Photovoltaic cleaning rolling brush wear quantification equipment and photovoltaic cleaning rolling brush calibration compensation method

Abstract

The invention discloses photovoltaic cleaning rolling brush wear quantification equipment which comprises a rolling brush calibration device, the rolling brush calibration device comprises at least one rolling brush calibration assembly, each rolling brush calibration assembly comprises a mounting base, a calibration pressing plate and a detection part, and the calibration pressing plate is movably arranged on the mounting base through an elastic part; the detection part is used for being in contact with the rolling brush and pushed by the rolling brush to move in the direction where the mounting base is located, and the detection part is used for detecting deformation stress of the elastic part, and the deformation stress of the elastic part is equal to rolling brush stress applied to the calibration pressing plate by the rolling brush. According to the photovoltaic sweeping rolling brush abrasion quantitative equipment, the corresponding rolling brush stress can be measured based on different pose states of the mechanical arm and the rolling brush, so that the abrasion loss of the rolling brush is recognized and judged, the mechanical arm can be adjusted based on the needed sweeping pressure, compensation of the abrasion loss of the rolling brush is achieved, and the working efficiency is improved. And the service life of the rolling brush is prolonged. The invention further discloses a photovoltaic cleaning rolling brush calibration compensation method.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic cleaning technology, and more specifically, to a photovoltaic cleaning roller brush wear quantification device and a photovoltaic cleaning roller brush calibration compensation method. Background Art

[0002] As an innovative solution, the photovoltaic cleaning automatic guided vehicle is designed to solve the problem of dust shading accumulated on the surface of photovoltaic modules. Compared with the traditional dry hanging and distributed cleaning solutions, this solution adopts a ground walking mode. Although the unit cost is higher, it can cover a wider area and improve cleaning efficiency. However, the problem that comes with it is that the roller brush, which is a key cleaning component, will gradually wear out over time, resulting in a gradual decrease in cleaning efficiency. At present, the main way to solve this problem is to replace it manually on a regular basis. In the high-frequency cleaning mode, on-site replacement is required about once every six months, which not only consumes a lot of human resources, but also significantly increases maintenance costs.

[0003] Therefore, how to reliably evaluate and compensate for the wear of the roller brush has become a technical problem that technicians in the field of photovoltaic cleaning automatic guided vehicles urgently need to overcome. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a photovoltaic cleaning roller brush wear quantification device to reliably evaluate and compensate for the wear of the roller brush.

[0005] Another object of the present application is to provide a photovoltaic cleaning roller brush calibration and compensation method for quantifying and compensating roller brush wear by using the above-mentioned photovoltaic cleaning roller brush wear quantification device.

[0006] To achieve the above objectives, this application provides the following technical solutions:

[0007] A photovoltaic sweeping roller brush wear quantification device is used to calibrate the wear of a roller brush. The roller brush is set on a photovoltaic sweeper through a mechanical arm, and includes a roller brush calibration device. The roller brush calibration device includes at least one group of roller brush calibration components. The roller brush calibration components include:

[0008] Install the base;

[0009] A calibration pressing plate is movably arranged on the mounting base through an elastic member, and is used to be pushed and moved by a roller brush;

[0010] The detection component is used to detect the deformation stress of the elastic member so as to obtain the roller brush stress of the roller brush from the deformation stress of the elastic member.

[0011] Optionally, in the above photovoltaic cleaning roller brush wear quantification device, a calibration part is provided on the mechanical arm;

[0012] The calibration platen is used to be pushed and moved by the calibration part, so as to judge whether the robot arm is out of tolerance according to the moving distance of the calibration platen and the moving distance of the calibration part.

[0013] Optionally, in the above-mentioned photovoltaic cleaning roller brush wear quantification device, a mounting frame is provided on the mounting base, a sliding bearing is provided on the mounting frame, a sliding column passes through the sliding bearing and slides with the sliding bearing, and one end of the sliding column is connected to the calibration plate, and the detection component is used to detect the displacement of the sliding column;

[0014] The elastic member is a linear spring and is sleeved on the sliding column, and two ends thereof are respectively in contact with the calibration pressure plate and the mounting frame.

[0015] Optionally, in the above-mentioned photovoltaic cleaning roller brush wear quantification device, multiple groups of roller brush calibration components are arranged at intervals along the calibration direction.

[0016] Optionally, in the above-mentioned photovoltaic sweeping roller brush wear quantification equipment, it also includes a vehicle body positioning device, and the vehicle body positioning device is provided with a calibration station, and the calibration station is used for the photovoltaic sweeper to stop when performing roller brush wear calibration.

