Photovoltaic panel cleaning device based on deflection correction

Abstract

The invention relates to the field of photovoltaic panel maintenance, in particular to a local structure design of a photovoltaic panel cleaning robot. According to the technical scheme, the photovoltaic panel cleaning device based on deflection correction comprises a machine body, a cleaner and walking wheels, the cleaner and the walking wheels are installed on the machine body, and the walking wheels comprise a front wheel set and a rear wheel set. The angle sensing suite comprises a shell, a sensor body and a plurality of leveling columns, the shell is mounted on the machine body, the sensor body and the leveling columns are mounted in the shell, and the leveling columns are connected with the sensor body and the shell and used for adjusting the extension angle of the sensor body relative to the shell. The invention aims to provide the photovoltaic panel cleaning device based on deflection correction, the cleaning device can be timely and rapidly separated from a gully, transfer between photovoltaic panels can be carried out more smoothly, and cleaning of the photovoltaic panels is more stable and efficient.

Description

Technical Field

[0001] The invention relates to the field of photovoltaic panel maintenance, and in particular to the local structural design of a photovoltaic panel cleaning robot. Background Art

[0002] With the continuous increase in the scale of my country's industry, the amount of energy used has also gradually increased. In this context, the demand for new energy and clean energy has become increasingly strong. Among many types of energy, photovoltaic energy has become an important part of my country's new energy development due to its good renewability, environmental protection, low maintenance cost, and support for distributed power generation.

[0003] In photovoltaic energy systems, photovoltaic panels are the main components used to absorb solar energy. They are large in size and are installed outdoors. However, in many environments with abundant photovoltaic resources, there is a lot of sand due to the lack of greenery. This sand covers the surface of photovoltaic panels, which will affect the absorption of solar energy by photovoltaic panel components and reduce the absorption efficiency.

[0004] In this context, manufacturers will use operation and maintenance robots with a high degree of automation as photovoltaic panel cleaning devices to clean the surface of photovoltaic panels. For example, the Chinese patent document with announcement number CN202010569684.2 or the Chinese patent document with announcement number CN201820000464.6 discloses an operation and maintenance robot, which includes a fuselage, a walking device, and a cleaning device. The cleaning device is mostly a brush and other components, which clean the roof and the photovoltaic panels on the roof. Furthermore, the operation and maintenance robot needs to cross obstacles or photovoltaic panels. When crossing these positions, the operation and maintenance robot will get stuck because there are often gullies.

[0005] For example, the Chinese patent document with application number 2024110215770 uses deflection correction technology. That is, a sensor, such as a six-axis sensor, is set on the robot's body to calculate its deflection angle relative to the photovoltaic panel, so as to identify its current deflection state. At least two sets of drive wheels are set on the body, such as a front drive wheel set and a rear drive wheel set. According to its own deflection state, the robot's controller formulates a corresponding disengagement plan, such as controlling the speed at which the two sets of drive wheels operate differentially, so that the robot can get out of the ditch and avoid wheel jam.

[0006] However, in actual use, there are always errors in the robot controller's escape plan, and the robot cannot escape the gully quickly, accurately, and effectively. Summary of the invention

[0007] The purpose of the present invention is to provide a photovoltaic panel cleaning device based on deflection correction, which can promptly and quickly get out of the gully, transfer between photovoltaic panels more smoothly, and clean the photovoltaic panels more stably and efficiently.

[0008] The above technical purpose of the present invention is achieved through the following technical solutions: a photovoltaic panel cleaning device based on deflection correction, comprising a machine body, a cleaner installed on the machine body and running wheels, the running wheels comprising a front wheel group and a rear wheel group, the front wheel group and the rear wheel group are driven by a separate driving device, and also comprising an angle sensing kit for sensing the deflection angle of the machine body, the angle sensing kit comprising a shell installed on the machine body, a sensor body installed in the shell and a leveling column, the leveling column is multiple, connecting the sensor body and the shell, and used to adjust the extension angle of the sensor body relative to the shell.

[0009] As a preferred embodiment of the present invention, the leveling column is a threaded column, the housing comprises a bottom shell and an upper cover, the upper end of the leveling column is connected to the sensor body, and the lower end is connected to the bottom shell.

[0010] As a preferred embodiment of the present invention, a spring is provided between the leveling column and the bottom shell.

