Photovoltaic cleaning robot suspension method and photovoltaic cleaning robot transportation system

Abstract

The invention discloses a photovoltaic cleaning robot suspension method and a photovoltaic cleaning robot transportation system, and belongs to the technical field of photovoltaic cleaning robots. The photovoltaic cleaning robot transportation system comprises a carrying unmanned aerial vehicle and a carrying assembly. In the carrying assembly, a winch suspends a grabbing unmanned aerial vehicle through a rope, and the grabbing unmanned aerial vehicle grabs the photovoltaic cleaning robot; air outlets are formed in any one of the front, back, left and right side walls of a robot body in the photovoltaic cleaning robot; the method comprises the steps that under the condition that the lowering length of a rope exceeds the preset length, the wind direction of current environment wind acting on the photovoltaic cleaning robot is obtained; and according to the wind direction of the current environment wind, a fan is controlled to blow air to the outside of the machine body through at least part of air outlets in at least one side wall, so that the direction of a first acting force acting on the photovoltaic cleaning robot through blowing is opposite to that of a second acting force acting on the photovoltaic cleaning robot through the current environment wind. According to the embodiment of the invention, the suspension stability of the photovoltaic cleaning robot can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning robots, and in particular to a photovoltaic cleaning robot suspension method and a photovoltaic cleaning robot transportation system. Background Art

[0002] At present, photovoltaic cleaning robots can be released onto photovoltaic panels or retrieved from photovoltaic panels by using drone suspension, so as to meet the needs of photovoltaic cleaning robots in various application scenarios. However, when using rope suspension, the photovoltaic cleaning robot will shake due to wind and other reasons, which will not only affect the suspension stability and efficiency of the photovoltaic cleaning robot, but also increase the difficulty of drone control, making the photovoltaic cleaning robot and / or drone at risk of falling. Summary of the invention

[0003] The present invention provides a photovoltaic cleaning robot suspension method and a photovoltaic cleaning robot transportation system to solve one of the technical problems raised in the above-mentioned background technology.

[0004] In a first aspect, an embodiment of the present invention provides a photovoltaic cleaning robot suspension method, which is applied to a photovoltaic cleaning robot transportation system; the photovoltaic cleaning robot transportation system comprises: a carrier drone, and a carrier assembly arranged on the carrier drone; the carrier assembly comprises: a winch and a grabbing drone; the winch is fixedly arranged on the carrier drone, and the winch suspends the grabbing drone through a rope, and the grabbing drone is used to grab the photovoltaic cleaning robot; the photovoltaic cleaning robot comprises: a fuselage, and at least one air outlet is arranged on any of the front, rear, left and right side walls of the fuselage, and a fan is arranged inside the fuselage, and the fan is connected to the air outlet; the method comprises:

[0005] When the lowering length of the rope exceeds a preset length, obtaining the wind direction of the current ambient wind acting on the photovoltaic cleaning robot;

[0006] According to the wind direction of the current ambient wind, the fan is controlled to blow air to the outside of the fuselage through at least part of the air outlet on at least one of the side walls, so that the first force acting on the photovoltaic cleaning robot by blowing is in the opposite direction to the second force acting on the photovoltaic cleaning robot by the current ambient wind.

[0007] Optionally, before controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on at least one of the side walls according to the wind direction of the current ambient wind, the method further includes:

[0008] Obtain the wind speed of the current ambient wind;

[0009] Controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on at least one of the side walls according to the wind direction of the current ambient wind comprises:

[0010] Determine the wind-bearing side wall among the side walls that is affected by the current ambient wind according to the wind direction of the current ambient wind, and determine the magnitude of the second acting force according to the wind speed of the current ambient wind;

[0011] According to the magnitude of the second force, the fan is controlled to blow air to the outside of the fuselage through at least part of the air outlets on the air outlet side wall, and the absolute value of the difference between the magnitude of the first force and the magnitude of the second force is controlled to be smaller than the magnitude of the second force; wherein the air outlet side wall is the side wall opposite to the wind-bearing side wall.

[0012] Optionally, there is one wind-bearing side wall, and the wind direction of the current ambient wind is perpendicular to the wind-bearing side wall; correspondingly, a side wall opposite to the wind-bearing side wall is the wind-outlet side wall, and the force acting on the photovoltaic cleaning robot by blowing air to the outside of the fuselage through the air outlet on the wind-outlet side wall serves as the first force.

[0013] Optionally, there are two wind-bearing side walls, including two adjacent side walls on the fuselage, and the wind direction of the current ambient wind is not perpendicular to the two wind-bearing side walls; accordingly, the two side walls opposite to the two wind-bearing side walls serve as air outlet side walls, and the resultant force acting on the photovoltaic cleaning robot by blowing air to the outside of the fuselage through the air outlets on the two air outlet side walls serves as the first force.