[0017] Optionally, in the above photovoltaic cleaning roller brush wear quantification device, the vehicle body positioning device includes:

[0018] Pedestal;

[0019] A plurality of rollers are rotatably disposed on the base and form the calibration station;

[0020] A limit stop column is arranged on the base and is used to limit the photovoltaic sweeper to the calibration position.

[0021] Optionally, in the above-mentioned photovoltaic sweeping roller brush wear quantification equipment, the vehicle body positioning device also includes two guide plates, and the two guide plates are both arranged on the base and form a guide channel to guide the photovoltaic sweeping vehicle to the calibration station.

[0022] A photovoltaic cleaning roller brush calibration and compensation method is used to calibrate and compensate for roller brush wear through the photovoltaic cleaning roller brush wear quantification device, and is characterized in that it includes the steps of:

[0023] Wear calibration, the mechanical arm of the photovoltaic sweeper drives the roller brush to move to the roller brush calibration component, starts the roller brush, and makes the roller brush apply the roller brush stress to the calibration pressure plate, and the roller brush stress is measured by the detection component. If the roller brush stress is less than the minimum cleaning stress, the wear compensation step is performed;

[0024] Wear compensation, adjusting the motion parameters of the robot arm by the difference between the roller brush stress and the cleaning stress, so that the roller brush stress is within the cleaning stress range.

[0025] Optionally, in the above photovoltaic cleaning roller brush calibration compensation method, before the wear calibration step, the following steps are further included:

[0026] The robot arm out-of-tolerance judgment, the robot arm drives the calibration part to push the calibration plate to move, so as to judge whether the robot arm is out of tolerance through the moving distance of the calibration part and the moving distance of the calibration plate;

[0027] If the robot arm is within tolerance, the wear calibration step is performed; if the robot arm is out of tolerance, the wear calibration step is performed after adjusting the motion parameters of the robot arm until the robot arm is within tolerance.

[0028] Optionally, in the above-mentioned photovoltaic cleaning roller brush calibration and compensation method, in the wear calibration step, if the roller brush stress is within the cleaning stress interval, the output roller brush state is that no replacement is required.

[0029] Optionally, in the above-mentioned photovoltaic cleaning roller brush calibration and compensation method, in the wear calibration step, if the difference between the roller brush stress and the cleaning stress is within an adjustable range, the wear compensation step is executed until the roller brush stress is within the cleaning stress interval; if the difference between the roller brush stress and the cleaning stress exceeds the adjustable range, the output roller brush status is that replacement is required.

[0030] Optionally, in the above photovoltaic cleaning roller brush calibration compensation method, before the wear calibration step, the following steps are further included:

[0031] The vehicle body stops and the photovoltaic sweeper stops at the calibration position.

[0032] The photovoltaic cleaning roller brush wear quantitative device provided in the present application is used to calibrate the wear of the roller brush. The roller brush is set on the photovoltaic cleaning vehicle through a mechanical arm. The photovoltaic cleaning roller brush wear quantitative device includes a roller brush calibration device. The roller brush calibration device includes at least one group of roller brush calibration components. The roller brush calibration component includes a mounting base, a calibration plate and a detection component. The calibration plate is movably set on the mounting base through an elastic member, and is used to contact the roller brush and be pushed by the roller brush to move the elastic member to deform the elastic member. The detection component is used to detect the deformation stress of the elastic member. The deformation stress of the elastic member is equal to the roller brush stress applied by the roller brush to the calibration plate. When it is necessary to compensate for the wear of the roller brush quantitatively, first move the photovoltaic cleaning vehicle to a position close to the roller brush calibration device, and then operate the mechanical arm to move the roller brush to the calibration plate until the calibration plate is pushed to compress the elastic member and the deformation stress of the elastic member is obtained, thereby obtaining the roller brush stress of the roller brush. By judging whether the roller brush stress meets the cleaning stress requirement, it is determined whether the roller brush needs to be replaced or the mechanical arm needs to be compensated, so that the photovoltaic sweeper can meet the cleaning requirements of the photovoltaic modules.

[0033] Compared with the prior art, the photovoltaic cleaning roller brush wear quantification equipment provided in the present application can measure the corresponding roller brush stress based on the different posture states of the robotic arm and the roller brush, thereby realizing the identification and determination of the roller brush wear amount, and then making it possible to adjust the robotic arm based on the required cleaning pressure to achieve compensation for the roller brush wear amount, thereby achieving the effect of increasing the service life of the roller brush.

[0034] The photovoltaic cleaning roller brush calibration and compensation method provided in the present application is used to calibrate and compensate the roller brush wear through the above-mentioned photovoltaic cleaning roller brush wear quantification device, including a wear calibration step and a wear compensation step.