[0011] As a preferred embodiment of the present invention, a touch sheet is provided on the magnetic sensor body, and a sensing sheet for contact sensing with the touch sheet is provided on the housing.

[0012] As a preferred embodiment of the present invention, there are at least two sensing sheets, which are respectively installed on the upper surface of the bottom shell and the lower surface of the upper cover, and the touch sheet is located between the two sensing sheets.

[0013] As a preferred embodiment of the present invention, the upper cover includes a fixing clamp, and the fixing clamp is used for embedding and installing the sensor guard.

[0014] As a preferred embodiment of the present invention, the angle sensing kit includes a main sensor and a plurality of auxiliary sensors, and the plurality of auxiliary sensors are distributed around the main sensor in a circular array.

[0015] As a preferred embodiment of the present invention, a disassembly plate is detachably connected to the body, and the main sensor and the auxiliary sensor are both mounted on the disassembly plate.

[0016] As a preferred embodiment of the present invention, the cleaner includes a cleaning frame, a brush and a swing shaft connecting the cleaning frame and the body, the brushes are at least two and are installed at the front and rear ends of the cleaning frame, and the cleaning frame swings relative to the body around the swing shaft.

[0017] As a preferred embodiment of the present invention, the cleaning frame includes a transverse connecting frame connected to the swing shaft and lower inclined frames installed at both ends of the transverse connecting frame, the lower inclined frame gradually tilts downward in a horizontal direction away from the transverse connecting frame, and the brush is installed on the transverse connecting frame.

[0018] In summary, the present invention has the following beneficial effects: 1. The coordinated setting of the main sensor and the auxiliary sensor enables the background chip to more conveniently calculate the tilt angle of the entire cleaning device, and the algorithm is more efficient and convenient.

[0019] 2. The user can easily level the initial state of the sensor body by adjusting multiple adjustment columns, so that the inclination angle of the cleaning equipment relative to the surface of the photovoltaic panel can be measured more accurately in the subsequent work process, providing a stable and reliable data basis for the escape plan.

[0020] 3. The touch sheet and the sensing sheet adopt the touch sensing in the prior art, which can more reliably obtain the health status of the sensor body.

[0021] 4. The protective gasket can well protect the upper surface of the sensor body, thereby preventing the sensor body from being damaged by frequent collisions and bumps and protecting the health of the sensor body.

[0022] 5. The coordination of the horizontal connecting frame and the lower inclined frame, as well as the swing setting of the swing shaft, on the one hand, makes the brush closer to the photovoltaic panel to obtain a better cleaning effect; on the other hand, when getting out of trouble, the lower inclined frame supports the machine body, thereby better assisting the cleaning equipment to get out of trouble. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of Example 1; Figure 2 This is a schematic diagram of the angle sensor kit installed on the body; Figure 3 is a schematic diagram of the angle sensing kit; Figure 4 yes Figure 3 A schematic diagram from another angle; Figure 5 yes Figure 3 Schematic diagram of the hidden housing side wall.

[0024] In the figure: 1. Machine body, 2. Cleaner, 21. Cleaning frame, 211. Horizontal connecting frame, 212. Lower oblique frame, 22. Brush, 23. Swing shaft, 3. Travel wheel, 4. Camera device, 5. Disassembly plate, 6. Angle sensor kit, 61. Shell, 611. Bottom shell, 612. Upper cover, 6121. Fixing clamp, 62. Sensor body, 63. Leveling column, 71. Touch sheet, 72. Induction sheet DETAILED DESCRIPTION

[0025] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0026] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0027] Examples, such as Figure 1 As shown, a photovoltaic panel cleaning device based on deflection correction includes a body 1, on which a cleaner 2 and a running wheel 3 are provided. The running wheel 3 has at least two groups, namely a front drive wheel group and a rear drive wheel group. The two drive wheel groups can be connected to a separate group of motors respectively, so that the forward / reverse / differential speed of the two drive wheel groups can be effectively controlled. This device relies on the angle sensing kit in the body 1, such as a six-axis sensor in the prior art, to collect and store the acceleration and angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time. The stored acceleration of the XYZ axis of the photovoltaic panel cleaning device is obtained in real time, and the deflection angle value of the photovoltaic panel cleaning device on the photovoltaic panel can be calculated. The photovoltaic panel cleaning device is based on this deflection angle value to know whether the cleaning device is currently stuck. For example, if it has been at an excessively large deflection angle value for more than 5 seconds, it can be determined that it is in a stuck wheel state. Further, a plan to get out of trouble is formulated based on a specific deflection angle, that is, a differential plan for the front drive wheel group and the rear drive wheel group.