[0014] Optionally, according to the magnitude of the second force, controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on the air outlet side wall, and controlling the absolute value of the difference between the magnitude of the first force and the magnitude of the second force to be smaller than the magnitude of the second force, comprises:

[0015] According to the magnitude of the second force, at least one of the number of air outlets on the air outlet side wall that blow air to the outside of the fuselage, the air volume of the air outlets that blow air to the outside of the fuselage, and the air speed of the air outlets that blow air to the outside of the fuselage is controlled so that the absolute value of the difference between the magnitude of the first force and the magnitude of the second force is smaller than the magnitude of the second force.

[0016] Optionally, the magnitude of the first force is equal to the magnitude of the second force.

[0017] Optionally, the carrying component further includes: a wind direction and anemometer, which is arranged on the grabbing drone or on the photovoltaic cleaning robot grabbed by the grabbing drone;

[0018] The step of obtaining the wind direction of the current ambient wind acting on the photovoltaic cleaning robot comprises:

[0019] The current wind direction collected by the wind direction and anemometer is used as the wind direction of the current ambient wind;

[0020] The obtaining of the wind speed of the current ambient wind comprises:

[0021] The current wind speed collected by the wind direction and anemometer is used as the wind speed of the current ambient wind.

[0022] Optionally, the grabbing drone is a multi-rotor drone; and the method further comprises:

[0023] If the rope rotates, the grabbing drone is started and the grabbing drone is controlled not to rotate.

[0024] Optionally, the method further comprises:

[0025] When the lowering length of the rope is less than or equal to the preset length, the fan is controlled to be turned off.

[0026] Optionally, the method further comprises:

[0027] In the process of placing the photovoltaic cleaning robot onto the photovoltaic panel, when the photovoltaic cleaning robot contacts the photovoltaic panel, controlling the fan to be turned off;

[0028] And / or, during the process of retrieving the photovoltaic cleaning robot from the photovoltaic panel, before the photovoltaic cleaning robot leaves the photovoltaic panel, the fan is controlled to be turned off.

[0029] In a second aspect, an embodiment of the present invention further provides a photovoltaic cleaning robot transportation system, comprising: a carrier drone, a carrier component disposed on the carrier drone, and a controller;

[0030] The transport assembly includes: a winch and a grabbing drone; the winch is fixedly arranged on the transporting drone, the winch suspends the grabbing drone through a rope, and the grabbing drone is used to grab the photovoltaic cleaning robot;

[0031] The photovoltaic cleaning robot comprises: a fuselage, wherein at least one air outlet is arranged in any of the front, rear, left and right side walls of the fuselage, and a fan is arranged inside the fuselage, and the fan is connected to the air outlet;

[0032] The controller is used to execute the photovoltaic cleaning robot suspension method provided in any embodiment of the present invention.

[0033] In the photovoltaic cleaning robot suspension method provided by the embodiment of the present invention, when the length of the rope lowered exceeds the preset length, it is considered that the shaking problem of the photovoltaic cleaning robot will affect its suspension safety. At this time, the shaking of the photovoltaic cleaning robot, such as the shaking direction, can be obtained by obtaining the wind direction of the current ambient wind acting on the photovoltaic cleaning robot; on this basis, the fan is controlled to blow air to the outside of the fuselage through at least part of the air outlet on at least one side wall, which can provide the photovoltaic cleaning robot with a first force opposite to the second force provided by the current ambient wind, so as to offset the influence of the wind on the photovoltaic cleaning robot, and reduce or even eliminate the shaking of the photovoltaic cleaning robot during the suspension process. In summary, the embodiment of the present invention can improve the suspension stability of the photovoltaic cleaning robot, thereby avoiding the grabbing drone and the carrying drone from being affected by the shaking of the photovoltaic cleaning robot, reducing the difficulty of the suspension operation, and improving the suspension and transportation safety of the photovoltaic cleaning robot. In addition, due to the improved suspension stability of the photovoltaic cleaning robot, the positioning difficulty of the photovoltaic cleaning robot during the delivery / recovery process will be greatly reduced, thereby effectively improving the suspension and transportation efficiency of the photovoltaic cleaning robot.

[0034] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 is a schematic diagram of a photovoltaic cleaning robot transportation system provided by an embodiment of the present invention;

[0037] Figure 2 is another schematic diagram of the photovoltaic cleaning robot transportation system provided by an embodiment of the present invention;

[0038] Figure 3 is another schematic diagram of a photovoltaic cleaning robot transportation system provided by an embodiment of the present invention;

[0039] Figure 4 is a stereoscopic diagram of a photovoltaic cleaning robot provided by an embodiment of the present invention;

[0040] Figure 5 is a flow chart of a photovoltaic cleaning robot suspension method provided by an embodiment of the present invention;

[0041] Figure 6 is a schematic diagram of the wind direction of the current ambient wind provided by an embodiment of the present invention;

[0042] Figure 7 is another wind direction schematic diagram of the current ambient wind provided by an embodiment of the present invention;

[0043] Figure 8 This is another flow chart of the photovoltaic cleaning robot suspension method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0046] An embodiment of the present invention provides a suspension method for a photovoltaic cleaning robot. The method can be applied to a photovoltaic cleaning robot transportation system. For example, the method can be executed by a controller in the photovoltaic cleaning robot transportation system. The method can effectively improve the suspension stability of the photovoltaic cleaning robot.

