Method for detecting and adjusting running posture of photovoltaic sweeper

Abstract

The invention discloses a method for detecting and adjusting the running posture of a photovoltaic sweeper in the field of posture adjustment, which comprises a base and a photovoltaic panel obliquely arranged on the top of the base, a shell is slidably arranged on the surface of the photovoltaic panel, the bottom of the shell is connected with a bottom driving part, and the top of the shell is connected with a top driving part. The side, away from the photovoltaic panel, of the shell is connected with a control module. The top of the shell is connected with a sensing component, the side, close to the photovoltaic panel, of the shell is connected with a rotating motor, the output end of the rotating motor is connected with a sweeping roller, and bristles are arranged on the outer arc face of the sweeping roller. Through the device, real-time adjustment can be carried out according to the distance between the two sides and the photovoltaic panel, so that the situation of false alarm of the sensor is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of posture adjustment, and in particular to a method for detecting and adjusting the operating posture of a photovoltaic sweeper. Background Art

[0002] Existing photovoltaic panel cleaning robots typically consist of a housing with drive wheels mounted on the top and bottom to control the robot's path. Stop wheels are located on the outside of the housing, perpendicular to the drive wheels and in contact with the sides of the photovoltaic panel's outer frame. However, the robot may tilt during movement due to factors such as inconsistent drive wheel speeds, installation defects of the photovoltaic panels, or wheel slippage caused by rain or snow.

[0003] The Chinese patent with announcement number CN118550310A discloses a method for posture monitoring and adaptive deviation correction of a photovoltaic module cleaning robot. The present invention uses an intelligent recognition method, utilizes motor current data and applies a random forest model, so that the robot can accurately judge its operating status, such as climbing or crossing obstacles. And based on the robot's operating status and the offset distance in the walking direction between the two sensors, the robot's upper and lower motor speeds are adjusted to control the speed of the walking wheels in a stable operating state to quickly correct the robot's deviation from the posture. This adaptive deviation correction operation is only performed when the robot is running smoothly, ensuring the high efficiency and stability of the robot during the cleaning process. By combining sensor detection data and the real-time operating status of the robot, the present invention allows the robot to accurately calculate the deflection displacement and adjust it in real time, providing a safe and reliable solution for photovoltaic cleaning.

[0004] However, the above-mentioned disclosed solution has the following shortcomings: the above-mentioned device uses an algorithm control method to adjust and control the posture of the cleaning robot. In actual use, the above-mentioned device does not specify the specific sensor position, so errors are likely to occur during the posture detection process, causing the cleaning robot to judge the wrong posture as a normal posture. Summary of the Invention

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract and title of the present invention to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0006] The purpose of the present invention is to address the technical problems existing in the background technology. The present invention proposes a method for detecting the operating posture and adjustment of a photovoltaic sweeper. The present invention can avoid problems such as sensors sending out wrong signals through the specific cleaning robot structure. The device can be adjusted in real time according to the distance between the two sides and the photovoltaic panels, thereby avoiding false alarms from the sensors.

[0007] The present invention proposes a method for detecting and adjusting the operating posture of a photovoltaic sweeper, comprising a base and a photovoltaic panel arranged obliquely on top of the base, a housing slidingly provided on the surface of the photovoltaic panel, a bottom drive component connected to the bottom of the housing, a top drive component connected to the top of the housing, and a control module connected to the side of the housing away from the photovoltaic panel;

[0008] The top of the shell is connected with a sensing component, the side of the shell close to the photovoltaic panel is connected with a rotating motor, the output end of the rotating motor is connected with a cleaning roller, and the outer arc surface of the cleaning roller is provided with bristles.

[0009] By adopting the above technical solution, this solution can effectively improve the posture adjustment accuracy of the cleaning robot through the structure of the sensor component. Compared with traditional devices, this device adopts a specific sensor structure position to ensure accurate judgment of the current posture of the cleaning robot.

[0010] Preferably, the bottom drive component includes a bottom drive shell connected to the bottom of the shell, and a plurality of drive motors are provided in the bottom drive shell. The vertical output end of the drive motor is fixedly connected to the bottom abutment wheel, and the horizontal output end of the drive motor is fixedly connected to the bottom drive wheel. The bottom drive wheel contacts the surface of the photovoltaic panel, and the bottom abutment wheel contacts the side of the photovoltaic panel.

