Automatic leveling device and leveling method

Abstract

The invention belongs to the technical field of automatic leveling, and particularly relates to an automatic leveling device and a leveling method.The automatic leveling device comprises a multi-degree-of-freedom adjusting arm, a distance measuring assembly and an information processer, the multi-degree-of-freedom adjusting arm comprises a working platform and a multi-degree-of-freedom adjusting arm body, and the working platform is connected with the output end of the multi-degree-of-freedom adjusting arm body; the multi-degree-of-freedom adjusting arm is used for controlling the multi-degree-of-freedom adjusting arm to realize multi-angle adjustment on the working platform; the distance measuring assembly is arranged on the working platform, and the distance measuring assembly is used for acquiring the distance of a plurality of point positions between the working platform and a target plane; the information processor is electrically connected with the distance measuring assembly and the multi-degree-of-freedom adjusting arm and used for controlling the multi-degree-of-freedom adjusting arm to adjust the angle of the working platform through multiple pieces of distance information fed back by the distance measuring assembly, and the working platform is parallel to a target plane. According to the device, high-precision and high-stability automatic leveling can be achieved, and the requirement for high-precision operation can be met conveniently.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic leveling, and in particular relates to an automatic leveling device and a leveling method. Background Art

[0002] With the development of industrial automation and mechanical technology, various types of mechanical equipment have increasingly higher requirements for collaborative operations during work. Whether it is heavy equipment in construction projects, precision instruments in the aerospace field, or fields such as marine exploration and vehicle manufacturing, it is necessary to ensure that its supporting platform or carrier can maintain a high degree of stability and parallel state in a complex working environment. This demand has led to the rapid development of automatic leveling technology. During the cleaning of photovoltaic panels, the cleaning module needs to be leveled with the surface of the photovoltaic panel in real time. On the one hand, it is to ensure the safety performance of the photovoltaic panel during the cleaning process of the cleaning module, especially to avoid collision damage between the cleaning module and the photovoltaic panel due to some installation joints or due to the unevenness of the installation ground. On the other hand, it is to ensure the overall cleaning effect of the photovoltaic panel and ensure a more thorough cleaning.

[0003] At present, there are many automatic leveling devices on the market, which mainly achieve parallel leveling of the horizontal plane through mechanical structure, hydraulic pressure, electronic control system or coincidence of the center of gravity of two objects. However, the leveling accuracy of these existing technologies is greatly limited in practical applications and it is difficult to meet the needs of high-precision operations.

[0004] For example, the invention patent with publication number CN102606851A provides a leveling device, including a support seat arranged on a bearing body, on which a dynamic adjustment cap is placed; an adjustment screw is screwed on the dynamic adjustment cap, and the adjustment screw can slide freely on the dynamic adjustment cap; a fixed adjustment cap is provided on the upper part of the adjustment screw, and the fixed adjustment cap has a constant position relative to the adjustment screw, and the adjustment screw can rotate under the constraint of the fixed adjustment cap; the fixed adjustment cap is firmly connected to the regulated body. During the leveling process, the leveling device requires manpower to continuously adjust the adjustment nut until it is leveled. This type of traditional leveling device relies on naked eye observation or simple mechanical structure for adjustment, which greatly limits the leveling accuracy and is difficult to meet the needs of high-precision operations. Another example is the invention patent with publication number CN117325099A, which provides a leveling device, including a support component, a rotating component, a leveling component, and a bearing component. This device is suitable for environments without dust or impurities. In complex working environments, such as ramps, uneven ground or scenes with large vibrations, the working environment of this type of leveling device is unstable. In order to meet the work accuracy requirements, frequent leveling processing is often required. The leveling accuracy is greatly limited, making it difficult to meet high-precision work requirements and may even fail. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide an automatic leveling device and a leveling method, which can achieve high-precision, high-stability real-time automatic leveling, so as to meet the needs of high-precision operations.

[0006] The technical solution of the present invention is:

[0007] An automatic leveling device and a leveling method, comprising:

[0008] The working platform is a rectangular structure;

[0009] A multi-degree-of-freedom adjustment arm, the output end of which is connected to the working platform, and the multi-degree-of-freedom adjustment arm is used to achieve multi-angle adjustment of the working platform;

[0010] A distance measuring component is arranged on the working platform, the distance measuring component comprises a first distance sensor, a second distance sensor and a third distance sensor installed on the working platform, the first distance sensor and the second distance sensor are respectively arranged at two ends of the length direction of the working platform, the third distance sensor is located between the first distance sensor and the second distance sensor, and the three are distributed in a triangle in the same plane of the working platform, and the distance measuring component is used to obtain distance information of multiple points between the working platform and the target plane;

[0011] The information processor is electrically connected to the distance measuring component and the multi-degree-of-freedom adjustment arm respectively, and is used to control the multi-degree-of-freedom adjustment arm to adjust the angle of the working platform through multiple distance information fed back by the distance measuring component, so as to achieve that the working platform is parallel to the target plane.