[0035] The wear calibration step is specifically that the mechanical arm of the photovoltaic sweeper drives the roller brush to move to the roller brush calibration component, starts the roller brush, and makes the roller brush apply roller brush stress to the calibration platen, pushes the calibration platen to move, and measures the roller brush stress applied by the roller brush to the calibration platen through the detection component. If the roller brush stress is less than the minimum cleaning stress, the following wear compensation step is performed; if the roller brush stress is within the cleaning stress range, the roller brush does not need to be replaced and can be used normally. The wear compensation step is specifically to adjust the motion parameters of the mechanical arm according to the difference between the roller brush stress and the cleaning stress, so that the roller brush stress is within the cleaning stress range, and the roller brush wear compensation is performed.

[0036] Compared with the prior art, the photovoltaic cleaning roller brush calibration compensation method provided in the present application determines the wear of the roller brush based on the deformation stress of the elastic part and performs wear compensation, so that the contact between the roller brush and the photovoltaic module is always maintained in a suitable stress state, ensuring the cleaning efficiency, improving the service life of the roller brush, and greatly reducing the operation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a structural schematic diagram of the roller brush calibration device disclosed in the embodiment of the present application;

[0039] Figure 2 It is a structural schematic diagram of a vehicle body positioning device disclosed in an embodiment of the present application;

[0040] Figure 3 The photovoltaic sweeper is a schematic diagram of the parking process of the photovoltaic sweeping roller brush wear quantitative device disclosed in the embodiment of the present application. Figure 1 ;

[0041] Figure 4 The photovoltaic sweeper is a schematic diagram of the parking process of the photovoltaic sweeping roller brush wear quantitative device disclosed in the embodiment of the present application. Figure 2 ;

[0042] Figure 5 Schematic diagram of the wear calibration process of the roller brush of the photovoltaic cleaning roller brush wear quantification device disclosed in the embodiment of the present application Figure 1 ;

[0043] Figure 6 Schematic diagram of the wear calibration process of the roller brush of the photovoltaic cleaning roller brush wear quantification device disclosed in the embodiment of the present application Figure 2 ;

[0044] Figure 7 Schematic diagram of the wear calibration process of the roller brush of the photovoltaic cleaning roller brush wear quantification device disclosed in the embodiment of the present application Figure 3 ;

[0045] Figure 8 Schematic diagram of the wear calibration process of the roller brush of the photovoltaic cleaning roller brush wear quantification device disclosed in the embodiment of the present application Figure 4 ;

[0046] Fig. 9 Schematic diagram of the process of the photovoltaic sweeping roller brush calibration compensation method disclosed in the embodiment of this application Figure 1 ;

[0047] Fig.10 Schematic diagram of the process of the photovoltaic sweeping roller brush calibration compensation method disclosed in the embodiment of this application Figure 2 ;

[0048] Fig.11This is a control system block diagram of the photovoltaic cleaning roller brush wear quantification device disclosed in the embodiment of the present application.

[0049] Among them, 100 is a roller brush calibration device, 110 is a calibration base, 120 is a roller brush calibration assembly, 121 is a mounting base, 122 is a detection component, 123 is a sensor fixing plate, 124 is a cover plate, 125 is a sliding column, 126 is an elastic member, 127 is a calibration pressure plate, 128 is a sliding bearing, and 129 is a mounting frame;

[0050] 200 is a vehicle body positioning device, 210 is a base, 220 is a limit stop column, 230 is a roller, and 240 is a guide plate;

[0051] 300 is a photovoltaic sweeper, 310 is a mechanical arm, 320 is a roller brush assembly, 321 is a calibration unit, and 330 is a walking device. DETAILED DESCRIPTION

[0052] The core of this application is to disclose a photovoltaic cleaning roller brush wear quantification device to reliably evaluate and compensate for the wear of the roller brush.

[0053] Another core of the present application is to disclose a photovoltaic cleaning roller brush calibration and compensation method for quantifying and compensating roller brush wear by using the above-mentioned photovoltaic cleaning roller brush wear quantification device.

