Photovoltaic cleaning roller brush wear quantification device and photovoltaic cleaning roller brush calibration compensation method

Abstract

The application discloses a photovoltaic cleaning roller brush wear quantitative device, which comprises a roller brush calibration device, the roller brush calibration device comprises at least one set of roller brush calibration assemblies, the roller brush calibration assembly comprises a mounting base, a calibration pressing plate and a detection component, the calibration pressing plate is movably arranged on the mounting base through an elastic element, is used for being in contact with the roller brush and being pushed by the roller brush to move to the direction where the mounting base is located, and the detection component is used for detecting the deformation stress of the elastic element, and the deformation stress of the elastic element is equal to the roller brush stress applied to the calibration pressing plate by the roller brush. The photovoltaic cleaning roller brush wear quantitative device provided by the application can measure the corresponding roller brush stress based on different pose states of a mechanical arm and the roller brush, so that the identification and determination of the roller brush wear amount can be realized, and then the mechanical arm can be adjusted based on the required cleaning pressure, the compensation of the roller brush wear amount can be realized, and the service life of the roller brush can be prolonged. The application further discloses a photovoltaic cleaning roller brush calibration compensation method.

Description

Technical Field

[0001] This application relates to the field of photovoltaic cleaning technology, and more specifically, to a photovoltaic cleaning roller brush wear measurement device and a photovoltaic cleaning roller brush calibration compensation method. Background Technology

[0002] The photovoltaic (PV) automated guided vehicle (AGV) cleaning system is an innovative solution designed to address the problem of dust accumulation on PV module surfaces. Compared to traditional dry-hanging or distributed cleaning solutions, this system utilizes a ground-based walking mode. While its unit cost is higher, it can cover a wider area and improve cleaning efficiency. However, a consequence is that the roller brush, a key cleaning component, gradually wears down over time, leading to a decline in cleaning efficiency. Currently, the main method to address this issue is manual, periodic replacement. In high-frequency cleaning modes, on-site replacement is required approximately every six months, which not only consumes significant manpower but also substantially increases maintenance costs.

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

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

[0005] Another objective of this application is to provide a photovoltaic cleaning roller brush calibration and compensation method that uses the aforementioned photovoltaic cleaning roller brush wear quantification device to quantify and compensate for roller brush wear.

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

[0007] A photovoltaic cleaning roller brush wear measurement device is used to calibrate the wear of the roller brush. The roller brush is mounted on a photovoltaic cleaning vehicle via a robotic arm. The device includes a roller brush calibration unit, which comprises at least one set of roller brush calibration components. Each roller brush calibration component includes:

[0008] Mounting base;

[0009] The calibration plate is movably mounted on the mounting base via an elastic element and is moved by the roller brush.

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

[0011] Optionally, in the above-mentioned photovoltaic cleaning roller brush wear metering device, a calibration part is provided on the robotic arm;

[0012] The calibration plate is pushed and moved by the calibration unit to determine whether the robotic arm is out of tolerance by comparing the moving distance of the calibration plate with the moving distance of the calibration unit.

[0013] Optionally, in the above-mentioned photovoltaic cleaning roller brush wear metering device, the mounting base is provided with a mounting frame, the mounting frame is provided with a sliding bearing, the 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 pressure plate, and the detection component is used to detect the displacement of the sliding column;

[0014] The elastic element is a linear spring, which is sleeved on the sliding column, and its two ends abut against the calibration pressure plate and the mounting frame, respectively.

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

[0016] Optionally, the photovoltaic sweeping roller brush wear quantitative device described above also includes a vehicle positioning device, which is equipped with a calibration station for the photovoltaic sweeping vehicle to stop during roller brush wear calibration.

[0017] Optionally, in the above-mentioned photovoltaic cleaning roller brush wear metering device, the vehicle positioning device includes:

[0018] Base;

[0019] Multiple rollers are rotatably mounted on the base and form the calibration station;

[0020] A limiting stop post is installed on the base to limit the photovoltaic sweeper to the designated work position.

[0021] Optionally, in the above-mentioned photovoltaic sweeping roller brush wear metering device, the vehicle positioning device further includes two guide plates, both of which are disposed on the base and form a guide channel for guiding the photovoltaic sweeping vehicle to the calibration station.