[0047] To facilitate the explanation of the photovoltaic cleaning robot suspension method, the structure of the photovoltaic cleaning robot transportation system is first briefly described below. Figure 1 is a schematic diagram of a photovoltaic cleaning robot transportation system provided by an embodiment of the present invention; Figure 2 is another schematic diagram of the photovoltaic cleaning robot transportation system provided by an embodiment of the present invention; Figure 3 is another schematic diagram of a photovoltaic cleaning robot transportation system provided by an embodiment of the present invention; Figures 1 to 3 The schematic diagrams of the structure of the photovoltaic cleaning robot grasping the carrier component in the photovoltaic cleaning robot transportation system at different angles are shown in FIG. Figures 1 to 3For example, the photovoltaic cleaning robot transportation system includes: a carrier drone (not shown in the figure), the carrier drone adopts a multi-rotor drone that can hover in the air, and a carrier component arranged on the carrier drone. Among them, the carrier component includes: a winch 10 and a grabbing drone 20. The winch 10 is fixedly arranged on the carrier drone, and the winch 10 suspends the grabbing drone 20 through a rope 12. The grabbing drone 20 is used to grab the photovoltaic cleaning robot 40.

[0048] Specifically, the winch 10 may include a drum 11 and a rope 12, the drum 11 being fixed to the fuselage of the carrier drone, for example, through a connecting rod 30; one end of the rope 12 is fixed to the drum 11, and the other end of the rope 12 is connected to the grabbing drone 20; the rope 12 is wound around the drum 11, and based on the rotation of the drum 11, the winch 10 can realize the retraction and release of the rope 12, thereby realizing the recovery and lowering of the grabbing drone 20, and further realizing the recovery and delivery of the photovoltaic cleaning robot 40. The grabbing drone 20 may include a drone body 21 and a mechanical arm 22, the drone body 21 is respectively connected to the rope 12 and the mechanical arm 22, and the mechanical arm 22 is used to clamp the photovoltaic cleaning robot 40. The mechanical arm 22 can, for example, clamp the handle on the fuselage of the photovoltaic cleaning robot 40. The carrier drone transports and delivers the clamped photovoltaic cleaning robot 40 to the photovoltaic panel to be cleaned through the carrier assembly, and the carrier drone clamps and recovers the photovoltaic cleaning robot 40 on the photovoltaic panel through the carrier assembly.

[0049] Figure 4 is a three-dimensional diagram of a photovoltaic cleaning robot provided by an embodiment of the present invention. Figures 1 to 4 The photovoltaic cleaning robot 40 includes: a body, and at least one air outlet 401 is arranged on any of the front, back, left and right side walls of the body. Figures 1 to 4By way of example, two air outlets 401 are provided on the front side wall 41, the right side wall 42, the rear side wall 43 and the left side wall 44, but this is not intended to limit the present invention. A fan (not shown in the figure) is provided inside the fuselage, and the fan is connected to the air outlet 401. After the fan is started, it can blow air to the outside of the fuselage through the air outlet 401 connected thereto, and the air outlet 401 that needs to blow air outward can be selected as needed. In addition, in order to realize the movement and cleaning of the photovoltaic cleaning robot 40 on the photovoltaic panel, a moving part can be provided at the bottom of the fuselage, and a cleaning part can be provided at the front end of the fuselage. The moving part includes, for example, track wheels, which can support the entire robot and provide power. The cleaning components include, for example, a shell, a roller brush, a motor, a pump and a trash bin; the roller brush is partially exposed under the shell, and cleans the surface of the photovoltaic panel by contacting the surface of the photovoltaic panel during movement; the motor is used to drive the roller brush to roll to achieve a better cleaning effect; a garbage inlet can be set at the bottom of the shell, and the garbage generated during the cleaning process can be sucked into the trash bin through the garbage inlet by the pump; the trash bin can be set inside the fuselage.

[0050] The photovoltaic cleaning robot suspension method is described below. Figure 5 is a flow chart of a photovoltaic cleaning robot suspension method provided by an embodiment of the present invention. Although the process described below includes multiple operations that appear in a specific order, it should be clearly understood that these processes may also include more or fewer operations, and these operations may be performed sequentially or in parallel (for example, using a parallel processor or a multi-threaded environment). Figure 5 , the method comprises the following steps:

[0051] S110. When the length of the rope lowered exceeds a preset length, the wind direction of the current ambient wind acting on the photovoltaic cleaning robot is obtained.

[0052] Among them, the lowering length of the rope is, for example, the length of the rope protruding from the bottom of the drum, or the length of the rope between the bottom of the drum and the top of the grabbing drone. The preset length can be determined, for example, according to the weight of the photovoltaic cleaning robot and the wind intensity of the environment where the photovoltaic panel is located. For example, for photovoltaic stations with high wind intensity and / or photovoltaic cleaning robots with light weight, when the rope lowering length is short, the shaking amplitude of the photovoltaic cleaning robot will increase significantly, and the preset length can be set to be shorter accordingly. Alternatively, the preset length can also be set to the length when the rope is contracted to the shortest. Then, for the delivery process, once the rope begins to be lowered, the shaking problem will be dealt with. For the recovery process, the shaking problem will be dealt with before the rope is recovered in place. In this way, the suspension stability of the photovoltaic cleaning robot during the delivery / recovery process can be guaranteed.