[0012] Preferably, the horizontal distance between the first distance sensor and the third distance sensor is equal to the horizontal distance between the second distance sensor and the third distance sensor, and the third distance sensor is located on a vertical line connecting the first distance sensor and the second distance sensor.

[0013] Preferably, the working platform is further provided with an inspection fine-tuning component, the inspection fine-tuning component comprises a first linear displacement sensor, a second linear displacement sensor, a third linear displacement sensor and a fourth linear displacement sensor, all of which are electrically connected to the information processor;

[0014] The first linear displacement sensor and the second linear displacement sensor are respectively installed at two ends of the working platform, and are used to detect the parallelism between the plane formed by the first distance sensor, the second distance sensor and the third distance sensor and the target plane in the X-axis direction;

[0015] The third linear displacement sensor and the fourth linear displacement sensor are respectively installed on both sides of the working platform perpendicular to the line connecting the first linear displacement sensor and the second linear displacement sensor, and are used to detect the parallelism between the plane formed by the first distance sensor, the second distance sensor and the third distance sensor and the target plane in the Y-axis direction.

[0016] Preferably, the information processor includes a PLC programmable controller, the input end of the PLC programmable controller is electrically connected to the first linear displacement sensor, the second linear displacement sensor, the third linear displacement sensor, the fourth linear displacement sensor, the first distance sensor, the second distance sensor and the third distance sensor, respectively, and the output end of the PLC programmable controller is electrically connected to the multi-degree-of-freedom adjustment arm through a servo controller.

[0017] Preferably, the first distance sensor, the second distance sensor and the third distance sensor are all ultrasonic distance sensors.

[0018] Preferably, the vibration amplitude of the multi-degree-of-freedom adjustment arm movement is less than 5m / s 2 .

[0019] Preferably, the repeatability of the multi-degree-of-freedom adjustment arm is less than 0.5 mm.

[0020] According to the above-mentioned automatic leveling device, the leveling method thereof comprises the following steps:

[0021] Leveling the work platform in the horizontal direction: set a side line on the target plane that is parallel to the line connecting the first distance sensor and the second distance sensor as the reference line, dynamically adjust the angle of the work platform in the horizontal direction through the multi-degree-of-freedom adjustment arm, use the information processor to collect the distance from the first distance sensor and the second distance sensor to the reference line in real time, and follow up the changes of the two distance information collected in real time until the distances from the two distance information to the reference line are equal, that is, the horizontal position of the work platform is leveled;

[0022] Leveling the working platform in the vertical direction: take the length direction of the working platform as the X-axis and the width direction as the Y-axis, assume that the first distance sensor and the second distance sensor are located on the X-axis, and the third distance sensor is located on the Y-axis; collect the vertical distances from the first distance sensor and the second distance sensor to the target plane, transmit the collected data to the information processor for numerical comparison, and dynamically adjust the rotation of the working platform around the Y-axis through the multi-degree-of-freedom adjustment arm until the distance values ​​collected by the first distance sensor and the second distance sensor are equal, that is, the working platform is leveled on the X-axis; then collect the vertical distances from the first distance sensor and the third distance sensor or the second distance sensor and the third distance sensor to the target plane, transmit the collected data to the information processor for vertical comparison, and dynamically adjust the rotation of the working platform around the X-axis through the multi-degree-of-freedom adjustment arm until the distance values ​​collected by the first distance sensor and the third distance sensor or the second distance sensor and the third distance sensor are equal, that is, the working platform is leveled on the Y-axis, that is, at this time, the distances between the first distance sensor, the second distance sensor and the third distance sensor and the target plane are consistent, that is, the leveling of the working platform with the target plane in the vertical direction is achieved.