[0022] A method for calibrating and compensating photovoltaic cleaning roller brushes, used for calibrating and compensating roller brush wear using the aforementioned photovoltaic cleaning roller brush wear quantitative device, characterized by comprising the following steps:

[0023] Wear calibration: The robotic arm of the photovoltaic sweeper moves the roller brush to the roller brush calibration component, starts the roller brush, and applies the roller brush stress to the calibration pressure plate. 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 involves adjusting the motion parameters of the robotic 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-described photovoltaic cleaning roller brush calibration and compensation method, a step is further included before the wear calibration step:

[0026] The robotic arm out-of-tolerance determination involves the robotic arm driving the calibration unit to move the calibration plate, and the robotic arm's out-of-tolerance status is determined by the distance the calibration unit moves and the distance the calibration plate moves.

[0027] If the robotic arm is within tolerance, then the wear calibration step is executed; if the robotic arm is outside tolerance, then the wear calibration step is executed after adjusting the motion parameters of the robotic arm until the robotic arm is within tolerance.

[0028] Optionally, in the above-described photovoltaic cleaning roller brush calibration and compensation method, if the roller brush stress is within the cleaning stress range during the wear calibration step, the output roller brush status is that it does not need to be replaced.

[0029] Optionally, in the above-described 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 range. If the difference between the roller brush stress and the cleaning stress exceeds the adjustable range, the roller brush status is output as needing replacement.

[0030] Optionally, in the above-described photovoltaic cleaning roller brush calibration and compensation method, a step is further included before the wear calibration step:

[0031] The vehicle is parked, and the photovoltaic sweeper is parked at the designated work station.

[0032] The photovoltaic cleaning roller brush wear measurement device provided in this application is used to calibrate the wear of the roller brush. The roller brush is mounted on the photovoltaic cleaning vehicle via a robotic arm. The device includes a roller brush calibration unit, which comprises at least one set of roller brush calibration components. Each component includes a mounting base, a calibration plate, and a detection component. The calibration plate is movably mounted on the mounting base via an elastic element, and is used to contact the roller brush and be pushed by the roller brush to deform the elastic element. The detection component is used to detect the deformation stress of the elastic element, which is equal to the roller brush stress applied by the roller brush to the calibration plate. When quantitative wear compensation of the roller brush is required, the photovoltaic cleaning vehicle is first moved to a position close to the roller brush calibration device. Then, the robotic arm is operated to move the roller brush to the calibration plate until it pushes the calibration plate to compress the elastic element and obtain the deformation stress of the elastic element, thereby obtaining the roller brush stress. By judging whether the stress of the roller brush meets the cleaning stress requirements, it is determined whether the roller brush needs to be replaced or the robotic arm needs to be compensated, so that the photovoltaic sweeper can meet the cleaning requirements of the photovoltaic modules.

[0033] Compared to existing technologies, the photovoltaic cleaning roller brush wear measurement device provided in this application can measure the corresponding roller brush stress based on different posture states of the robotic arm and the roller brush, thereby realizing the identification and judgment of the roller brush wear amount. This allows the robotic arm to be adjusted based on the required cleaning pressure to compensate for the roller brush wear amount and increase the service life of the roller brush.

[0034] The photovoltaic cleaning roller brush calibration and compensation method provided in this application is used to calibrate and compensate for roller brush wear using the aforementioned photovoltaic cleaning roller brush wear quantitative device, including wear calibration steps and wear compensation steps.

[0035] The wear calibration process involves the robotic arm of the photovoltaic sweeper moving the roller brush to the roller brush calibration assembly, activating the roller brush, and applying roller brush stress to the calibration plate. This pushes the calibration plate to move, and the detection component measures the roller brush stress applied to the calibration plate. If the roller brush stress is less than the minimum cleaning stress, the wear compensation steps described below are executed. 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 specifically involves adjusting the robotic arm's motion parameters based on the difference between the roller brush stress and the cleaning stress to ensure the roller brush stress is within the cleaning stress range, thus compensating for roller brush wear.