[0053] It is understandable that, whether in the case of launching or recovering the photovoltaic cleaning robot, the carrier drone will shrink the rope in the winch to the shortest during the transportation between the storage location of the photovoltaic cleaning robot and the photovoltaic station, so that the photovoltaic cleaning robot can be recovered in place, so as to maximize the transportation stability of the photovoltaic cleaning robot during transportation. In other words, during the movement of the carrier drone, the length of the rope is always shorter than or equal to the preset length. At this time, the shaking of the photovoltaic cleaning robot caused by factors such as wind is very limited, so there is no need to consider the shaking problem of the carrier drone during movement. When the carrier drone arrives near the target photovoltaic panel that needs to be cleaned in the photovoltaic station, the carrier drone usually hovers in the air to launch the photovoltaic cleaning robot to the target photovoltaic panel or recover the photovoltaic cleaning robot from the target photovoltaic panel; in the process of launching and recovering the photovoltaic cleaning robot, there is a situation where the length of the rope is lowered to exceed the preset length. In the above case, the photovoltaic cleaning robot is easily affected by wind during the suspension process and shakes.

[0054] Therefore, the embodiment of the present invention deals with the shaking problem of the photovoltaic cleaning robot when the grabbing drone grabs the photovoltaic cleaning robot and the lowering length of the rope exceeds the preset length, so as to improve the suspension stability of the photovoltaic cleaning robot. It should be noted that in the process of launching / recovering the photovoltaic cleaning robot, the carrier drone is usually in a hovering state, and the photovoltaic cleaning robot may shake due to the natural wind in the environment; or, in the process of launching / recovering the photovoltaic cleaning robot, it is inevitable that the carrier drone will have a small displacement due to the need to adjust the position, and the photovoltaic cleaning robot may also shake due to inertia. The cause of the shaking is not limited or analyzed here. When the current environmental wind acting on the photovoltaic cleaning robot can be obtained, it is considered that the photovoltaic cleaning robot is shaking and corresponding processing is performed.

[0055] S120. Control the fan to blow air to the outside of the fuselage through at least part of the air outlet on at least one side wall according to the wind direction of the current ambient wind, so that the first force acting on the photovoltaic cleaning robot by the blowing is opposite to the direction of the second force acting on the photovoltaic cleaning robot by the current ambient wind.

[0056] According to the wind direction of the current ambient wind, the fan can be controlled to blow air to the outside of the fuselage through the air outlet on the side wall opposite to the side wall where the current ambient wind acts, so as to provide a first force opposite to the second force, so as to at least partially offset the influence of the current ambient wind and reduce the shaking amplitude of the photovoltaic cleaning robot. For example, the position of the photovoltaic cleaning robot when the center of gravity of the grabbing drone and the roller part are aligned is taken as the reference position, and the shaking amplitude can be the maximum distance between the photovoltaic cleaning robot and the reference position during the shaking process.

[0057] It should be noted that a fan can be arranged inside the fuselage of the photovoltaic cleaning robot, and the fan is connected to all the air outlets. Then, controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on at least one side wall can be: controlling the fan to turn on, and discharging air through the air outlets that need to blow air outward. Alternatively, four fans corresponding to each side wall can be arranged inside the fuselage of the photovoltaic cleaning robot, and each fan is connected to all the air outlets on the corresponding side wall. Then, controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on at least one side wall can be: controlling the fan to turn on, and discharging air through the air outlets that need to blow air outward. Alternatively, multiple fans corresponding to each air outlet can be arranged inside the fuselage of the photovoltaic cleaning robot, and then controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on at least one side wall can be: controlling the fan corresponding to the air outlet that needs to blow air outward to turn on, and discharging air through the air outlets. In practical applications, the number of fans can be selected according to demand, and is not specifically limited here.

[0058] In the photovoltaic cleaning robot suspension method provided by the embodiment of the present invention, when the length of the rope lowered exceeds the preset length, it is considered that the shaking problem of the photovoltaic cleaning robot will affect its suspension safety. At this time, the shaking of the photovoltaic cleaning robot, such as the shaking direction, can be obtained by obtaining the wind direction of the current ambient wind acting on the photovoltaic cleaning robot; on this basis, the fan is controlled to blow air to the outside of the fuselage through at least part of the air outlet on at least one side wall, which can provide the photovoltaic cleaning robot with a first force opposite to the second force provided by the current ambient wind, so as to offset the influence of the wind on the photovoltaic cleaning robot, and reduce or even eliminate the shaking of the photovoltaic cleaning robot during the suspension process. In summary, the embodiment of the present invention can improve the suspension stability of the photovoltaic cleaning robot, thereby avoiding the grabbing drone and the carrying drone from being affected by the shaking of the photovoltaic cleaning robot, reducing the difficulty of the suspension operation, and improving the suspension and transportation safety of the photovoltaic cleaning robot. In addition, due to the improved suspension stability of the photovoltaic cleaning robot, the positioning difficulty of the photovoltaic cleaning robot during the delivery / recovery process will be greatly reduced, thereby effectively improving the suspension and transportation efficiency of the photovoltaic cleaning robot.