[0023] Compared with the prior art, the automatic leveling device and leveling method of the present invention have the following beneficial effects:

[0024] 1. When the device is in use, the distance measuring component is used to measure the distance between multiple positions on the working platform and the target plane, and multiple distance information is obtained. At the same time, the multiple distance information is fed back to the information processor for analysis and processing in real time, and the processing results are transmitted to the multi-degree-of-freedom adjustment arm. The angle of the working platform is adjusted by the multi-degree-of-freedom adjustment arm, which can keep the working platform and the target plane in a high-precision, high-stability parallel state in real time, so as to meet the needs of high-precision operations;

[0025] 2. The leveling control method adopted by this device has fast response time and high precision. It is not affected by the use environment and spatial position and has a wider range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is an application diagram of a vehicle-mounted photovoltaic module cleaning device in an embodiment of the present invention;

[0027] Figure 2 It is a structural schematic diagram of an automatic leveling device in an embodiment of the present invention;

[0028] Figure 3 Schematic diagram of the structure of a multi-degree-of-freedom adjustment arm in an embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the spatial distribution structure of the distance measuring component in an embodiment of the present invention;

[0030] Figure 5 Schematic diagram of the installation structure of the distance measurement component and the clear module in an embodiment of the present invention;

[0031] Figure 6 It is a schematic diagram of the structure of the automatic leveling assembly in the preparatory state in an embodiment of the present invention;

[0032] Figure 7 It is a schematic diagram of the structure of the leveling process of the automatic leveling assembly in an embodiment of the present invention;

[0033] Figure 8 It is a schematic diagram of the structure of the leveling process of the automatic leveling assembly in an embodiment of the present invention;

[0034] Fig. 9 This is a schematic diagram of the structure of the cleaning component in the leveling state in an embodiment of the present invention;

[0035] Fig.10 It is a flow chart of the PID intelligent control algorithm in an embodiment of the present invention.

[0036] Description of reference numerals:

[0037] 1. Photovoltaic module; 2. Cleaning equipment; 21. Multi-degree-of-freedom adjustment arm; 211. First drive motor; 212. Second drive motor; 213. Third drive motor; 214. Fourth drive motor; 215. First rotating arm; 216. Second rotating arm; 217. Third rotating arm; 218. Fourth rotating arm; 219. Three-toe connector; 30. First connecting rod; 31. Second connecting rod; 32. Third connecting rod; 33. Electric push rod; 22. Vehicle; 23. Cleaning component; 231. Slide rail; 232. Cleaning module; 233. First linear displacement sensor; 234. Second linear displacement sensor; 235. Third linear displacement sensor; 236. Fourth linear displacement sensor; 237. First distance sensor; 238. Second distance sensor; 239. Third distance sensor; 24. Power supply equipment; 25. Control cabinet. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0040] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] During the cleaning of photovoltaic panels, the cleaning module needs to be leveled with the surface of the photovoltaic panel in real time. On the one hand, this is to ensure the safety of the photovoltaic panel during the working process of the cleaning module, especially to avoid collision damage between the cleaning module and the photovoltaic panel due to some installation joints or the unevenness of the installation ground; on the other hand, this is to ensure the overall cleaning effect of the photovoltaic panel and ensure more thorough cleaning.

[0042] At present, there are many automatic leveling devices on the market, which mainly achieve parallel leveling of the horizontal plane through mechanical structure, hydraulic pressure, electronic control system or the coincidence of the center of gravity of two objects. However, the leveling accuracy of these existing technologies is greatly limited in practical applications, and it is difficult to meet the needs of high-precision operations. For this reason, this application designs an automatic leveling device for use in photovoltaic panel cleaning equipment, as follows:

[0043] See also Figures 1 to 9 As shown, in order to achieve high-precision, high-stability real-time automatic leveling and meet the needs of high-precision operations, this embodiment provides an automatic leveling device and a leveling method, wherein the automatic leveling device includes a rectangular structured working platform, a multi-degree-of-freedom adjustment arm 21, a distance measuring component, and an information processor. The working platform is connected to the output end of the multi-degree-of-freedom adjustment arm 21, and is used to achieve multi-angle adjustment of the working platform through the cooperation of the multi-degree-of-freedom adjustment arm 21, the distance measuring component, and the information processor; the details are as follows:

[0044] See also Figure 3 and Figure 4As shown, the multi-degree-of-freedom adjustment arm 21 includes: a first driver motor 211, a second driver motor 212, a third drive motor 213, and a fourth drive motor 214; a first rotating arm 215, a second rotating arm 216, a third rotating arm 217, and a fourth rotating arm 218; a three-toe connector 219, a first connecting rod 30, a second connecting rod 31, a third connecting rod 32, and an electric push rod 33. The first drive motor and the first rotating arm 215 are respectively arranged on the vehicle 22, a worm is fixed on the output shaft of the first drive motor, a worm wheel is fixed on the first rotating arm 215, and the first drive motor acts on the turbine on the first rotating arm 215 through the worm to make the first rotating arm 215 rotate around a horizontal plane fixed axis; the second drive motor and the third drive motor 213 are both fixed to the end of the first rotating arm 215 away from the vehicle 22, and the rotating shafts of the second drive motor and the third drive motor 213 are installed coaxially, the output shaft of the second drive motor is connected to one end of the second rotating arm 216 by a key, and the other end of the second rotating arm 216 is connected to the third connecting rod 32 by a rotating shaft The other end of the third connecting rod 32 is fixedly connected to one end of the fourth rotating arm 218; the third driving motor 213 is connected to one end of the third rotating arm 217 through a key, and the other end of the third rotating arm 217 is connected to one toe of the three-toe connecting member 219 through a rotating shaft, and the other two toes of the three-toe connecting member 219 are respectively connected to the fourth driving motor 214 and the first connecting rod 30, and the fourth driving motor 214 is fixed on one toe of the three-toe connecting member 219 through a rotating shaft, and the output shaft of the fourth driving motor 214 is connected to the electric push rod 33 through a key, and the output end of the electric push rod 33 is connected to the second connecting rod 31 through a rotating shaft, and the second connecting rod 31 is fixed to the end of the fourth rotating arm 218. In order to better maintain the parallel stability of the working platform and the target plane in the application design, the vibration amplitude of the movement of the multi-degree-of-freedom adjustment arm 21 is less than 5m / s 2 , and the repeatability of the multi-degree-of-freedom adjustment arm 21 is required to be less than 0.5 mm.

[0045] See also Figure 4 and Figure 5As shown, the distance measuring component is arranged on the working platform, and the distance measuring component is used to obtain the distance information of multiple points between the working platform and the target plane; in actual application, the distance measuring component includes a first distance sensor 237, a second distance sensor 238 and a third distance sensor 239, all of which are installed on the working platform, the first distance sensor 237 and the second distance sensor 238 are arranged at both ends of the length direction of the working platform, the third distance sensor 239 is located between the first distance sensor 237 and the second distance sensor 238, and the three are distributed in the same plane of the working platform in a triangular shape, further, the horizontal spacing from the first distance sensor 237 to the third distance sensor 239 is equal to the horizontal spacing from the second distance sensor 238 to the third distance sensor 239, and the third distance sensor 239 is located on the vertical line of the connection line of the first distance sensor 237 and the second distance sensor 238. The first distance sensor 237, the second distance sensor 238 and the third distance sensor 239 are used to measure the distance from different positions of the working platform to the target plane. Therefore, through the coordination of the above-mentioned structural features, the multi-degree-of-freedom adjustment arm 21 can form four-degree-of-freedom adjustment, which is convenient for adjusting the working platform at multiple angles in space. By cooperating with the ranging component and the information processor, the working platform and the target plane can be leveled accurately and quickly, that is, the cleaning component 23 can be leveled, meeting high-precision work requirements.

[0046] See also Figure 4 and Figure 5 As shown, in order to further improve the parallelism between the working platform and the target plane, an inspection fine-tuning component is also provided on the working platform. The inspection fine-tuning component includes a first linear displacement sensor 233, a second linear displacement sensor 234, a third linear displacement sensor 235 and a fourth linear displacement sensor 236, all of which are electrically connected to the information processor; the four linear displacement sensors are distributed in a cross shape and installed on the working platform. Specifically, the connection line between the first linear displacement sensor 233 and the second linear displacement sensor 234 is perpendicular to the connection line between the third linear displacement sensor 235 and the fourth linear displacement sensor 236. The first linear displacement sensor 233 and the second linear displacement sensor 234 are respectively installed at both ends of the working platform in the length direction, and are used to detect the parallelism between the plane formed by the first distance sensor 237, the second distance sensor 238 and the third distance sensor 239 and the target plane in the X-axis direction; the third linear displacement sensor 235 and the fourth linear displacement sensor 236 are respectively installed at both ends of the working platform in the width direction, and are used to detect the parallelism between the plane formed by the first distance sensor 237, the second distance sensor 238 and the third distance sensor 239 and the target plane in the Y-axis direction.