[0036] Compared with existing technologies, the photovoltaic cleaning roller brush calibration and compensation method provided in this application determines the wear amount of the roller brush based on the deformation stress of the elastic element and performs wear compensation, so that the contact between the roller brush and the photovoltaic module is always kept in a suitable stress state, ensuring cleaning efficiency, improving the service life of the roller brush, and significantly reducing operation and maintenance costs. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of the roller brush calibration device disclosed in the embodiments of this application;

[0039] Figure 2 This is a schematic diagram of the vehicle positioning device disclosed in the embodiments of this application;

[0040] Figure 3 This is a schematic diagram illustrating the stopping process of the photovoltaic sweeper's photovoltaic sweeping roller brush wear metering device disclosed in the embodiments of this application. Figure 1 ;

[0041] Figure 4 This is a schematic diagram illustrating the stopping process of the photovoltaic sweeper's photovoltaic sweeping roller brush wear metering device disclosed in the embodiments of this application. Figure 2 ;

[0042] Figure 5 This is a schematic diagram illustrating the wear calibration process of the photovoltaic cleaning roller brush using the wear measurement device disclosed in this application. Figure 1 ;

[0043] Figure 6 This is a schematic diagram illustrating the wear calibration process of the photovoltaic cleaning roller brush using the wear measurement device disclosed in this application. Figure 2 ;

[0044] Figure 7 This is a schematic diagram illustrating the wear calibration process of the photovoltaic cleaning roller brush using the wear measurement device disclosed in this application. Figure 3 ;

[0045] Figure 8 This is a schematic diagram illustrating the wear calibration process of the photovoltaic cleaning roller brush using the wear measurement device disclosed in this application. Figure 4 ;

[0046] Figure 9 This is a flowchart illustrating the photovoltaic cleaning roller brush calibration and compensation method disclosed in this application. Figure 1 ;

[0047] Figure 10 This is a flowchart illustrating the photovoltaic cleaning roller brush calibration and compensation method disclosed in this application. Figure 2 ;

[0048] Figure 11This is a block diagram of the control system for the photovoltaic cleaning roller brush wear metering device disclosed in the embodiments of this application.

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

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

[0051] 300 is a photovoltaic sweeper, 310 is a robotic arm, 320 is a roller brush assembly, 321 is a calibration unit, and 330 is a walking device. Detailed Implementation

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

[0053] Another core aspect of this application is the disclosure of a photovoltaic cleaning roller brush calibration and compensation method that uses the aforementioned photovoltaic cleaning roller brush wear quantification device to quantify and compensate for roller brush wear.

[0054] The embodiments will now be described with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the invention as described in the claims. Additionally, the complete contents of the structures represented in the embodiments below are not limited to those necessary for the solution of the invention as described in the claims. It should be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0055] Combination Figures 1-8 The photovoltaic cleaning roller brush wear measurement device disclosed in this application is used to calibrate the wear of the roller brush. The roller brush is mounted on the photovoltaic cleaning vehicle 300 via a robotic arm 310. The photovoltaic cleaning roller brush wear measurement device includes a roller brush calibration device 100, which includes at least one set of roller brush calibration components 120. The roller brush calibration components 120 include a mounting base 121, a calibration pressure plate 127, and a detection component 122. The calibration pressure plate 127 is movably mounted on the mounting base 121 via an elastic element 126, and is used to contact the roller brush and be pushed by the roller brush to deform the elastic element 126. The detection component 122 is used to detect the deformation stress of the elastic element 126, which is equal to the roller brush stress applied by the roller brush to the calibration pressure plate 127.

[0056] When quantitative compensation for roller brush wear is required, the photovoltaic sweeper 300 is first moved to a position close to the roller brush calibration device 100. Then, the robotic arm 310 is operated to move the roller brush to the calibration pressure plate 127 until it pushes the calibration pressure plate 127 to compress the elastic element 126 and obtain the deformation stress of the elastic element 126, thereby obtaining the roller brush stress. By judging whether the roller brush stress meets the cleaning stress requirements, it is determined whether the roller brush needs to be replaced or the robotic arm 310 needs to be compensated, so that the photovoltaic sweeper 300 can meet the cleaning requirements of the photovoltaic modules. Preferably, the roller brush is started to rotate before the roller brush pushes the calibration pressure plate 127 to ensure that the measured roller brush stress is close to the actual cleaning scenario.

[0057] Compared to existing technologies, the photovoltaic cleaning roller brush wear measurement device disclosed in this application can measure the corresponding roller brush stress based on the different posture states of the robotic arm 310 and the roller brush, thereby realizing the identification and judgment of the roller brush wear amount. This allows the robotic arm 310 to be adjusted based on the required cleaning pressure to compensate for the roller brush wear amount and increase the service life of the roller brush.