[0054] The following describes the embodiments with reference to the accompanying drawings. In addition, the embodiments shown below do not limit the invention contents described in the claims. In addition, the entire contents of the structures represented by the following embodiments are not limited to those necessary as solutions to the inventions described in the claims. It should be noted that, for ease of description, only the parts related to the inventions are shown in the accompanying drawings. The embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0055] Combination Figure 1-Figure 8 The photovoltaic cleaning roller brush wear quantification device disclosed in the present application is used to calibrate the wear of the roller brush. The roller brush is set on the photovoltaic cleaning vehicle 300 through a mechanical arm 310. The photovoltaic cleaning roller brush wear quantification device includes a roller brush calibration device 100. The roller brush calibration device 100 includes at least one group of roller brush calibration components 120. The roller brush calibration component 120 includes a mounting base 121, a calibration pressure plate 127 and a detection component 122. The calibration pressure plate 127 is movably set on the mounting base 121 through an elastic member 126, and is used to contact the roller brush and be pushed by the roller brush to move to deform the elastic member 126. The detection component 122 is used to detect the deformation stress of the elastic member 126. The deformation stress of the elastic member 126 is equal to the roller brush stress applied by the roller brush to the calibration pressure plate 127.

[0056] When quantitative compensation for the wear of the roller brush is required, the photovoltaic sweeper 300 is first moved to a position close to the roller brush calibration device 100, and then the mechanical arm 310 is operated to move the roller brush to the calibration platen 127 until the calibration platen 127 is pushed to compress the elastic member 126 and the deformation stress of the elastic member 126 is obtained, thereby obtaining the roller brush stress of the roller brush. By judging whether the roller brush stress meets the cleaning stress requirement, it is determined whether the roller brush needs to be replaced or the mechanical arm 310 needs to be compensated so that the photovoltaic sweeper 300 meets the cleaning requirements of the photovoltaic module. It is preferred to start the roller brush to rotate before the roller brush pushes the calibration platen 127 to ensure that the measured roller brush stress is close to the actual cleaning scene.

[0057] Compared with the prior art, the photovoltaic cleaning roller brush wear quantification device disclosed in the present application can measure the corresponding roller brush stress based on the different posture states of the mechanical arm 310 and the roller brush, thereby realizing the identification and determination of the roller brush wear amount, and then making it possible to adjust the mechanical arm 310 based on the required cleaning pressure to achieve compensation for the roller brush wear amount, thereby achieving the effect of increasing the service life of the roller brush.

[0058] For example, in some embodiments, when the elastic member 126 is a linear deformation body such as a linear spring, a linear elastic rod, an elastic sheet, a linear elastic fiber, a linear elastic porous material, a linear elastic composite material, etc., within the linear deformation range of the linear deformation body, the movement distance of the calibration plate 127 is equal to the deformation amount of the elastic member 126, and the detection component 122 is a displacement sensor for detecting the movement distance of the calibration plate 127. The movement distance of the calibration plate 127 is equal to the deformation amount of the elastic member 126. The deformation stress of the elastic member 126 can be obtained from the deformation amount of the elastic member 126, and then the roller brush stress can be obtained. In other embodiments, the detection component 122 is a strain gauge, a dynamometer, a piezoelectric sensor, etc., which can directly detect the deformation stress of the elastic member 126, and then the roller brush stress can be obtained. The following description is made by taking the elastic member 126 as a linear spring and the detection component 122 as a displacement sensor for detecting the movement distance of the calibration plate 127 as a specific embodiment.

[0059] Combination Figure 1 and Figure 3 The mounting base 121 is usually directly or indirectly arranged on the ground, and the calibration plate 127 can move in the vertical direction or other directions under the action of the elastic member 126. Preferably, the calibration plate 127 moves in the vertical direction, so that the mechanical arm 310 drives the roller to press down the calibration plate 127 to realize wear detection, and at the same time, it is convenient to measure and calculate the deformation stress of the elastic member 126.

[0060] To further optimize the solution, in order to ensure the calibration accuracy, it is necessary to first calibrate the local parameters of the robot arm 310 before the roller brush calibration to determine whether the robot arm 310 has an out-of-tolerance condition in the current space. Figure 5The robot arm 310 is provided with a calibration part 321 for calibration. Specifically, the calibration part 321 can be arranged on the metal frame of the roller brush assembly 320 located at the end of the robot arm 310; the calibration plate 127 is used to be pushed and moved by the calibration part 321 and to deform the elastic member 126, so as to judge whether the robot arm 310 is out of tolerance through the moving distance of the calibration plate 127 and the actual moving distance of the calibration part 321, thereby ensuring the accuracy and reliability of the robot arm 310. In the specific implementation process, the photovoltaic sweeper 300 is first moved to a position close to the roller brush calibration device 100, and then the mechanical arm 310 is operated to make the calibration part 321 correspond to the position of the calibration plate 127, and then the mechanical arm 310 is moved in the direction of the calibration plate 127 until the calibration part 321 pushes the calibration plate 127 to move to multiple positions, and the displacement of the calibration plate 127 is obtained. The mechanical arm 310 is judged whether it is out of tolerance by comparing the theoretical displacement change of the calibration part 321 with the actual displacement change of the calibration plate 127. If out of tolerance occurs, the motion parameters of the mechanical arm 310 need to be adjusted until it is no longer out of tolerance, and then the mechanical arm 310 is moved to make the roller brush correspond to the position of the calibration plate 127, and the above-mentioned roller brush wear calibration is performed.