[0011] By adopting the above technical solution, this solution can restore the shell to a state parallel to the photovoltaic panel through the independent driving method at the bottom when the cleaning robot tilts through the independent driving wheel structure at the bottom.

[0012] Preferably, the top drive component includes a top drive shell connected to the top of the shell, and a plurality of drive motors are provided in the top drive shell. The vertical output end of the drive motor is fixedly connected to the top abutment wheel, and the horizontal output end of the drive motor is fixedly connected to the top drive wheel. The top drive wheel contacts the surface of the photovoltaic panel, and the top abutment wheel contacts the side of the photovoltaic panel.

[0013] By adopting the above technical solution, the present solution can correct the posture of the shell when the shell tilts toward the other side through the independent driving wheel on the top.

[0014] Preferably, the sensing component includes a sensor bracket connected to the top of the shell, and a plurality of ultrasonic sensor components distributed at equal intervals are respectively provided at both ends of the sensor bracket.

[0015] By adopting the above technical solution, the present solution can effectively improve the sensor detection accuracy of the present device through the structure of the ultrasonic sensor assembly, and avoid interference of the external environment on the present device.

[0016] Preferably, the ultrasonic sensor assembly includes an ultrasonic transmitter and an ultrasonic receiver, both of which are oriented toward the side of the photovoltaic panel, and the ultrasonic transmitter and the ultrasonic receiver are communicatively connected to the control module.

[0017] By adopting the above technical solution, the present solution can facilitate the device to collect and analyze the data reflected by the ultrasonic wave by combining a transmitter and a receiver.

[0018] Preferably, the control module is control-connected to the drive motor in the top drive housing, and the control module is control-connected to the drive motor in the bottom drive housing.

[0019] By adopting the above technical solution, the present solution can analyze the data fed back by the sensor through the structure of the control module, thereby controlling the upper and lower independent motors, ensuring accurate adjustment of the device.

[0020] Preferably, the outer arc surfaces of the top abutting wheel and the top driving wheel are provided with an anti-slip layer, and the outer arc surfaces of the bottom abutting wheel and the bottom driving wheel are provided with an anti-slip layer.

[0021] By adopting the above technical solution, the present solution can prevent the device from slipping when transmitting on the photovoltaic panel through the structure of the anti-skid layer.

[0022] Preferably, a support wheel is rotatably connected to the side of the shell, and the support wheel is in contact with the photovoltaic panel.

[0023] By adopting the above technical solution, the present solution can ensure a gap between the shell and the photovoltaic panel through the structure of the supporting wheel, thereby preventing the shell from damaging the surface of the photovoltaic panel.

[0024] In summary, the present invention has at least one of the following beneficial effects:

[0025] The present invention can avoid problems such as sensors sending out wrong signals through the specific cleaning robot structure. The device can make real-time adjustments based on the distance between the two sides and the photovoltaic panel, thereby avoiding sensor false alarms. The symmetrical sensor setting of the device can determine the distance between the current side and the photovoltaic panel based on the time it takes for the ultrasonic wave to be emitted and reflected back to the receiver. By comparing whether the distances on both sides are the same, it can be determined whether the current cleaning robot is in the correct posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. 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 creative work.

[0027] Figure 1 This is a front view of an embodiment of a method for detecting and adjusting the operating posture of a photovoltaic sweeper according to the present invention;

[0028] Figure 2 This is a schematic structural diagram of a housing in an embodiment of the present invention;

[0029] Figure 3 Schematic diagram of the structure of the cleaning wheel in an embodiment of the present invention;

[0030] Figure 4 for Figure 3 A magnified view of the structure at center A;

[0031] Figure markings: 1. base; 2. photovoltaic panel; 3. shell; 4. control module; 5. bottom driving component; 501. bottom driving shell; 502. bottom abutting wheel; 503. bottom driving wheel; 6. top driving component; 601. top driving shell; 602. top abutting wheel; 603. top driving wheel; 7. supporting wheel; 8. rotating motor; 9. cleaning roller; 10. sensing component; 1001. sensor bracket; 1002. ultrasonic sensor assembly. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-4 The present invention is described in further detail.