[0058] For example, in some embodiments, when the elastic element 126 is a linear deformable body such as a linear spring, linear elastic rod, elastic thin plate, linear elastic fiber, linear elastic porous material, or linear elastic composite material, within the linear deformation range of the linear deformable body, the moving distance of the calibration plate 127 is equal to the deformation of the elastic element 126. The detection component 122 is a displacement sensor used to detect the moving distance of the calibration plate 127. Since the moving distance of the calibration plate 127 is equal to the deformation of the elastic element 126, the deformation stress of the elastic element 126 can be obtained from the deformation of the elastic element 126, and thus the roller stress can be obtained. In other embodiments, the detection component 122 is a strain gauge, force gauge, piezoelectric sensor, etc., which can directly detect the deformation stress of the elastic element 126, and thus obtain the roller stress. The following description uses a specific embodiment where the elastic element 126 is a linear spring and the detection component 122 is a displacement sensor used to detect the moving distance of the calibration plate 127.

[0059] Combination Figure 1 and Figure 3 The mounting base 121 is typically set directly or indirectly on the ground. Under the action of the elastic element 126, the calibration plate 127 can move in the vertical direction or other directions. Preferably, the calibration plate 127 moves in the vertical direction to facilitate the robotic arm 310 driving the roller to press down the calibration plate 127 to achieve wear detection, and at the same time facilitate the measurement and calculation of the deformation stress of the elastic element 126.

[0060] To further optimize the scheme and ensure calibration accuracy, before calibrating the roller brush, it is necessary to first calibrate the local parameters of the robotic arm 310 to determine whether the robotic arm 310 has any out-of-tolerance issues within the current space. Figure 5The robotic arm 310 is provided with a calibration part 321 for calibration. Specifically, the calibration part 321 can be provided on the metal frame of the roller brush assembly 320 located at the end of the robotic arm 310. The calibration plate 127 is pushed and moved by the calibration part 321 to deform the elastic member 126, so as to determine whether the robotic arm 310 is out of tolerance by comparing the moving distance of the calibration plate 127 with the actual moving distance of the calibration part 321, thereby ensuring the accuracy and reliability of the robotic 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. Then, the robotic arm 310 is operated to align the calibration unit 321 with the calibration plate 127. The robotic arm 310 is then moved in the direction of the calibration plate 127 until the calibration unit 321 pushes the calibration plate 127 to multiple positions, obtaining the displacement of the calibration plate 127. The theoretical displacement change of the calibration unit 321 is compared with the actual displacement change of the calibration plate 127 to determine whether the robotic arm 310 is out of tolerance. If an out-of-tolerance situation occurs, the motion parameters of the robotic arm 310 need to be adjusted until it is no longer out of tolerance. Then, the robotic arm 310 is moved to align the roller brush with the calibration plate 127 to perform the above-mentioned roller brush wear calibration.

[0061] In a specific embodiment disclosed in this application, a mounting frame 129 is provided on the mounting base 121, and a sliding bearing 128 is provided on the mounting frame 129. A sliding column 125 passes through the sliding bearing 128, with one end connected to the calibration plate 127 and the other end used by the detection component 122 to detect the displacement. An elastic element 126 is sleeved on the sliding column 125, with both ends abutting against the calibration plate 127 and the mounting frame 129, respectively. The sliding bearing 128 facilitates the movement of the calibration plate 127 by the roller brush, reducing frictional resistance. The detection component 122 obtains the roller brush stress applied to the calibration plate 127 by detecting the displacement of the sliding column 125. Specifically, one calibration plate 127 corresponds to at least one sliding column 125, and one sliding column 125 corresponds to one detection component 122 and one elastic element 126, combined with... Figure 1 Typically, one calibration plate 127 corresponds to two sliding columns 125 to ensure stable support for the calibration plate 127, and the data from the two sets of detection components 122 can be cross-checked to prevent device failure. Accordingly, if the elastic coefficient of the elastic element 126 is K and the displacement of the calibration plate 127 is x, then the brush pressure F applied by the brush is 2Kx.

[0062] Combination Figure 1 A sensor fixing plate 123 is provided on the mounting base 121. The sensor fixing plate 123 is set inside the mounting frame 129. 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. The mounting frame 129 includes side plates, a top plate, and a middle plate. The side plates are connected to the mounting base 121, and the middle plate and top plate are both connected to the side plates, spaced at different distances from the mounting base 121. Sliding bearings 128 are provided at corresponding positions on the middle plate and top plate. Sliding columns 125 pass through the sliding bearings 128 on the middle plate and top plate in sequence to prevent the sliding direction of the sliding columns 125 from deviating. The plates of the mounting frame 129, as well as 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 a cover plate 124, which is used to cover the internal structure of the mounting frame 129.