[0028] In this case, the core component, namely the angle sensor kit, is further enhanced to ensure accurate setting and minimize the error. If there is an error between the angle sensor kit and the body 1 during the initial installation and debugging, the deflection angle value measured during the subsequent escape will be inaccurate or wrong, and the escape plan will also be inaccurate or wrong. Figure 2 As shown, a disassembly plate 5 is detachably mounted on the machine body 1, and the angle sensor kit 6 is mounted on top. When a problem occurs with the angle sensor kit 6, the adjusted replacement device can be directly mounted on the machine body 1, thereby achieving a more efficient and convenient installation. Figure 2In the 6, there are four sets of angle sensing kits, namely the main sensor in the middle and the three auxiliary sensors located in the outer circle. Generally speaking, the main sensor in the middle is used to capture data, but due to long-term outdoor operations, if the main sensor has problems with its working state, the user can switch to the three auxiliary sensors outside to capture data. The auxiliary sensors are generally distributed in a circular array outside the main sensor, and the number can be customized, generally 3-5. This setting allows the background chip to more conveniently calculate the tilt angle of the entire cleaning device, and the algorithm is more efficient and convenient.

[0029] Each angle sensor kit 6 has the same structure. Figure 3 , Figure 4 and Figure 5 As shown. The angle sensing kit 6 includes a shell 61 fixedly mounted on the body 1 or the disassembly plate 5, which is an upper and lower split structure, namely a bottom shell 611 and an upper cover 612. The distance between the sensor body 62 and the bottom shell 611 is adjusted by adjusting the leveling column 63 on the bottom shell 611, thereby adjusting the initial angle of the entire sensor body 62. The adjustment column 63 can be implemented in a variety of ways, as long as it supports telescopic and supports adjustment in the length direction. For example, a telescopic rod or a threaded rod. In this embodiment, a threaded rod is used. The advantage of a threaded rod is convenience and cost controllable. The disadvantage is that when the threaded rod and the bottom shell 611 are threadedly connected and adjusted, sometimes there will be a phenomenon of jamming due to angle deviation. However, in actual use, since it is a small angle adjustment, and the thread can be appropriately made not so dense and deep, the jamming situation can be effectively reduced, and stable adjustment can be achieved. In some products, springs can be set in the threaded rod and the bottom shell 611.

[0030] At this point, the user can easily level the initial state of the sensor body 62 by adjusting multiple adjustment columns 63, so that the inclination angle of the cleaning equipment relative to the surface of the photovoltaic panel can be measured more accurately in the subsequent work process, providing a stable and reliable data basis for the escape plan.

[0031] In addition, under certain extreme conditions, such as when the cleaning equipment is shaken greatly by strong winds and rainstorms, the sensor body 62 is easily displaced or damaged under the great vibration. At this time, its data is already unreliable. However, there is a certain amount of electromagnetic interference near outdoor photovoltaic equipment, which will affect the data transmission of six-axis sensors. That is, the background control center may not be able to judge immediately that the sensor body 62 is seriously displaced or damaged.

[0032] In this case, a physical touch check to maintain the state is further used. An outwardly extending touch sheet 71 is provided on the sensor body 62, and the touch sheet 71 can be slidably connected relative to it, that is, the depth of the touch sheet 71 relative to the sensor body 62 can be adjusted. Induction sheets 72 are provided at corresponding positions of the upper cover 612 and the bottom shell 611 to cooperate with the touch sheet 71. Once the sensor body 62 is deflected at an excessively large angle, the touch sheet 71 contacts the induction sheet 72, which will trigger a corresponding signal. The background system can measure that the sensor body 62 is in an unsuitable working state. The touch sheet 71 and the induction sheet 72 adopt touch sensing in the prior art, such as piezoresistive touch sensing, that is, a touch sensing scheme using the piezoresistive strain effect of single crystal silicon material in the prior art. Or a ceramic pressure sensor that also uses the piezoresistive strain effect.