[0061] In a specific embodiment disclosed in the present application, a mounting frame 129 is provided on the mounting base 121, and a sliding bearing 128 is provided on the mounting frame 129. The sliding column 125 is inserted into the sliding bearing 128, and one end is connected to the calibration platen 127, and the other end is provided for the detection component 122 to detect the displacement. The elastic member 126 is sleeved on the sliding column 125, and the two ends are respectively abutted against the calibration platen 127 and the mounting frame 129. The provision of the sliding bearing 128 facilitates the calibration platen 127 to be pushed and moved by the roller brush, thereby reducing friction resistance. The detection component 122 obtains the roller brush stress applied by the roller brush to the calibration platen 127 by detecting the displacement of the sliding column 125. Specifically, one calibration platen 127 corresponds to at least one sliding column 125, and one sliding column 125 corresponds to one detection component 122 and one elastic member 126. Figure 1 , usually one calibration plate 127 corresponds to two sliding columns 125 to ensure stable support of the calibration plate 127, and the data of the two sets of detection components 122 can be mutually verified to prevent device failure. Correspondingly, if the elastic coefficient of the elastic member 126 is K and the displacement of the calibration plate 127 is x, the roller brush pressure F applied by the roller brush is 2Kx.

[0062] Combination Figure 1 A sensor fixing plate 123 is disposed on the mounting base 121 , the sensor fixing plate 123 is disposed in the mounting frame 129 , and the detection component 122 is connected to the mounting frame 129 through the sensor fixing plate 123 .

[0063] Specifically, the mounting base 121 can be directly or indirectly connected to the ground, and the mounting frame 129 includes a side plate, a top plate and a middle plate. The side plates are connected to the mounting base 121, and the middle plate and the top plate are both connected to the side plates and are spaced at different distances from the mounting base 121. Sliding bearings 128 are provided at corresponding positions on the middle plate and the top plate, and the sliding column 125 passes through the sliding bearings 128 on the middle plate and the top plate in sequence to avoid the sliding direction of the sliding column 125 from being deflected. The plates of the mounting frame 129 and the mounting frame 129 and the mounting base 121 can be connected by screws and positioned by pins. In addition, the mounting base 121 is connected to the cover plate 124, and the cover plate 124 is used to shield the internal structure of the mounting frame 129.

[0064] Since the roller brush has a long extension length, in order to ensure the accuracy of the test results, Figure 3 Multiple groups of roller brush calibration components 120 are arranged at intervals along the calibration direction and can contact the roller brush at the same time to output multiple groups of data. The mounting base 121 of each roller brush calibration component 120 can be an integrated structure, or all are arranged on the same calibration base 110 for easy disassembly and assembly.

[0065] To further optimize the solution, in order to facilitate the photovoltaic sweeper 300 to stop at the same position to calibrate the wear of the roller brush, the photovoltaic sweeper roller brush wear quantification device also includes a vehicle body positioning device 200, and the vehicle body positioning device 200 is provided with a calibration station, and the calibration station is for the photovoltaic sweeper 300 to stop when calibrating the wear of the roller brush. Figure 3 and Figure 4 The vehicle body positioning device 200 is arranged at a position close to the roller brush calibration device 100. Specifically, the photovoltaic sweeper 300 can be an AGV (Automated Guided Vehicle).

[0066] In one embodiment, in combination Figure 2 The vehicle body positioning device 200 includes a base 210, a roller 230 and a limit stop column 220. The roller 230 is rotatably arranged on the base 210 to form a calibration station. The limit stop column 220 is arranged on the base 210 to limit the photovoltaic sweeper 300 at the calibration station to achieve the final positioning of the photovoltaic sweeper 300 at the calibration station. Specifically, the limit stop column 220 can block the traveling direction of the photovoltaic sweeper 300 and form a positioning after being pressed. The roller 230 can be arranged on the base 210 in an active rolling or passive rolling manner, so as to facilitate the movement of the photovoltaic sweeper 300 to the limit stop column 220 and facilitate the guidance adjustment of the photovoltaic sweeper 300 during movement.