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

[0065] To further optimize the design and facilitate the photovoltaic sweeper 300's continuous brush wear calibration at a single location, the photovoltaic sweeper brush wear calibrating device also includes a vehicle positioning device 200. This device 200 features a calibration station for the photovoltaic sweeper 300 to stop during brush wear calibration. Combined with... Figure 3 and Figure 4 The vehicle positioning device 200 is positioned near the roller brush calibration device 100. Specifically, the photovoltaic sweeper 300 can be an AGV (Automated Guided Vehicle).

[0066] In one embodiment, combined with Figure 2 The vehicle positioning device 200 includes a base 210, rollers 230, and limiting stops 220. Multiple rollers 230 are rotatably mounted on the base 210, forming a calibration station. The limiting stops 220 are mounted on the base 210 and used to limit the photovoltaic sweeper 300 at the calibration station, achieving final positioning of the photovoltaic sweeper 300 at the calibration station. Specifically, the limiting stops 220 can block the photovoltaic sweeper 300 in its traveling direction, forming a position after being pressed against it. The rollers 230 can be arranged on the base 210 using active or passive rolling, facilitating the movement of the photovoltaic sweeper 300 to the limiting stops 220 and facilitating guidance adjustments during the movement of the photovoltaic sweeper 300.

[0067] Further optimize the plan, combined with Figure 2The vehicle positioning device 200 also includes two guide plates 240, which are symmetrically arranged on the base 210 to form a guide channel that guides the photovoltaic sweeper 300 to the calibration position. To ensure the guiding effect, the guide channel is funnel-shaped with a large opening at one end and a small opening at the other end. As the photovoltaic sweeper 300 moves and gradually enters the vehicle positioning device 200, the walking device 330 of the photovoltaic sweeper 300 travels sequentially on the base 210 and the roller 230, and gradually completes lateral positioning under the action of the guide plates 240 until the vehicle body of the photovoltaic sweeper 300 abuts against the limit stop 220 and can no longer move forward. The roller 230 then spins freely, ensuring the uniformity of the vehicle body position of the photovoltaic sweeper 300 during each calibration.

[0068] Combination Figure 9 and Figure 10 The photovoltaic cleaning roller brush calibration and compensation method disclosed in this application is used to calibrate and compensate for roller brush wear using the aforementioned photovoltaic cleaning roller brush wear quantitative device, and includes the following steps:

[0069] S10, Wear Calibration;

[0070] The robotic arm 310 of the photovoltaic cleaning vehicle 300 moves the roller brush to the roller brush calibration component 120, activates the roller brush, and applies roller brush stress to the calibration pressure plate 127, pushing the calibration pressure plate 127 to move. The detection component 122 measures the roller brush stress applied to the calibration pressure plate 127. If the roller brush stress is less than the minimum cleaning stress, the wear compensation steps described below are 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 minimum value of the cleaning stress range 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 decreases significantly. When the roller brush stress is greater than the maximum cleaning stress, there is a risk of damage such as cracking of the photovoltaic module. When the roller brush stress is within the cleaning stress range, 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 robotic 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 range, thereby compensating for roller brush wear.

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

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

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

[0076] The robotic arm 310 drives the calibration unit 321 to move the calibration plate 127, so as to determine whether the robotic arm 310 is out of tolerance by measuring the moving distance of the calibration unit 321 and the moving distance of the calibration plate 127. If the robotic arm 310 is within tolerance, S20 is executed. If the robotic arm 310 is out of tolerance, S20 is executed after adjusting the motion parameters of the robotic arm 310 until the robotic arm 310 is within tolerance.

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

[0078] In S10, if the brush stress is within the cleaning stress range, the brush status 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, then S20 is executed until the roller brush stress is within the cleaning stress range; if the difference between the roller brush stress and the cleaning stress exceeds the adjustable range, then the roller brush status is output as "needs replacement". It should be noted that, in order to ensure work efficiency, the robotic arm 310 can be set to directly output the result "needs replacement" when the roller brush stress is still less than the cleaning stress range after repeated adjustments N times, which facilitates manual adjustment and maintenance.

[0080] Combination Figure 9 The steps preceding S20 include:

[0081] S00, vehicle is parked;

[0082] The photovoltaic sweeper 300 was parked at the designated work station.