[0033] like Figure 3 As shown, a fixing clamp 6121 is provided on the upper cover 612, which is used to clamp and fix the protective gasket. The protective gasket can well protect the upper surface of the sensor body 62, thereby preventing the sensor body 62 from being damaged under frequent collisions and bumps, and protecting the health of the sensor body 62.

[0034] In summary, the inventive concept of this embodiment, through the initial leveling of the sensor body 62, the health detection of physical touch, the collision protection of the upper surface and other means, cooperate with each other to achieve the reliability of the deflection data provided by the health body 62 to the console, thereby providing a more reasonable and accurate data basis for the console to formulate an escape plan, thereby improving the effectiveness and efficiency of the escape.

[0035] For example Figure 1 As shown, a camera device is provided on the machine body 1 to further provide a visual picture of the tilt condition.

[0036] The cleaner 2 includes a connecting frame 21, which is specially processed. In this case, it includes a horizontally extending transverse connecting frame 211 and a lower inclined frame 212 located at both ends thereof and gradually inclined downwardly and outwardly. The two brushes 22 are respectively mounted on the two lower inclined frames 212, and the transverse connecting frame 211 is rotatably connected to the body 1 through a swing shaft 23 located in the middle. Such a setting, on the one hand, allows the brush 22 to be closer to the photovoltaic panel to obtain a better cleaning effect, and on the other hand, can cooperate with the angle tilt data of the angle sensing kit to control the entire transverse connecting frame 211 to swing when getting out of trouble, so that the brush 22 contacts the photovoltaic panel, and the body 1 is supported by the lower inclined frame 212, thereby better assisting the cleaning equipment to get out of trouble.

[0037] The following describes the data acquisition and data judgment process of the angle sensing kit and console.

[0038] S1. Acquire the stored acceleration of the XYZ axis of the photovoltaic panel cleaning device in real time, calculate the gravitational acceleration of the photovoltaic panel cleaning device, and calculate the deflection angle of the photovoltaic panel cleaning device on the photovoltaic panel based on the component of the gravitational acceleration of the photovoltaic panel cleaning device and the inclination angle of the photovoltaic panel relative to the horizontal plane; the deflection angle is the deflection value of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel; S2, when the deflection angle is greater than the upper deflection threshold or less than the lower deflection threshold, and the deflection angle is still outside the normal deflection angle range within the first limited time, the upper running wheel and the lower running wheel are controlled to perform differential motion to adjust the deflection angle to be within the normal deflection angle range; S3. After controlling the upper running wheel and the lower running wheel to perform the differential movement within the second limited time, if the deflection angle is still outside the normal deflection angle range, control the upper running wheel and the lower running wheel to perform reciprocating movement to adjust the deflection angle to be within the normal deflection angle range.

[0039] The method of the embodiment of this specification is executed by the controller (MCU) of the photovoltaic panel cleaning device. There is an angle of 30°~40° between the photovoltaic panel and the horizontal plane. The photovoltaic panel cleaning device is placed parallel to the photovoltaic panel along the angle, and the upper and lower ends of the photovoltaic panel cleaning device are respectively parallel to the upper and lower ends of the photovoltaic panel. A three-dimensional coordinate system is established at the center of the photovoltaic panel cleaning device. During the driving process of the photovoltaic panel cleaning device from west to east, the X-axis is set along the length direction of the photovoltaic panel cleaning device, the Y-axis is set along the width direction of the photovoltaic panel cleaning device, and the Z-axis is set along the direction perpendicular to the photovoltaic panel cleaning device. The deflection angle of the photovoltaic panel cleaning device in the direction perpendicular to the photovoltaic panel is obtained by using a six-axis sensor, and the upper running wheel at the upper end of the photovoltaic panel cleaning device and the lower running wheel at the lower end of the photovoltaic panel cleaning device are driven by the upper motor and the lower motor to perform a series of posture correction operations to correct the deflection angle, so that the photovoltaic panel cleaning device can still travel normally when there is a drop between the upper and lower ends of the photovoltaic panel, thereby improving the cleaning efficiency of the photovoltaic panel cleaning device on the photovoltaic panel surface.

[0040] Before step S1, it also includes step S0: starting the photovoltaic cleaning device, and acquiring the stored angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; when the angular velocity of the Z axis of the photovoltaic panel cleaning device is lower than the preset angular velocity, setting the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis to 0; when the angular velocity of the Z axis of the photovoltaic panel cleaning device is higher than the preset angular velocity, setting the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis to 1.