[0059] Based on the above embodiments, optionally, before the above S120, the method further includes: obtaining the wind speed of the current ambient wind. The wind speed of the current ambient wind determines the magnitude of the second force of the current ambient wind acting on the photovoltaic cleaning robot.

[0060] Accordingly, the above S120 specifically includes:

[0061] 1) The wind-bearing side wall affected by the current ambient wind among the side walls is determined according to the wind direction of the current ambient wind, and the magnitude of the second acting force is determined according to the wind speed of the current ambient wind.

[0062] 2) According to the magnitude of the second force, the fan is controlled to blow air to the outside of the fuselage through at least part of the air outlets on the air outlet side wall, and the absolute value of the difference between the magnitude of the first force and the magnitude of the second force is controlled to be smaller than the magnitude of the second force; wherein the air outlet side wall is the side wall opposite to the wind-bearing side wall.

[0063] This embodiment is configured to take into account both the direction and magnitude of the second force, ensuring that the first force and the second force are in opposite directions and that the magnitude of the resultant force is lower than that of the second force, thereby reliably offsetting the influence of the second force and effectively reducing the shaking of the photovoltaic cleaning robot during the suspension process through air blowing.

[0064] Preferably, the magnitude of the first force can be set to be equal to the magnitude of the second force, so as to completely offset the effect of wind on the photovoltaic cleaning robot and to prevent the photovoltaic cleaning robot from shaking during the suspension process as much as possible.

[0065] On the basis of the above-mentioned embodiments, optionally, according to the different directions of the current ambient wind, the air outlet side wall may be one or two, which are described below respectively.

[0066] Figure 6 Schematic diagram of the wind direction of the current environment provided by the embodiment of the present invention. Figure 6 , the solid arrow indicates the direction of the current ambient wind, and the hollow arrow indicates the wind direction of the fan. In one embodiment, optionally, there is one wind-bearing side wall, and the wind direction of the current ambient wind is perpendicular to the wind-bearing side wall; correspondingly, a side wall opposite to the wind-bearing side wall is an air outlet side wall, and the force acting on the photovoltaic cleaning robot by blowing air to the outside of the fuselage through the air outlet on the air outlet side wall serves as the first acting force. Figure 6 Exemplarily, the wind-bearing side wall is the front side wall 41, the wind direction of the current ambient wind is perpendicular to the front side wall 41, and the second force is perpendicular to the front side wall; the wind-out side wall is the rear side wall 43, and the fan can blow air to the outside of the fuselage through at least part of the air outlet on the rear side wall 43, thereby providing a first force perpendicular to the rear side wall 43 and opposite to the second force.

[0067] In this embodiment, the wind direction of the current ambient wind is perpendicular to any side wall on the fuselage, and the wind-bearing side wall and the wind-out side wall are both one.

[0068] Figure 7 FIG. 1 is another wind direction diagram of the current ambient wind provided by an embodiment of the present invention. Figure 7, the direction of the current ambient wind is still indicated by a solid arrow, and the direction of the wind from the fan is indicated by a hollow arrow. In another embodiment, optionally, there are two wind-bearing side walls, including two adjacent side walls on the fuselage, and the wind direction of the current ambient wind is not perpendicular to the two wind-bearing side walls; accordingly, the two side walls respectively opposite to the two wind-bearing side walls serve as wind-out side walls, and the combined force acting on the photovoltaic cleaning robot through the air outlets on the two wind-out side walls to blow air to the outside of the fuselage serves as the first acting force.

[0069] Figure 7 For example, the wind-bearing side walls are the front side wall 41 and the right side wall 42, and the wind direction of the current ambient wind is at a non-90-degree angle to the front side wall 41 and the right side wall; the wind-out side walls are the rear side wall 43 and the left side wall 44, and the fan can blow air to the outside of the fuselage through at least part of the air outlets on the rear side wall 43 and at least part of the air outlets on the left side wall 44, thereby providing a first sub-force perpendicular to the rear side wall 43 and a second sub-force perpendicular to the left side wall 44. The resultant force of the first sub-force and the second sub-force constitutes a first force, and by controlling the magnitude relationship between the first sub-force and the second sub-force, the direction of the first force can be controlled to be opposite to the direction of the second force.

[0070] In this embodiment, the wind direction of the current ambient wind is not perpendicular to any side wall, but acts obliquely on the fuselage, so there are two wind-bearing side walls and two wind-out side walls.

[0071] Based on the above embodiments, optionally, the geometric centers of all air outlets on the body of the photovoltaic cleaning robot can be arranged to be located on the same horizontal plane, which is parallel to the top and bottom surfaces of the body, for example. In this way, the forces exerted on the photovoltaic cleaning robot by blowing air through each air outlet can be located on the horizontal plane, thereby better offsetting the influence of wind blowing.