[0067] Further optimize the solution, combined with Figure 2The vehicle body positioning device 200 also includes two guide plates 240, which are symmetrically arranged on the base 210 and form a guide channel for guiding the photovoltaic sweeper 300 to the calibration station. In order to ensure the guiding effect, the guide channel is in the shape of a trumpet with a large opening at one end and a small opening at the other end. After the photovoltaic sweeper 300 moves and gradually enters the vehicle body positioning device 200, the walking device 330 of the photovoltaic sweeper 300 walks on the base 210 and the roller 230 in turn, and gradually completes the lateral positioning under the action of the guide plate 240, until the body of the photovoltaic sweeper 300 abuts against the limit stop column 220 and cannot continue to move forward, and the roller 230 idles, ensuring the uniformity of the body position of the photovoltaic sweeper 300 during each calibration.

[0068] Combination Fig. 9 and Fig.10 The photovoltaic cleaning roller brush calibration and compensation method disclosed in the present application is used to calibrate and compensate the roller brush wear through the photovoltaic cleaning roller brush wear quantification device mentioned above, comprising the steps of:

[0069] S10, wear calibration;

[0070] The mechanical arm 310 of the photovoltaic sweeper 300 drives the roller brush to move to the roller brush calibration component 120, starts the roller brush, and makes the roller brush apply roller brush stress to the calibration plate 127, pushes the calibration plate 127 to move, and measures the roller brush stress applied by the roller brush to the calibration plate 127 through the detection component 122. If the roller brush stress is less than the minimum cleaning stress, the following wear compensation steps are performed; if the roller brush stress is within the cleaning stress interval, the roller brush does not need to be replaced and can be used normally. Among them, the minimum value of the cleaning stress interval is the minimum cleaning stress, and the maximum value is the maximum cleaning stress. When the roller brush stress is less than the minimum cleaning stress, the cleaning effect of the roller brush is greatly reduced. When the roller brush stress is greater than the maximum cleaning stress, there is a risk of causing damage such as fracturing to the photovoltaic module. When the roller brush stress is within the cleaning stress interval, the optimal cleaning effect of the roller brush on the photovoltaic module can be guaranteed.

[0071] S20, wear compensation;

[0072] The motion parameters of the robot arm 310 are adjusted by the difference between the roller brush stress and the cleaning stress, so that the roller brush stress is within the cleaning stress interval, and the roller brush wear compensation is performed.

[0073] Compared with the prior art, the photovoltaic cleaning roller brush calibration compensation method disclosed in the present application determines the roller brush wear amount based on the deformation stress of the elastic part 126 and performs wear compensation, so that the contact between the roller brush and the photovoltaic component is always maintained in a suitable stress state, ensuring the cleaning efficiency, improving the service life of the roller brush, and greatly reducing the operation and maintenance costs.

[0074] To further optimize the solution, in order to improve the calibration and compensation accuracy of the roller brush, the following steps are included before the wear calibration step:

[0075] S30, robot arm out-of-tolerance judgment;

[0076] The robotic arm 310 drives the calibration part 321 to push the calibration plate 127 to move, so as to judge whether the robotic arm 310 is out of tolerance through the moving distance of the calibration part 321 and the moving distance of the calibration plate 127; if the robotic arm 310 is within the tolerance, execute S20; if the robotic arm 310 is beyond the tolerance, execute S20 after adjusting the motion parameters of the robotic arm 310 until the robotic arm 310 is within the tolerance.

[0077] It should be noted that in order to ensure operating efficiency, the robot arm 310 can be set to directly output the result of "the robot arm is out of tolerance and cannot be adjusted" when it still shows out of tolerance after repeated adjustment M times, so as to facilitate manual adjustment and maintenance.

[0078] In S10, if the roller brush stress is within the cleaning stress range, the roller brush state is directly output as "no need to replace" or "healthy".

[0079] In one embodiment, in S10, if the difference between the roller brush stress and the cleaning stress is within the adjustable range, S20 is executed until the roller brush stress is within the cleaning stress interval; if the difference between the roller brush stress and the cleaning stress exceeds the adjustable range, the roller brush status is output as "needs to be replaced". It should be noted that in order to ensure the working efficiency, the robot arm 310 can be set to directly output the result of "needs to be replaced" when it still shows that the roller brush stress is less than the cleaning stress interval after repeated adjustment N times, so as to facilitate manual adjustment and maintenance.

[0080] Combination Fig. 9 , before S20, it also includes the steps:

[0081] S00, the vehicle is parked;

[0082] The photovoltaic sweeper 300 is parked at the calibration station.

