periphery of the lower docking structure (12).

8. The controllable rotation hoisting and docking structure according to any one of claims 1 to 6, characterized in that: The first magnetic attraction structure (112) comprises a galvanized steel plate, and the second magnetic attraction structure (122) comprises an electromagnet.

9. The controllable rotation hoisting and docking structure according to any one of claims 1 to 6, characterized in that: The upper docking structure (11) is used to connect with the drone, and the lower docking structure (12) is arranged on the cleaning robot.

10. The controllable rotation hoisting and docking structure according to claim 9, characterized in that: The cleaning robot comprises a split-type photovoltaic panel cleaning robot, the split-type photovoltaic panel cleaning robot comprises a trailer (1) for hanging on the top of a photovoltaic panel and a main vehicle (2) for walking and cleaning on the photovoltaic panel, the trailer (1) and the main vehicle (2) are connected via a connecting mechanism (3); the connecting mechanism (3) comprises a flexible cable (301) and a winch (302), the winch (302) is arranged on the main vehicle (2), one end of the flexible cable (301) is fixed on the trailer (1), and the other end of the flexible cable (301) is connected to the winch (302).

Images