[0047] The information processor is electrically connected to the distance measuring component and the multi-degree-of-freedom adjustment arm 21, respectively, and is used to control the multi-degree-of-freedom adjustment arm 21 to adjust the angle of the working platform through the multiple distance information fed back by the distance measuring component, so as to achieve the parallelism of the working platform with the target plane. The preferred information processor includes a PLC programmable controller, the input end of the PLC programmable controller is electrically connected to the servo controller, the first linear displacement sensor 233, the second linear displacement sensor 234, the third linear displacement sensor 235, the fourth linear displacement sensor 236, the first distance sensor 237, the second distance sensor 238 and the third distance sensor 239, respectively, and the output end of the PLC programmable controller is electrically connected to the multi-degree-of-freedom adjustment arm 21 through the servo controller.

[0048] See also Figures 5 to 9 As shown, the automatic leveling device designed as above, and the leveling method thereof, include the following steps:

[0049] Leveling the horizontal position of the working platform: set a side line on the target plane that is parallel to the line connecting the first distance sensor 237 and the second distance sensor 238 as a reference line, dynamically adjust the angle of the working platform in the horizontal direction through the multi-degree-of-freedom adjustment arm 21, use the information processor to collect the distance from the first distance sensor 237 and the second distance sensor 238 to the reference line in real time, and follow up the changes of the two distance information collected in real time until the distances from the two distance information to the reference line are equal, that is, the horizontal position of the working platform is leveled; that is, at this time, if Figure 7 As shown, the angle between one side of the working platform and the reference line is 0°.

[0050] Leveling the vertical position of the working platform: take the length direction of the working platform as the X-axis and the width direction as the Y-axis, assume that the first distance sensor 237 and the second distance sensor 238 are located on the X-axis, and the third distance sensor 239 is located on the Y-axis; collect the vertical distances from the first distance sensor 237 and the second distance sensor 238 to the target plane, transmit the collected data to the information processor for numerical comparison, and dynamically adjust the rotation of the working platform around the Y-axis through the multi-degree-of-freedom adjustment arm 21 until the distance values ​​collected by the first distance sensor 237 and the second distance sensor 238 are equal, that is, the working platform is leveled on the X-axis; then collect the vertical distances from the first distance sensor 237 and the second distance sensor 238 to the target plane, and transmit the collected data to the information processor for numerical comparison, and dynamically adjust the rotation of the working platform around the Y-axis through the multi-degree-of-freedom adjustment arm 21 until the distance values ​​collected by the first distance sensor 237 and the second distance sensor 238 are equal, that is, the working platform is leveled on the X-axis; then collect the vertical distances from the first distance sensor 237 and the third distance sensor 239 to the target plane, and transmit the collected data to the information processor for numerical comparison, and dynamically adjust the rotation of the working platform around the Y-axis through the multi-degree-of-freedom adjustment arm 21 until the distance values ​​collected by the first distance sensor 237 and the second distance sensor 238 are equal, that is, the working platform is leveled on the X-axis. The vertical distance from the distance sensor 239 or the second distance sensor 238 and the third distance sensor 239 to the target plane, the collected data is transmitted to the information processor for vertical comparison, and the work platform is dynamically adjusted to rotate around the X-axis through the multi-degree-of-freedom adjustment arm 21 until the distance values ​​collected by the first distance sensor 237 and the third distance sensor 239 or the second distance sensor 238 and the third distance sensor 239 are equal, that is, the work platform is leveled on the Y-axis, that is, at this time, the distances between the first distance sensor 237, the second distance sensor 238 and the third distance sensor 239 and the target plane are consistent, that is, at this time, the work platform is leveled with the target plane in the vertical direction.

[0051] In addition, the leveling process of the vertical position of the working platform can also be implemented using a PID intelligent control algorithm, that is, in the process of dynamic adjustment of the working platform, the length direction of the working platform is the X-axis, the width direction is the Y-axis, and the first distance sensor 237 and the second distance sensor 238 are located on the X-axis, and the third distance sensor 239 is located on the Y-axis; on the X-axis, the distance between the first distance sensor 237 and the target plane is recorded as D1, and the distance between the second distance sensor 238 and the target plane is recorded as D2; on the Y-axis, the distance between the third distance sensor 239 and the target plane is recorded as D3, and the distance between the first distance sensor 237 or the second distance sensor 238 and the target plane is recorded as D4; and then by bringing the collected data of D1, D2, D3 and D4 into the PID intelligent control algorithm, the multi-degree-of-freedom adjustment arm 21 is used to dynamically rotate the working platform in real time with the X-axis and Y-axis as the rotation axis, so as to realize the leveling of the working platform on the X-axis and Y-axis. The PID intelligent control algorithm is shown in the attached figure. Fig.10 As shown. After the interaction between the PID intelligent control algorithm and the information processor, the distance between the triangular plane formed by the first distance sensor 237, the second distance sensor 238 and the third distance sensor 239 and the target plane in the X-axis direction is consistent. Wherein, k = 1, 2, 3...n is the sampling sequence; E K is the distance deviation value; E K-1 is the deviation value from the previous moment; E K-2 K is the deviation value from the previous 2 moments;P1 , K I1 , K D1 They are the initial values ​​of the proportional, integral and differential in PID respectively; ΔK I , ΔK P , ΔK D are the initial values ​​of the incremental domain of PID proportion, integration and differentiation respectively; the domain is the distance error range, F is the fuzzy domain; ΔK i , ΔK p , ΔK D are the initial values ​​of the incremental domain of PID proportional, integral, and differential respectively; a and b in the formula y = (x-(a+b) / 2)·2·n(ba) are the upper and lower limits of the error set, and x is the error value E at time k k , y is the membership value of x in F at time k. Therefore, the PID intelligent control algorithm calculates the servo motor motion speed increment through the error value to achieve plane leveling, and adopts non-contact and contact sensors for two leveling to ensure that the leveling accuracy is within 1mm.