[0083] Combination Fig.10 In a specific implementation process, combined with Figure 1 and Figure 2 S00 specifically involves parking the photovoltaic cleaning vehicle 300 at a calibration station. Figure 2 and Figure 3S30 specifically controls the mechanical arm 310 to reach the preset position. At this time, the metal fixing frames at both ends of the roller brush as the calibration parts 321 contact the calibration pressing plates 127 of the two sets of roller brush calibration components 120 and push them to move to the first initial calibration position, so that the elastic members 126 of the two sets of roller brush calibration components 120 produce a compression amount. At this time, the change amounts ε1 and ε5 of the detection components 122 of the two sets of roller brush calibration components 120 are read (the roller brush calibration components 120 are numbered 1 to 5 from left to right, ε x represents the data measured by the displacement sensor of the x-th group of roller brush calibration components 120 in S30), if ε1 and ε5 are both within the preset threshold ε t If the robot arm 310 has no abnormal accuracy near the range, S10 can be performed. t , it is necessary to adjust the parameters of the robot 310. At this time, the robot 310 is controlled so that the calibration unit 321 pushes the calibration plate 127 and stays at least three positions, and the theoretical compression amount and actual compression amount of the elastic member 126 by the calibration unit 321 at these three positions are recorded, and the motion parameters of the robot 310 are adjusted according to the deviation value. After the parameter adjustment is completed, return to the first initial calibration position, and re-determine whether the updated ε1 and ε5 meet the requirements. If it is still unqualified after M times, it is determined that the robot 310 is out of tolerance and cannot be adjusted.

[0084] When the deviation of the robot arm 310 is within the error range, S40 is performed. Figure 6 , control the mechanical arm 310 to lift vertically upward until the calibration portion 321 is separated from the calibration plate 127 and moves to the second initial calibration position; then control the roller brush assembly 320 to rotate, and continuously record the dynamic changes m2, m3, and m4 (m x represents the value of the data measured by the x-th displacement sensor in S40), after eliminating the abnormal data with obvious deviation, the average of m2, m3, and m4 is taken to obtain m 2a 、m 3a 、m 4a , the corresponding stress F is calculated m2a 、F m3a 、F m4a . Combined Figure 7 , control the robot arm 310 to move horizontally to the left until the first set of roller brush calibration components 120 contacts the roller brush, repeat the above S40, and obtain l 1a , l 2a , l 3a , l 4a , the corresponding stress F is calculated l1a 、F l2a 、F l3a 、Fl4a ; Combine Figure 8 , control the robot arm 310 to move horizontally to the right until it contacts the roller brush of the fifth roller brush calibration assembly 120, and repeat the above S40 to obtain r 2a 、r 3a 、r 4a 、r 5a , the corresponding stress F is calculated r2a 、F r3a 、F r4a 、F r5a According to F m2a 、F m3a 、F m4a 、F l1a 、F l2a 、F l3a 、F l4a 、F r2a 、F r3 a. F r4a 、F r5a Determine whether the roller brush currently meets the cleaning stress requirements. If so, determine that the roller brush is in a healthy state and does not require compensation. If it does not meet the requirements, it is necessary to calculate the compensation amount of the robot arm 310 based on the above results, and adjust the cleaning angle and the amount of downward pressure to meet the expected cleaning requirements. At this time, determine whether the compensation value is within the adjustable range. If it is not adjustable, determine that the roller brush is worn and output a "need to be replaced" signal. If it is adjustable, compensate and adjust the motion parameters of the robot arm 310, and measure again. If the measurement results still do not meet the requirements after N adjustments, it also needs to be determined as "need to be replaced."

[0085] The distance between the second initial calibration position and the calibration plate 127 in the above implementation process can be set with reference to the distance between the roller brush and the panel surface of the photovoltaic module during the actual cleaning process, so that the measured roller brush stress is close to the cleaning stress during the actual cleaning process.

[0086] Combination Fig.11 The control system of the photovoltaic sweeping roller brush wear quantitative device includes a sensing unit, a data processing unit, a determination unit, a motion control unit and a result output unit, wherein the sensing unit refers to the above-mentioned detection component 122, which can obtain the displacement, stress and other data of the roller brush and transmit them to the data processing unit. After the data processing unit processes the relevant data, the determination unit determines whether to send it to the motion control unit or the result output unit for corresponding processing. Except for the sensing unit, the control system can be directly integrated on the photovoltaic sweeper 300.

[0087] The above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. The specific technical means in some embodiments can be combined in part or in whole into another embodiment, provided that they are not explicitly excluded by another embodiment. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic sweeping roller brush wear quantification device, used for calibrating the wear of a roller brush, wherein the roller brush is arranged on a photovoltaic sweeping vehicle (300) via a mechanical arm (310), and wherein: The invention comprises a roller brush calibration device (100), wherein the roller brush calibration device (100) comprises at least one group of roller brush calibration components (120), and the roller brush calibration components (120) comprise: Mounting base (121); A calibration pressing plate (127) is movably arranged on the mounting base (121) via an elastic member (126) and is used to be pushed and moved by a roller brush; The detection component (122) is used to detect the deformation stress of the elastic member (126) so as to obtain the rolling brush stress of the rolling brush from the deformation stress of the elastic member (126).