[0083] Combination Figure 10 In a specific implementation process, combined with Figure 1 and Figure 2 S00 specifically refers to parking the photovoltaic sweeper 300 at the designated work station. Combined with... Figure 2 and Figure 3S30 specifically controls the robotic arm 310 to reach a preset position. At this time, the metal fixing frames at both ends of the roller brush, acting as calibration parts 321, contact the calibration pressure plates 127 of the two sets of roller brush calibration components 120 and push them to the first initial calibration position, so that the elastic elements 126 of the two sets of roller brush calibration components 120 generate a compression amount. At this time, the changes 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, ε1, ε5 ...5, ε1, ε5, ε x (This represents the data measured by the displacement sensor of the xth group of brush calibration components 120 in S30). If ε1 and ε5 are both within the preset threshold ε t If the value is within the specified range, then the robotic arm 310 has no accuracy issues in the vicinity of that range, and S10 can proceed. If either ε1 or ε5 exceeds the threshold ε... t If this is not the case, parameter adjustment of the robotic arm 310 is required. At this time, the robotic arm 310 is controlled so that the calibration unit 321 pushes the calibration plate 127 and remains in at least three positions. The theoretical and actual compression amounts of the calibration unit 321 on the elastic element 126 at these three positions are recorded, and the motion parameters of the robotic arm 310 are adjusted based on the deviation values. After parameter adjustment, the arm returns to the first initial calibration position, and the updated ε1 and ε5 are re-evaluated to see if they meet the requirements. If the evaluation is still unsatisfactory after M evaluations, the robotic arm 310 is deemed to be out of tolerance and cannot be adjusted.

[0084] Once the deviation of the robotic arm 310 is within the error range, proceed to S40. At this point, combined with... Figure 6 The robotic arm 310 is controlled to lift vertically upwards until the calibration unit 321 disengages from the calibration plate 127 and moves to the second initial calibration position; then the roller brush of the roller brush assembly 320 is controlled to rotate, and the dynamic changes m2, m3, and m4 (m) of the displacement sensors of the three intermediate roller brush calibration assemblies 120 are continuously recorded during the rotation process. x (representing the value of the data measured by the x-th displacement sensor in S40), after removing obviously abnormal data, the average value 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 Combining Figure 7 The robotic arm 310 is controlled to move horizontally to the left until the first set of roller brush calibration components 120 contacts the roller brush. The above step S40 is repeated to obtain l 1a l 2a l 3a l 4a The corresponding stress F is calculated. l1a F l2a F l3a Fl4a ; combination Figure 8 The robotic arm 310 is controlled to move horizontally to the right until it contacts the brush of the fifth set of brush calibration components 120. The above step S40 is repeated 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 The system determines whether the current cleaning stress requirement of the roller brush is met. If it is, the roller brush is considered healthy and requires no compensation. If it is not, the compensation amount of the robotic arm 310 needs to be calculated based on the above results. The cleaning angle and downward pressure are adjusted to meet the expected cleaning requirements. At this point, it is determined whether the compensation value is within the adjustable range. If it is not adjustable, the roller brush is considered worn, and a "replacement required" signal is output. If it is adjustable, the motion parameters of the robotic arm 310 are compensated and adjusted, and the measurement is performed again. If the measurement result still does not meet the requirements after N adjustments, it also needs to be determined that "replacement required".

[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 photovoltaic module surface in the actual cleaning process, so that the measured roller brush stress is close to the cleaning stress in the actual cleaning process.

[0086] Combination Figure 11 The control system of this photovoltaic sweeping brush wear measurement device includes a sensing unit, a data processing unit, a judgment unit, a motion control unit, and a result output unit. The sensing unit, referring to the aforementioned detection component 122, obtains data such as the brush's displacement and stress, and transmits this data to the data processing unit. After processing the relevant data, the judgment unit determines whether to send it to the motion control unit or the result output unit for further processing. Except for the sensing unit, all components of this control system can be directly integrated into the photovoltaic sweeping vehicle 300.