[0033] Example 1

[0034] like Figure 1-Figure 4 As shown, in this embodiment, in order to solve the existing problems, the present invention discloses a method for detecting and adjusting the operating posture of a photovoltaic sweeper, comprising a base 1 and a photovoltaic panel 2 arranged obliquely on the top thereof, a housing 3 slidingly provided on the surface of the photovoltaic panel 2, a bottom driving component 5 connected to the bottom of the housing 3, a top driving component 6 connected to the top of the housing 3, and a control module 4 connected to the side of the housing 3 away from the photovoltaic panel 2;

[0035] A sensing component 10 is connected to the top of the shell 3 , and a rotating motor 8 is connected to the side of the shell 3 close to the photovoltaic panel 2 . A cleaning roller 9 is connected to the output end of the rotating motor 8 , and bristles are provided on the outer arc surface of the cleaning roller 9 .

[0036] The bottom drive component 5 includes a bottom drive housing 501 connected to the bottom of the housing 3. The bottom drive housing 501 is provided with a plurality of drive motors. The vertical output end of the drive motor is fixedly connected to a bottom abutting wheel 502. The horizontal output end of the drive motor is fixedly connected to a bottom drive wheel 503. The bottom drive wheel 503 contacts the surface of the photovoltaic panel 2, and the bottom abutting wheel 502 contacts the side of the photovoltaic panel 2.

[0037] Furthermore, the top drive component 6 includes a top drive shell 601 connected to the top of the shell 3, and several drive motors are provided in the top drive shell 601. The vertical output end of the drive motor is fixedly connected to the top abutment wheel 602, and the horizontal output end of the drive motor is fixedly connected to the top drive wheel 603. The top drive wheel 603 contacts the surface of the photovoltaic panel 2, and the top abutment wheel 602 contacts the side of the photovoltaic panel 2.

[0038] The control module 4 is connected to the driving motor in the top driving housing 601 and the control module 4 is connected to the driving motor in the bottom driving housing 501;

[0039] Furthermore, the outer arc surfaces of the top abutting wheel 602 and the top driving wheel 603 are provided with an anti-slip layer, and the outer arc surfaces of the bottom abutting wheel 502 and the bottom driving wheel 503 are provided with an anti-slip layer;

[0040] Specifically, the side of the housing 3 is rotatably connected to a support wheel 7 , and the support wheel 7 is in contact with the photovoltaic panel 2 .

[0041] The specific working principle is: this device can be used to clean the surface of the photovoltaic panel 2, thereby improving the working efficiency of the photovoltaic panel 2. When this device is in use, the shell 3 may tilt relative to the photovoltaic panel 2. When the shell 3 tilts, since the shell 3 and the edge of the photovoltaic panel 2 are not in a parallel state, the distance between the sensor bracket 1001 on both sides of the shell 3 and the side of the photovoltaic panel 2 is also different. At this time, the ultrasonic sensor components 1002 on both sides of the sensor bracket 1001 can judge in real time the distance between the two sides of the sensor bracket 1001 and the photovoltaic panel 2 in the current state.

[0042] When the spacing distance signals received by the sensors on both sides are transmitted to the control module 4, the control module 4 will compare the signals on both sides. When the spacing difference between the sensor signals on both sides is less than a certain range, it means that the shell 3 is working in a normal posture and does not need to be adjusted. When the spacing difference between the sensors on both sides exceeds a certain range, the top and bottom drive motors stop working.

[0043] By judging the information received by the sensor, when the distance between the left sensor bracket and the photovoltaic panel 2 is smaller than the distance between the right sensor bracket and the photovoltaic panel 2, the bottom drive wheel 503 stops rotating, and the top drive wheel 603 runs alone under the drive motor, so that the shell 3 returns to its normal posture. When the difference in the distance between the sensor brackets on both sides returns to a certain range, the top and bottom drive motors work simultaneously again.

[0044] When the distance between the left sensor bracket and the photovoltaic panel 2 is greater than the distance between the right sensor bracket and the photovoltaic panel 2, the top drive wheel 603 stops rotating, and the bottom drive wheel 503 runs alone under the drive motor, so that the shell 3 returns to its normal posture. When the distance difference between the sensor brackets on both sides returns to a certain range, the top and bottom drive motors work simultaneously again.

[0045] The structure of the cleaning roller 9 can clean the surface of the photovoltaic panel 2 when the shell 3 passes over the surface of the photovoltaic panel 2, thereby ensuring that the photovoltaic panel 2 can always be in a state of high photoelectric conversion efficiency.