[0072] On the basis of the above-mentioned embodiments, optionally, according to the magnitude of the second force, the fan is controlled to blow air to the outside of the fuselage through at least part of the air outlets on the air outlet side wall, and the absolute value of the difference between the magnitude of the first force and the magnitude of the second force is controlled to be smaller than the magnitude of the second force, including: according to the magnitude of the second force, controlling at least one of the number of air outlets on the air outlet side wall that blow air to the outside of the fuselage, the air volume of the air outlets that blow air to the outside of the fuselage, and the air speed of the air outlets that blow air to the outside of the fuselage, so that the absolute value of the difference between the magnitude of the first force and the magnitude of the second force is smaller than the magnitude of the second force.

[0073] The magnitude of the first force can be increased by increasing the number of air outlets blowing air to the outside of the fuselage, increasing the air volume of the air outlets, and increasing the air speed of the air outlets. In practical applications, at least one of the above-mentioned related parameters can be adjusted according to the actual magnitude of the second force.

[0074] It is understandable that, generally, the closer to the target photovoltaic panel and the ground, the lower the wind speed; accordingly, the closer the photovoltaic cleaning robot is to the target photovoltaic panel, the lower the air volume and / or wind speed of each air outlet.

[0075] On the basis of the above embodiments, the carrier assembly may also include: a wind direction and anemometer, which may be arranged on the grabbing drone (for example, on the drone body or the mechanical arm) or on the photovoltaic cleaning robot grabbed by the grabbing drone (for example, on the top surface of the fuselage). Preferably, the wind direction and anemometer are arranged on the photovoltaic cleaning robot to avoid the influence of the wind from the rotor blades of the grabbing drone on the detection result of the wind direction and anemometer after the grabbing drone is started, and the current environmental wind borne by the photovoltaic cleaning robot can be more intuitively characterized, thereby improving the accuracy of the detection result.

[0076] On this basis, the wind direction of the current ambient wind acting on the photovoltaic cleaning robot is obtained, including: using the current wind direction collected by the wind direction and anemometer as the wind direction of the current ambient wind. And, the wind speed of the current ambient wind is obtained, including: using the current wind speed collected by the wind direction and anemometer as the wind speed of the current ambient wind.

[0077] In this embodiment, the wind speed and direction of the current ambient wind can be accurately measured by the wind direction and anemometer, which is conducive to accurately determining the magnitude and direction of the second force and guiding the magnitude and direction of the first force to offset the impact of wind on the photovoltaic cleaning robot.

[0078] Based on the above embodiments, optionally, the method further includes: when the length of the rope lowered is less than or equal to the preset length, controlling the fan to be turned off. According to the above analysis, when the length of the rope lowered is less than or equal to the preset length, the shaking of the photovoltaic cleaning robot caused by factors such as wind is very limited, so there is no need to turn on the fan.

[0079] On the basis of the above embodiments, optionally, the method further comprises: in the process of placing the photovoltaic cleaning robot on the photovoltaic panel, when the photovoltaic cleaning robot contacts the photovoltaic panel, controlling the fan to be turned off. In this embodiment, when the photovoltaic cleaning robot is placed, the fan is turned off when the photovoltaic cleaning robot contacts the photovoltaic panel, so as to avoid the photovoltaic cleaning robot from scratching the photovoltaic panel due to blowing.

[0080] And / or, the method may further include: in the process of recovering the photovoltaic cleaning robot from the photovoltaic panel, before the photovoltaic cleaning robot leaves the photovoltaic panel, controlling the fan to be turned off. In this embodiment, when recovering the photovoltaic cleaning robot, the photovoltaic cleaning robot is set not to start the fan before leaving the photovoltaic panel, and the wind direction and wind speed detection is performed after the photovoltaic cleaning robot leaves the photovoltaic panel, and whether to turn on the fan is controlled according to the detection result, which can also avoid the photovoltaic cleaning robot from scratching the photovoltaic panel due to blowing.

[0081] In summary, no matter whether the photovoltaic cleaning robot is deployed or recycled, the fan is controlled to be shut down when the photovoltaic cleaning robot comes into contact with the photovoltaic panel, which can protect the photovoltaic panel to a certain extent.

[0082] On the basis of the above-mentioned embodiments, optionally, the grabbing drone is a multi-rotor drone. Accordingly, the method further includes: if the rope rotates, the grabbing drone is started, and the grabbing drone is controlled not to rotate. In this way, by offsetting the rotation of the rope by the grabbing drone, it can be ensured that the photovoltaic cleaning robot does not rotate during the suspension process, and only moves up / down, thereby further improving the suspension stability of the photovoltaic cleaning robot. It is possible to judge whether the rope is in a state of self-rotation through the image of the photovoltaic cleaning robot / grabbing drone. For example, a camera is provided on the carrier drone, and the photovoltaic cleaning robot and / or grabbing drone is photographed downward through the camera on the carrier drone. Based on multiple images, it is judged whether the photovoltaic cleaning robot / grabbing drone is rotating, thereby determining whether the rope is rotating.