[0052] The specific application of the above automatic leveling device in the vehicle-mounted photovoltaic module 1 cleaning device 2 is as follows:

[0053] See also Figures 1 to 5 As shown, the vehicle-mounted photovoltaic module 1 cleaning device 2 is mainly used for cleaning the photovoltaic module 1 that follows the slope. The vehicle-mounted photovoltaic module 1 cleaning device 2 includes a vehicle 22, a cleaning component 23, a power supply device 24, a control cabinet 25, a multi-degree-of-freedom adjustment arm 21, a distance measurement component and an information processor. The power supply device 24, the control cabinet 25 and the multi-degree-of-freedom adjustment arm 21 are all installed on the vehicle 22, and the information processor is arranged in the control cabinet 25. The cleaning component 23 is installed on the working platform of the multi-degree-of-freedom adjustment arm 21, and the cleaning surface of the cleaning component 23 is kept parallel to the installation surface thereof installed on the working platform, and then the multi-degree-of-freedom adjustment arm 21 is used to adjust the spatial position of the cleaning component 23 through the working platform; the vehicle 22 is responsible for carrying the power supply device 24, the control cabinet 25, and the four-degree-of-freedom robot.

[0054] See also Figure 4 and Figure 5 As shown, the cleaning assembly 23 includes a slide rail 231 and a cleaning module 232. During installation, the slide rail 231 is installed on a working platform, or the slide rail 231 is used as a working platform for a leveling device. The cleaning module 232 is connected to the slide rail 231 through a pulley, and a driving component is provided between the pulley and the slide rail 231, so that the cleaning module 232 can slide on the slide rail 231. The first distance sensor 237, the second distance sensor 238, and the third distance sensor 239 are all installed on the inner side of the track, and the installation position is as shown in FIG. Figure 5As shown, a triangle is presented, and the three distance sensors measure the distance information from the slide rail 231 to the photovoltaic module 1 in real time, and feed the distance information back to the PLC programmable controller. Through the calculation and processing of the PLC programmable controller, the processing result is further fed back to the multi-degree-of-freedom adjustment arm 21. The multi-degree-of-freedom adjustment arm 21 realizes spatial angle adjustment of the slide rail 231 through the control of the servo controller to ensure that the triangular plane formed by the three distance sensors is parallel to the surface of the photovoltaic panel in the photovoltaic module 11.

[0055] like Figure 5 As shown, further, during installation, the first linear displacement sensor 233 and the second linear displacement sensor 234 are located at both ends of the working platform or the slide rail 231 in the length direction and the ends of the first linear displacement sensor 233 and the second linear displacement sensor 234 are flush with the brush of the cleaning module 232, and do not affect the operation of the cleaning module 232; the third linear displacement sensor 235 and the fourth linear displacement sensor 236 are located at both ends of the working platform in the width direction, and are located in front of the brush of the cleaning module 232 and the height is flush with the brush, and the installation position can be further adjusted according to usage requirements.

[0056] Detection method: The ends of the first linear displacement sensor 233, the second linear displacement sensor 234, the third linear displacement sensor 235, and the fourth linear displacement sensor 236 are all in the same horizontal plane and consistent with the plane of the brush end of the cleaning module 232. The working platform moves downward, and when the linear displacement sensor contacts the surface of the photovoltaic panel, it begins to shrink and move, and the displacement change is converted into a resistance change. The compression amount is determined according to the resistance change. When it exceeds the set value range, the angle of the working platform is adjusted until the set value range is met.