2. The photovoltaic cleaning roller brush wear quantification device according to claim 1, characterized in that: A calibration portion (321) is provided on the mechanical arm (310); The calibration plate (127) is used to be pushed and moved by the calibration part (321) so as to judge whether the mechanical arm (310) is out of tolerance based on the moving distance of the calibration plate (127) and the moving distance of the calibration part (321).

3. The photovoltaic cleaning roller brush wear quantification device according to claim 1, characterized in that: A mounting frame (129) is provided on the mounting base (121), a sliding bearing (128) is provided on the mounting frame (129), a sliding column (125) passes through the sliding bearing (128) and is slidably matched with the sliding bearing (128), and one end of the sliding column (125) is connected to the calibration plate (127), and the detection component (122) is used to detect the displacement of the sliding column (125); The elastic member (126) is sleeved on the sliding column (125), and two ends thereof are respectively in contact with the calibration pressing plate (127) and the mounting frame (129).

4. The photovoltaic cleaning roller brush wear quantification device according to claim 1, characterized in that: A plurality of groups of the roller brush calibration components (120) are arranged at intervals along the calibration direction.

5. The photovoltaic cleaning roller brush wear quantification device according to any one of claims 1 to 4, characterized in that: It also comprises a vehicle body positioning device (200), wherein the vehicle body positioning device (200) is provided with a calibration station, and the calibration station is used for the photovoltaic sweeper (300) to stop when performing roller brush wear calibration.

6. The photovoltaic cleaning roller brush wear quantification device according to claim 5, characterized in that: The vehicle body positioning device (200) comprises: Base (210); A plurality of rollers (230) are rotatably arranged on the base (210) and form the calibration station; A limit stop post (220) is arranged on the base (210) and is used to limit the photovoltaic sweeper (300) to the calibration position.

7. The photovoltaic cleaning roller brush wear quantification device according to claim 6, characterized in that: The vehicle body positioning device (200) further comprises two guide plates (240), wherein the two guide plates (240) are both arranged on the base (210) and form a guide channel for guiding the photovoltaic sweeper (300) to the calibration station.

8. A photovoltaic sweeping roller brush calibration and compensation method, used for calibrating and compensating roller brush wear by using the photovoltaic sweeping roller brush wear quantification device as described in any one of claims 1 to 7, characterized in that: Includes steps: Wear calibration, the mechanical arm (310) of the photovoltaic cleaning vehicle (300) drives the roller brush to move to the roller brush calibration component (120), starts the roller brush, and causes the roller brush to apply the roller brush stress to the calibration pressure plate (127), and measures the roller brush stress through the detection component (122); if the roller brush stress is less than the minimum cleaning stress, a wear compensation step is performed; Wear compensation, adjusting the motion parameters of the mechanical arm (310) by the difference between the roller brush stress and the cleaning stress, so that the roller brush stress is within the cleaning stress range.

9. The photovoltaic sweeping roller brush calibration compensation method according to claim 8, characterized in that: The method also includes the following steps before the wear calibration step: A mechanical arm out-of-tolerance determination, wherein the mechanical arm (310) drives the calibration part (321) to push the calibration plate (127) to move, so as to determine whether the mechanical arm (310) is out of tolerance based on the moving distance of the calibration part (321) and the moving distance of the calibration plate (127); If the robot arm (310) is within tolerance, the wear calibration step is performed; if the robot arm (310) is beyond tolerance, the wear calibration step is performed after adjusting the motion parameters of the robot arm (310) until the robot arm (310) is within tolerance.

10. The photovoltaic sweeping roller brush calibration compensation method according to claim 8, characterized in that: In the wear calibration step, if the roller brush stress is within the cleaning stress interval, the output roller brush state is that no replacement is required.

11. The photovoltaic sweeping roller brush calibration compensation method according to claim 10, characterized in that: In the wear calibration step, if the difference between the roller brush stress and the cleaning stress is within the adjustable range, the wear compensation step is executed until the roller brush stress is within the cleaning stress interval; if the difference between the roller brush stress and the cleaning stress exceeds the adjustable range, the output roller brush status is that replacement is required.

12. The photovoltaic sweeping roller brush calibration compensation method according to claim 8, characterized in that: The method also includes the following steps before the wear calibration step: The vehicle body is parked, and the photovoltaic sweeper (300) is parked at the calibration station.

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