[0083] It should be noted that, usually, the grabbing drone is only started when the rope is lowered to a certain length (the length is greater than the preset length) and the photovoltaic cleaning robot needs to be grabbed / released. The position of the photovoltaic cleaning robot is determined by the camera and radar mounted on it, and the path during the grabbing / releasing process is planned to successfully achieve the grabbing / releasing of the photovoltaic cleaning robot. In this embodiment, during the suspension process, the grabbing drone is turned on when the rope rotates, and the rotation of the rope can be effectively offset by the work of the grabbing drone, so as to prevent the rope rotation from affecting the photovoltaic cleaning robot.

[0084] Combine the following Figure 8 , the steps of the method are described through a specific embodiment. Figure 8 , the method comprises the following steps:

[0085] S210: Determine whether the photovoltaic cleaning robot contacts the photovoltaic panel. If yes, execute S260; if no, execute S220.

[0086] S220: Determine whether the lowered length of the rope exceeds the preset length. If yes, execute S230; if no, execute S260.

[0087] S230, obtaining the current wind direction collected by the anemometer as the wind direction of the current ambient wind, and obtaining the current wind speed collected by the anemometer as the wind speed of the current ambient wind.

[0088] S240. Determine the wind-bearing side wall among the side walls that is affected by the current ambient wind according to the wind direction of the current ambient wind, and determine the magnitude of the second force according to the wind speed of the current ambient wind.

[0089] S250. According to the magnitude of the second force, control the fan to blow air to the outside of the fuselage through at least part of the air outlets on the air outlet side wall, and control the absolute value of the difference between the magnitude of the first force and the magnitude of the second force to be smaller than the magnitude of the second force.

[0090] S260, control the fan to shut down.

[0091] This embodiment implements the photovoltaic cleaning robot suspension method through S210-S260. It can be understood that the embodiment of the present invention Figure 8 The "end" in the above means that the current shaking-related control process is finished. Since the current ambient wind is changing in real time, after each shaking-related control process is finished, the next shaking-related control process can be started. The execution frequency of the shaking-related control process can be set according to actual needs and is not limited here.

[0092] It should be noted that a carrier drone can also be mounted with multiple carrier components to simultaneously transport multiple photovoltaic cleaning robots, thereby reducing the number of round trips of the carrier drone. The photovoltaic cleaning robot captured by any carrier component can be suspended using the photovoltaic cleaning robot suspension method provided by any embodiment of the present invention to improve the suspension stability.

[0093] The embodiment of the present invention further provides a photovoltaic cleaning robot transportation system, which can adopt the photovoltaic cleaning robot suspension method provided by any embodiment of the present invention and has corresponding beneficial effects. Figures 1 to 3 The photovoltaic cleaning robot transportation system may include: a carrier drone (not shown in the figure), a carrier component arranged on the carrier drone, and a controller (not shown in the figure).

[0094] The transport assembly includes: a hoist 10 and a grabbing drone 20; the hoist 10 is fixedly arranged on the transporting drone, and the hoist 10 suspends the grabbing drone 20 through a rope 12, and the grabbing drone 20 is used to grab the photovoltaic cleaning robot 40. The photovoltaic cleaning robot 40 includes: a fuselage, and at least one air outlet 401 is arranged in any of the front, rear, left and right side walls of the fuselage, and a fan (not shown in the figure) is arranged inside the fuselage, and the fan is connected to the air outlet 401. The controller is used to execute the photovoltaic cleaning robot suspension method provided in any embodiment of the present invention.

[0095] It should be noted that in each embodiment of the photovoltaic cleaning robot suspension method, some specific explanations are given for the structure of the photovoltaic cleaning robot transportation system. The contents not fully explained here can be referred to the explanations of the above embodiments, and the repeated contents will not be repeated.

[0096] It should also be noted that one or more transport components can be set on the carrier drone, and the photovoltaic cleaning robots captured by each transport component can be suspended using the photovoltaic cleaning robot suspension method. Among them, the number of controllers can be one, and the controller can be set on the carrier drone to control each transport component and the photovoltaic cleaning robot it captures; or the controller can be set in a one-to-one correspondence with the transport component, and any controller is used to control the transport component it is in and the photovoltaic cleaning robot captured by the transport component.

[0097] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0098] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A photovoltaic cleaning robot suspension method, characterized in that: The method is applied to a photovoltaic cleaning robot transport system; The photovoltaic cleaning robot transportation system comprises: a carrier drone and a carrier assembly arranged on the carrier drone; the carrier assembly comprises: a hoist and a grabbing drone; the hoist is fixedly arranged on the carrier drone, the hoist suspends the grabbing drone through a rope, and the grabbing drone is used to grab the photovoltaic cleaning robot; the photovoltaic cleaning robot comprises: a fuselage, at least one air outlet is arranged on any of the front, rear, left and right side walls of the fuselage, a fan is arranged inside the fuselage, and the fan is connected to the air outlet; the method comprises: When the lowering length of the rope exceeds a preset length, obtaining the wind direction of the current ambient wind acting on the photovoltaic cleaning robot; According to the wind direction of the current ambient wind, the fan is controlled to blow air to the outside of the fuselage through at least part of the air outlet on at least one of the side walls, so that the first force acting on the photovoltaic cleaning robot by blowing is in the opposite direction to the second force acting on the photovoltaic cleaning robot by the current ambient wind.