[0041] The gravitational acceleration of the photovoltaic panel cleaning device is the sum of the accelerations of the XYZ axes, and the deflection angle is converted from the gravitational acceleration components of the photovoltaic panel cleaning device through a Cartesian coordinate conversion algorithm. When the photovoltaic cleaning device is started, the upper and lower walking wheels will generate a portion of additional acceleration along the Y-axis direction. This portion of acceleration is not generated by the angle deflection of the photovoltaic cleaning device during driving, but is generated by the start-up of the device, and is not the acceleration required by this embodiment. Therefore, it is necessary to use the angular velocity of the photovoltaic panel cleaning device along the Z axis to assist in determining whether the acceleration is generated by the start-up of the device. If so, it is necessary to adjust the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis to ensure that the deflection angle is calculated correctly. Among them, the preset angular velocity is 1rad / s. When the angular velocity of the photovoltaic panel cleaning device along the Z axis is lower than 1rad / s, the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis is 0; if the angular velocity of the photovoltaic panel cleaning device along the Z axis is higher than 1rad / s, the acceleration weight coefficient of the photovoltaic panel cleaning device along the Y axis is 1.

[0042] In step S2, when the deflection angle is greater than the deflection upper threshold value of 7° or less than the deflection lower threshold value of -7°, the photovoltaic panel cleaning device first continues to travel in the original state, and detects whether the photovoltaic panel cleaning can eliminate the deflection within the first limited time. If the deflection angle is still outside the normal deflection angle range (-2°, 2°) within the first limited time (5s~10s), the upper running wheel and the lower running wheel are controlled to perform differential motion at different speeds to adjust the deflection angle to be within the normal deflection angle range (-2°, 2°). Wherein, the photovoltaic panel cleaning device travels from west to east. When encountering a drop between adjacent photovoltaic panels, when looking down from above the photovoltaic panel and the photovoltaic panel cleaning device, if the photovoltaic panel cleaning device deflects clockwise in a direction perpendicular to the photovoltaic panel, it indicates positive, and if the photovoltaic panel cleaning device deflects counterclockwise in a direction perpendicular to the photovoltaic panel, it indicates negative. When the deflection angle is greater than the deflection upper threshold value of 7°, it indicates that the photovoltaic panel cleaning device deflects clockwise. When the deflection angle is less than the deflection lower limit threshold value of -7°, it indicates that the photovoltaic panel cleaning device deflects counterclockwise.

[0043] Controlling the upper walking wheel and the lower walking wheel to perform differential movement also includes: when the deflection angle is greater than the deflection upper limit threshold, that is, the photovoltaic panel cleaning device deflects clockwise in a direction perpendicular to the photovoltaic panel, the speed of the upper walking wheel = maximum speed * (60% - rotation speed compensation - the deflection angle * 2%), the speed of the lower walking wheel = maximum speed * (60% + the rotation speed compensation + the deflection angle * 2%); when the deflection angle is less than the deflection lower limit threshold, that is, the photovoltaic panel cleaning device deflects counterclockwise in a direction perpendicular to the photovoltaic panel, the speed of the upper walking wheel = maximum speed * (60% + the rotation speed compensation + the deflection angle * 2%), the speed of the lower walking wheel = maximum speed * (60% - the rotation speed compensation - the deflection angle * 2%).

[0044] When the deflection angle is greater than the deflection upper limit threshold, that is, the photovoltaic panel cleaning device deflects clockwise in a direction perpendicular to the photovoltaic panel, and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is fifty percent of the maximum speed, and the speed of the lower walking wheel is seventy percent of the maximum speed; when the deflection angle is less than the deflection lower limit threshold, that is, the photovoltaic panel cleaning device deflects counterclockwise in a direction perpendicular to the photovoltaic panel, and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is seventy percent of the maximum speed, and the speed of the lower walking wheel is fifty percent of the maximum speed.

[0045] The maximum speed indicates the maximum speed at which the upper running wheel and the lower running wheel can travel, the maximum speeds of the upper running wheel and the lower running wheel are the same, and the speed compensation of the upper motor and the lower motor are both 10%. During normal driving of the photovoltaic cleaning device, it travels at 60% of the maximum speed.