[0087] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Specific technical means in some embodiments may be incorporated, in whole or in part, into another embodiment unless explicitly excluded by another embodiment. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic cleaning roller brush wear measurement device, used for wear calibration of the roller brush, wherein the roller brush is mounted on a photovoltaic cleaning vehicle (300) via a robotic arm (310), characterized in that, Includes a roller brush calibration device (100), the roller brush calibration device (100) including at least one set of roller brush calibration components (120), the roller brush calibration components (120) including: Mounting base (121); The calibration plate (127) is movably mounted on the mounting base (121) by means of an elastic element (126) and is moved by the roller brush; The detection component (122) is used to detect the deformation stress of the elastic element (126) to obtain the roller brush stress of the roller brush from the deformation stress of the elastic element (126), and the roller brush stress is used to compare with the cleaning stress to determine whether the roller brush needs to be replaced or the robotic arm needs to be compensated. The robotic arm (310) is provided with a calibration section (321); the calibration plate (127) is used to be pushed and moved by the calibration section (321) so as to determine whether the robotic arm (310) is out of tolerance before the roller brush is calibrated by the moving distance of the calibration plate (127) and the moving distance of the calibration section (321).

2. The photovoltaic cleaning roller brush wear metering device as described in claim 1, characterized in that, The mounting base (121) is provided with a mounting frame (129), the mounting frame (129) is provided with a sliding bearing (128), the sliding column (125) passes through the sliding bearing (128) and slides with the sliding bearing (128), and one end of the sliding column (125) is connected to the calibration pressure plate (127). The detection component (122) is used to detect the displacement of the sliding column (125). The elastic element (126) is sleeved on the sliding column (125), and its two ends abut against the calibration pressure plate (127) and the mounting frame (129) respectively.

3. The photovoltaic cleaning roller brush wear metering device as described in claim 1, characterized in that, Multiple sets of the roller brush calibration components (120) are arranged at intervals along the calibration direction.

4. The photovoltaic cleaning roller brush wear metering device as described in any one of claims 1-3, characterized in that, It also includes a vehicle positioning device (200), which is equipped with a calibration station for the photovoltaic sweeper (300) to stop during the roller brush wear calibration.

5. The photovoltaic cleaning roller brush wear metering device as described in claim 4, characterized in that, The vehicle positioning device (200) includes: Base (210); The rollers (230) are multiple rollers rotatably mounted on the base (210) and form the calibration station; A limiting stop (220) is provided on the base (210) to limit the photovoltaic sweeper (300) to the calibrated position.

6. The photovoltaic cleaning roller brush wear metering device as described in claim 5, characterized in that, The vehicle positioning device (200) also includes two guide plates (240), both of which are disposed on the base (210) and form a guide channel for guiding the photovoltaic sweeper (300) to the calibration station.

7. A method for calibrating and compensating photovoltaic cleaning roller brushes, used for calibrating and compensating roller brush wear using a photovoltaic cleaning roller brush wear quantitative device as described in any one of claims 1-6, characterized in that, Including the following steps: Wear calibration: The robotic arm (310) of the photovoltaic sweeper (300) moves the roller brush to the roller brush calibration assembly (120), starts the roller brush, and applies the roller brush stress to the calibration pressure plate (127). The roller brush stress is measured by the detection component (122). If the roller brush stress is less than the minimum cleaning stress, the wear compensation step is performed. Wear compensation is achieved by adjusting the motion parameters of the robotic arm (310) based on the difference between the roller brush stress and the cleaning stress, so that the roller brush stress is within the cleaning stress range.

8. The photovoltaic cleaning roller brush calibration and compensation method as described in claim 7, characterized in that, The following steps are included before the wear calibration step: The robotic arm (310) is out of tolerance. The robotic arm (310) drives the calibration unit (321) to push the calibration plate (127) to move. The movement distance of the calibration unit (321) and the movement distance of the calibration plate (127) are used to determine whether the robotic arm (310) is out of tolerance. If the robotic arm (310) is within tolerance, the wear calibration step is executed; if the robotic arm (310) is outside tolerance, the wear calibration step is executed after adjusting the motion parameters of the robotic arm (310) until the robotic arm (310) is within tolerance.

9. The photovoltaic cleaning roller brush calibration and compensation method as described in claim 7, characterized in that, In the wear calibration step, if the roller brush stress is within the cleaning stress range, the output roller brush status is that it does not need to be replaced.

10. The photovoltaic cleaning roller brush calibration and compensation method as described in claim 9, 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 range. If the difference between the roller brush stress and the cleaning stress exceeds the adjustable range, the roller brush status is output as needing replacement.

11. The photovoltaic cleaning roller brush calibration and compensation method as described in claim 7, characterized in that, The following steps are included before the wear calibration step: The vehicle is parked, and the photovoltaic sweeper (300) is parked at the designated work position.

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