[0057] See also Figures 1 to 9 As shown, specifically, the operation steps of the leveling device on the vehicle-mounted photovoltaic module 1 cleaning device 2 are as follows:

[0058] Prepare the position, move the vehicle-mounted photovoltaic cleaning equipment 2 to the starting position of the photovoltaic module 1. This position can be adjusted at any time through the teaching device in different photovoltaic power plants, and start the preparation work before cleaning.

[0059] The angle θ between the cleaning module 232 and the edge of the photovoltaic panel at the initial position is adjusted to zero, such as Figure 7 Specifically, an edge of the photovoltaic panel is used as a reference line, and the distance to the edge of the photovoltaic panel is detected by the first distance sensor 237 and the third distance sensor 239, and the collected data is transmitted to the information processor for precise calculation of the intelligent control algorithm, and then the multi-degree-of-freedom adjustment arm 21 is adjusted according to the calculation result, so that the cleaning module 232 is dynamically adjusted to adjust the angle θ between the starting edge and the edge of the photovoltaic panel to zero 0°.

[0060] Level the cleaning surface of the cleaning module 232 with the surface of the photovoltaic panel. Specifically, Figure 2 As shown, the length direction of the working platform is the X-axis, the width direction is the Y-axis, the first distance sensor 237 and the second distance sensor 238 are located on the X-axis, and the third distance sensor 239 is located on the Y-axis. The cleaning module 232 is adjusted, and the adjustment process is as follows:

[0061] The cleaning module 232 starts to level around the X-axis. Specifically, the information processor collects the detection data of the first distance sensor 237 and the second distance sensor 238, and collects the distances from the two ends of the working platform to the photovoltaic panel in the length direction. Then, the detection data is accurately calculated by the intelligent control algorithm to obtain the real-time dynamic changes of the working platform rotating around the Y-axis. The multi-degree-of-freedom adjustment arm 21 is continuously used to dynamically adjust the rotation of the working platform around the Y-axis until the first distance sensor 237 and the second distance sensor 238 measure the distance to the photovoltaic panel to be approximately equal. At this time, the cleaning module 232 and the photovoltaic panel are leveled in the X-axis direction.

[0062] Keep the cleaning module 232 in the leveling state in the X-axis direction, obtain the real-time dynamic changes of the cleaning module 232 starting to rotate around the X-axis, the information processor collects the detection data of the first distance sensor 237 and the third distance sensor 239, collects the distances from the two ends of the working platform to the photovoltaic panel in the width direction, and then uses the intelligent control algorithm to accurately calculate the detection data to obtain the real-time dynamic changes of the working platform rotating around the X-axis, and continues to use the multi-degree-of-freedom adjustment arm 21 to adjust the rotation of the working platform around the X-axis until the first distance sensor 237 and the third distance sensor 239 detect that the distance to the photovoltaic panel is approximately equal, and at this time, the cleaning module 232 and the photovoltaic panel are leveled in the Y-axis direction. This ensures that the cleaning effect remains consistent during the cleaning process.

[0063] After the adjustment is completed, the cleaning module 232 starts to move horizontally on the surface of the photovoltaic panel. Specifically, the distance between the cleaning module 232 and the photovoltaic panel can be adjusted in real time by collecting data from the first distance sensor 237, the second distance sensor 238, or the third distance sensor 239, so that the cleaning module 232 contacts the photovoltaic panel.

[0064] The first linear displacement sensor 233 , the second linear displacement sensor 234 , the third linear displacement sensor 235 , and the fourth linear displacement sensor 236 are used to check the leveling result and make fine adjustments to ensure that the brush of the cleaning module 232 is in full contact with the photovoltaic panel.

[0065] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic leveling device, characterized in that: include: The working platform is a rectangular structure; A multi-degree-of-freedom adjustment arm (21), the output end of which is connected to the working platform, and the multi-degree-of-freedom adjustment arm (21) is used to achieve multi-angle adjustment of the working platform; A distance measuring component is arranged on the working platform, the distance measuring component comprises a first distance sensor (237), a second distance sensor (238) and a third distance sensor (239) installed on the working platform, the first distance sensor (237) and the second distance sensor (238) are arranged at two ends of the length direction of the working platform, the third distance sensor (239) is located between the first distance sensor (237) and the second distance sensor (238), and the three are distributed in a triangle in the same plane of the working platform, and the distance measuring component is used to obtain distance information of multiple points between the working platform and the target plane; An information processor is electrically connected to the distance measuring component and the multi-degree-of-freedom adjustment arm (21) respectively, and is used to control the multi-degree-of-freedom adjustment arm (21) to adjust the angle of the working platform through multiple distance information fed back by the distance measuring component, so as to achieve parallelism between the working platform and the target plane.