[0046] In step S3, the upper walking wheel and the lower walking wheel perform a reciprocating motion, and also include: the reciprocating motion includes multiple times; a first reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat in sequence at the normal driving speed according to the first retracting time, and then to advance according to the first forward time; a second reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat at the normal driving speed according to the first retracting time, and then to advance according to the first forward time at the differential motion; a third reciprocating motion, controlling the upper walking wheel and the lower walking wheel to retreat at the normal driving speed according to the second retracting time, and then to advance at the maximum driving speed according to the first forward time.

[0047] There is no restriction on the execution order of the first reciprocating motion, the second reciprocating motion and the third reciprocating motion. Assume that the execution order of the multiple reciprocating motions in this embodiment is the first reciprocating motion, the second reciprocating motion and the third reciprocating motion. In the first reciprocating motion, the upper walking wheel and the lower walking wheel are controlled to retreat for 5 seconds at the normal driving speed according to the first retreat time, the upper walking wheel and the lower walking wheel are controlled to stop for 0.5 seconds, and then advance for 7 seconds according to the first forward time; determine whether the deflection angle is within the normal deflection angle range (-2°, 2°); if not, the upper walking wheel and the lower walking wheel are controlled to stop for 0.5 seconds, and the second reciprocating motion is performed, the upper walking wheel and the lower walking wheel are controlled to retreat for 5 seconds at the normal driving speed according to the first retreat time, and the upper walking wheel and the lower walking wheel are controlled to stop for 0.5 seconds, and the second reciprocating motion is performed. The upper and lower running wheels stop for 0.5s, and then move forward for 7s at the first forward time at the differential motion; determine whether the deflection angle is within the normal deflection angle range (-2°, 2°); if not, control the upper and lower running wheels to stop for 0.5s, perform a third reciprocating motion, control the upper and lower running wheels to retreat for 9s at the normal travel speed at the second retreat time, control the upper and lower running wheels to stop for 0.5s, and then move forward for 7s at the maximum travel speed at the first forward time. The differential motion in the second reciprocating motion is the same as the differential motion in step S2.

[0048] After performing the reciprocating motion for a plurality of times, if the deflection angle is still outside the normal deflection angle range, a low alarm message is sent and the photovoltaic panel cleaning device is controlled to return in the above-mentioned method.

[0049] The photovoltaic panel cleaning device is controlled to return according to the above process. If the reciprocating motion is performed multiple times and the deflection angle is still outside the normal deflection angle range, a high-level alarm message is sent, and the photovoltaic panel cleaning device is controlled to pause returning for human intervention.

[0050] In one or more embodiments of the present specification, the photovoltaic panel cleaning equipment deflection correction is completed by operating a photovoltaic panel cleaning equipment deflection correction system.

[0051] A photovoltaic panel cleaning device deflection correction system according to an embodiment of the present specification, the photovoltaic panel cleaning device comprises a six-axis sensor, an upper walking wheel, a lower walking wheel, an upper motor and a lower motor; the six-axis sensor is arranged in the middle of the photovoltaic panel cleaning device, and is used to collect and store the acceleration and angular velocity of the XYZ axis of the photovoltaic panel cleaning device in real time; the upper motor is used to drive the upper walking wheel to travel, and the lower motor is used to drive the lower walking wheel to travel, so as to control the photovoltaic panel cleaning device to travel on the photovoltaic panel, and the system comprises: An acquisition module, used for acquiring the stored acceleration of the XYZ axis of the photovoltaic panel cleaning device in real time; A calculation module, used to calculate the gravitational acceleration of the photovoltaic panel cleaning device, and based on the component of the gravitational acceleration of the photovoltaic panel cleaning device and the angle of inclination of the photovoltaic panel relative to the horizontal plane, calculate the deflection angle of the photovoltaic panel cleaning device on the photovoltaic panel; the deflection angle is the deflection value of the photovoltaic panel cleaning device in a direction perpendicular to the photovoltaic panel; A first judgment module is used to judge that when the deflection angle is greater than an upper deflection threshold or less than a lower deflection threshold, and the deflection angle is still outside a normal deflection angle range within a first limited time, control the upper running wheel and the lower running wheel to perform differential motion to adjust the deflection angle to be within the normal deflection angle range; The second judgment module is used to judge if the deflection angle is still outside the normal deflection angle range after controlling the upper walking wheel and the lower walking wheel to perform the differential movement for a second limited time, and control the upper walking wheel and the lower walking wheel to perform reciprocating movement to adjust the deflection angle to be within the normal deflection angle range.