2. The photovoltaic cleaning robot suspension method according to claim 1, characterized in that: Before controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on at least one of the side walls according to the wind direction of the current ambient wind, the method further includes: Obtain the wind speed of the current ambient wind; Controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on at least one of the side walls according to the wind direction of the current ambient wind comprises: Determine the wind-bearing side wall among the side walls that is affected by the current ambient wind according to the wind direction of the current ambient wind, and determine the magnitude of the second acting force according to the wind speed of the current ambient wind; According to the magnitude of the second force, the fan is controlled to blow air to the outside of the fuselage through at least part of the air outlets on the air outlet side wall, and the absolute value of the difference between the magnitude of the first force and the magnitude of the second force is controlled to be smaller than the magnitude of the second force; wherein the air outlet side wall is the side wall opposite to the wind-bearing side wall.

3. The photovoltaic cleaning robot suspension method according to claim 2, characterized in that: There is one wind-bearing side wall, and the wind direction of the current ambient wind is perpendicular to the wind-bearing side wall; correspondingly, a side wall opposite to the wind-bearing side wall is the wind-outlet side wall, and the force acting on the photovoltaic cleaning robot by blowing air to the outside of the fuselage through the air outlet on the wind-outlet side wall serves as the first force.

4. The photovoltaic cleaning robot suspension method according to claim 2, characterized in that: There are two wind-bearing side walls, including two adjacent side walls on the fuselage, and the wind direction of the current ambient wind is not perpendicular to the two wind-bearing side walls; accordingly, the two side walls opposite to the two wind-bearing side walls serve as air outlet side walls, and the resultant force acting on the photovoltaic cleaning robot by blowing air to the outside of the fuselage through the air outlets on the two air outlet side walls serves as the first force.

5. The photovoltaic cleaning robot suspension method according to any one of claims 2 to 4, characterized in that: According to the magnitude of the second force, controlling the fan to blow air to the outside of the fuselage through at least part of the air outlets on the air outlet side wall, and controlling the absolute value of the difference between the magnitude of the first force and the magnitude of the second force to be smaller than the magnitude of the second force, comprises: According to the magnitude of the second force, at least one of the number of air outlets on the air outlet side wall that blow air to the outside of the fuselage, the air volume of the air outlets that blow air to the outside of the fuselage, and the air speed of the air outlets that blow air to the outside of the fuselage is controlled so that the absolute value of the difference between the magnitude of the first force and the magnitude of the second force is smaller than the magnitude of the second force.

6. The photovoltaic cleaning robot suspension method according to claim 2, characterized in that: The magnitude of the first acting force is equal to the magnitude of the second acting force.

7. The photovoltaic cleaning robot suspension method according to claim 2, characterized in that: The carrying assembly further includes: a wind direction and anemometer, which is arranged on the grabbing drone or on the photovoltaic cleaning robot grabbed by the grabbing drone; The step of obtaining the wind direction of the current ambient wind acting on the photovoltaic cleaning robot comprises: The current wind direction collected by the wind direction and anemometer is used as the wind direction of the current ambient wind; The obtaining of the wind speed of the current ambient wind comprises: The current wind speed collected by the wind direction and anemometer is used as the wind speed of the current ambient wind.

8. The photovoltaic cleaning robot suspension method according to claim 1, characterized in that: The grabbing drone is a multi-rotor drone; the method further comprises: If the rope rotates, the grabbing drone is started and the grabbing drone is controlled not to rotate.

9. The photovoltaic cleaning robot suspension method according to claim 1 or 2, characterized in that: The method further comprises: When the lowering length of the rope is less than or equal to the preset length, the fan is controlled to be turned off.

10. The photovoltaic cleaning robot suspension method according to claim 1 or 2, characterized in that: The method further comprises: In the process of placing the photovoltaic cleaning robot onto the photovoltaic panel, when the photovoltaic cleaning robot contacts the photovoltaic panel, controlling the fan to be turned off; And / or, during the process of retrieving the photovoltaic cleaning robot from the photovoltaic panel, before the photovoltaic cleaning robot leaves the photovoltaic panel, the fan is controlled to be turned off.

11. A photovoltaic cleaning robot transportation system, characterized in that: include: A carrier drone, a carrier component provided on the carrier drone, and a controller; The transport assembly includes: a winch and a grabbing drone; the winch is fixedly arranged on the transporting drone, the winch suspends the grabbing drone through a rope, and the grabbing drone is used to grab the photovoltaic cleaning robot; The photovoltaic cleaning robot comprises: a fuselage, wherein at least one air outlet is arranged in any of the front, rear, left and right side walls of the fuselage, and a fan is arranged inside the fuselage, and the fan is connected to the air outlet; The controller is used to execute the photovoltaic cleaning robot suspension method described in any one of claims 1-10.

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