2. The automatic leveling device according to claim 1, characterized in that: The horizontal distance between the first distance sensor (237) and the third distance sensor (239) is equal to the horizontal distance between the second distance sensor (238) and the third distance sensor (239), and the third distance sensor (239) is located on a vertical line connecting the first distance sensor (237) and the second distance sensor (238).

3. The automatic leveling device according to claim 1, characterized in that: The working platform is also provided with an inspection fine-tuning component, which includes a first linear displacement sensor (233), a second linear displacement sensor (234), a third linear displacement sensor (235) and a fourth linear displacement sensor (236), all of which are electrically connected to the information processor; The first linear displacement sensor (233) and the second linear displacement sensor (234) are respectively installed at two ends of the working platform, and are used to detect the parallelism between the plane formed by the first distance sensor (237), the second distance sensor (238) and the third distance sensor (239) and the target plane in the X-axis direction; The third linear displacement sensor (235) and the fourth linear displacement sensor (236) are respectively installed on both sides of the working platform perpendicular to the line connecting the first linear displacement sensor (233) and the second linear displacement sensor (234), and are used to detect the parallelism between the plane formed by the first distance sensor (237), the second distance sensor (238) and the third distance sensor (239) and the target plane in the Y-axis direction.

4. The automatic leveling device according to claim 3, characterized in that: The information processor comprises a PLC programmable controller, the input end of the PLC programmable controller is electrically connected to the first linear displacement sensor (233), the second linear displacement sensor (234), the third linear displacement sensor (235), the fourth linear displacement sensor (236), the first distance sensor (237), the second distance sensor (238) and the third distance sensor (239), respectively, and the output end of the PLC programmable controller is electrically connected to the multi-degree-of-freedom adjustment arm (21) through a servo controller.

5. The automatic leveling device according to claim 1, characterized in that: The first distance sensor (237), the second distance sensor (238) and the third distance sensor (239) are all ultrasonic distance sensors.

6. The automatic leveling device according to claim 1, characterized in that: The vibration amplitude of the multi-degree-of-freedom adjustment arm (21) is less than 5 m / s 2 .

7. The automatic leveling device according to claim 1, characterized in that: The repeated positioning accuracy of the multi-degree-of-freedom adjustment arm (21) is less than 0.5 mm.

8. A leveling method for an automatic leveling device according to any one of claims 1 to 7, characterized in that: The following steps are involved: Leveling the working platform in the horizontal direction: setting a side line on the target plane that is parallel to the line connecting the first distance sensor (237) and the second distance sensor (238) as a reference line, dynamically adjusting the angle of the working platform in the horizontal direction through the multi-degree-of-freedom adjustment arm (21), using an information processor to collect the distances from the first distance sensor (237) and the second distance sensor (238) to the reference line in real time, and following up the changes of the two distance information collected in real time until the distances from the two distance information to the reference line are equal, thus achieving the leveling of the horizontal position of the working platform; Leveling the working platform in the vertical direction: the length direction of the working platform is the X-axis, the width direction is the Y-axis, the first distance sensor (237) and the second distance sensor (238) are located on the X-axis, and the third distance sensor (239) is located on the Y-axis; the vertical distances from the first distance sensor (237) and the second distance sensor (238) to the target plane are collected, the collected data are transmitted to the information processor for numerical comparison, and the working platform is dynamically adjusted to rotate around the Y-axis through the multi-degree-of-freedom adjustment arm (21) until the distance values ​​collected by the first distance sensor (237) and the second distance sensor (238) are equal, that is, the working platform is leveled on the X-axis; then the vertical distances from the first distance sensor (237) and the third distance sensor (239) are collected. The vertical distance from the first distance sensor (239) or the second distance sensor (238) and the third distance sensor (239) to the target plane is collected, and the collected data is transmitted to the information processor for vertical comparison. The multi-degree-of-freedom adjustment arm (21) dynamically adjusts the rotation of the working platform around the X-axis until the distance values ​​collected by the first distance sensor (237) and the third distance sensor (239) or the second distance sensor (238) and the third distance sensor (239) are equal, that is, the working platform is leveled on the Y-axis, that is, at this time, the distances between the first distance sensor (237), the second distance sensor (238) and the third distance sensor (239) and the target plane are consistent, that is, the working platform is leveled with the target plane in the vertical direction.

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