[0046] Example 2

[0047] like Figure 1-Figure 4 As shown, in order to solve the existing problems, based on the same concept as the above-mentioned embodiment 1, the method for detecting the operating posture and adjustment of the photovoltaic sweeper further includes: the sensing component 10 includes a sensor bracket 1001 connected to the top of the housing 3, and a plurality of ultrasonic sensor assemblies 1002 distributed at equal intervals are respectively provided at both ends of the sensor bracket 1001;

[0048] Furthermore, the ultrasonic sensor assembly 1002 includes an ultrasonic transmitter and an ultrasonic receiver, both of which are oriented toward the side of the photovoltaic panel 2 , and the ultrasonic transmitter and the ultrasonic receiver are communicatively connected to the control module 4 .

[0049] The specific working principle is as follows: This device can automatically clean the photovoltaic panel 2. Compared to traditional devices, this device has an automatic posture correction function to prevent it from getting stuck during long-term use. Furthermore, the long, rectangular shape of the housing 3 reduces the amount of light that is blocked by the device, thus preventing it from affecting the normal working efficiency of the photovoltaic panel 2.

[0050] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for detecting the operating posture and adjusting the photovoltaic sweeper, comprising a base (1) and a photovoltaic panel (2) arranged obliquely on the top thereof, characterized in that: A housing (3) is slidably provided on the surface of the photovoltaic panel (2); a bottom driving component (5) is connected to the bottom of the housing (3); a top driving component (6) is connected to the top of the housing (3); and a control module (4) is connected to the side of the housing (3) away from the photovoltaic panel (2); A sensing component (10) is connected to the top of the shell (3), a rotating motor (8) is connected to the side of the shell (3) close to the photovoltaic panel (2), a cleaning roller (9) is connected to the output end of the rotating motor (8), and bristles are provided on the outer arc surface of the cleaning roller (9).

2. A method for detecting the operating posture and adjusting the photovoltaic sweeper according to claim 1, characterized in that: The bottom driving component (5) comprises a bottom driving housing (501) connected to the bottom of the housing (3); a plurality of driving motors are arranged in the bottom driving housing (501); a bottom abutting wheel (502) is fixedly connected to the output end of the vertically oriented driving motor; a bottom driving wheel (503) is fixedly connected to the output end of the horizontally oriented driving motor; the bottom driving wheel (503) is in contact with the surface of the photovoltaic panel (2); and the bottom abutting wheel (502) is in contact with the side of the photovoltaic panel (2).

3. A method for detecting the operating posture and adjusting the photovoltaic sweeper according to claim 2, characterized in that: The top driving component (6) comprises a top driving shell (601) connected to the top of the shell (3), a plurality of driving motors are arranged in the top driving shell (601), a top abutting wheel (602) is fixedly connected to the output end of the vertical driving motor, and a top driving wheel (603) is fixedly connected to the output end of the horizontal driving motor, the top driving wheel (603) is in contact with the surface of the photovoltaic panel (2), and the top abutting wheel (602) is in contact with the side of the photovoltaic panel (2).

4. A method for detecting the operating posture and adjusting the photovoltaic sweeper according to claim 1, characterized in that: The sensor component (10) comprises a sensor bracket (1001) connected to the top of the housing (3), and a plurality of ultrasonic sensor components (1002) distributed at equal intervals are respectively arranged at both ends of the sensor bracket (1001).

5. A method for detecting the operating posture and adjusting the photovoltaic sweeper according to claim 4, characterized in that: The ultrasonic sensor assembly (1002) comprises an ultrasonic transmitter and an ultrasonic receiver, both of which are oriented toward the side of the photovoltaic panel (2), and the ultrasonic transmitter and the ultrasonic receiver are communicatively connected to the control module (4).

6. A method for detecting the operating posture and adjusting the photovoltaic sweeper according to claim 3, characterized in that: The control module (4) is connected to the driving motor in the top driving housing (601) in a control manner, and the control module (4) is connected to the driving motor in the bottom driving housing (501) in a control manner.

7. A method for detecting the operating posture and adjusting the photovoltaic sweeper according to claim 6, characterized in that: The outer arc surfaces of the top abutting wheel (602) and the top driving wheel (603) are provided with an anti-skid layer, and the outer arc surfaces of the bottom abutting wheel (502) and the bottom driving wheel (503) are provided with an anti-skid layer.

8. A method for detecting the operating posture and adjusting the photovoltaic sweeper according to claim 1, characterized in that: The shell (3) is rotatably connected to a support wheel (7) on the side, and the support wheel (7) is in contact with the photovoltaic panel (2).

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