[0052] The first judgment module also includes a control unit, which is used to control the upper walking wheel and the lower walking wheel to perform differential movement. When the deflection angle is greater than the deflection upper limit threshold, the speed of the upper walking wheel = maximum speed * (60% - speed compensation - the deflection angle * 2%), and the speed of the lower walking wheel = maximum speed * (60% + speed compensation + deflection angle * 2%); when the deflection angle is less than the deflection lower limit threshold, the speed of the upper walking wheel = maximum speed * (60% + speed compensation + deflection angle * 2%), and the speed of the lower walking wheel = maximum speed * (60% - speed compensation - deflection angle * 2%).

[0053] The control unit is also used to control the upper walking wheel and the lower walking wheel to perform differential movement. When the deflection angle is greater than the deflection upper limit threshold and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is controlled to be 50% of the maximum speed, and the speed of the lower walking wheel is controlled to be 70% of the maximum speed; when the deflection angle is less than the deflection lower limit threshold and the deflection angle approaches the normal deflection angle range, the speed of the upper walking wheel is controlled to be 70% of the maximum speed; the speed of the lower walking wheel is controlled to be 50% of the maximum speed.

Claims

1. A photovoltaic panel cleaning device based on deflection correction, comprising a body (1), a cleaner (2) mounted on the body (1), and running wheels (3), wherein the running wheels (3) include a front wheel group and a rear wheel group, and the front wheel group and the rear wheel group are driven by a separate driving device, characterized in that: It also includes an angle sensing kit for sensing the deflection angle of the machine body (1), the angle sensing kit including a housing (61) mounted on the machine body (1), a sensor body (62) mounted in the housing (61), and a leveling column (63), wherein the leveling column (63) is in plurality and connects the sensor body (62) and the housing (61) and is used to adjust the extension angle of the sensor body (62) relative to the housing (61).

2. A photovoltaic panel cleaning device based on deflection correction according to claim 1, characterized in that: The leveling column (63) is a threaded column, the housing (61) comprises a bottom shell (611) and an upper cover (612), the upper end of the leveling column (63) is connected to the sensor body (62), and the lower end is connected to the bottom shell (611).

3. A photovoltaic panel cleaning device based on deflection correction according to claim 2, characterized in that: A spring is provided between the leveling column (63) and the bottom shell (611).

4. A photovoltaic panel cleaning device based on deflection correction according to claim 2, characterized in that: The sensor body (62) is provided with a touch sheet (71), and the housing (61) is provided with a sensing sheet (72) for contact sensing with the touch sheet (71).

5. A photovoltaic panel cleaning device based on deflection correction according to claim 4, characterized in that: There are at least two sensing sheets (72), which are respectively mounted on the upper surface of the bottom shell (611) and the lower surface of the upper cover (612); the touch sheet (71) is located between the two sensing sheets (72).

6. A photovoltaic panel cleaning device based on deflection correction according to claim 2, characterized in that: The upper cover (612) comprises a fixing clamp (6121), and the fixing clamp (6121) is used for embedding and installing the sensor guard.

7. A photovoltaic panel cleaning device based on deflection correction according to claim 1, characterized in that: The angle sensing kit includes a main sensor and a plurality of auxiliary sensors, wherein the plurality of auxiliary sensors are distributed around the main sensor in a circular array.

8. A photovoltaic panel cleaning device based on deflection correction according to claim 7, characterized in that: The body (1) is detachably connected to a disassembly plate (5), and the main sensor and the auxiliary sensor are both mounted on the disassembly plate (5).

9. A photovoltaic panel cleaning device based on deflection correction according to any one of claims 1 to 8, characterized in that: The cleaning device (2) comprises a cleaning frame (21), a brush (22) and a swing shaft (23) connecting the cleaning frame (21) and the machine body (1). The brushes are at least two and are mounted at the front and rear ends of the cleaning frame (21). The cleaning frame (21) swings relative to the machine body (1) with the swing shaft (23) as an axis.

10. A photovoltaic panel cleaning device based on deflection correction according to claim 9, characterized in that: The cleaning frame (21) comprises a transverse connecting frame (211) connected to the swing shaft (23) and lower inclined frames (212) mounted at both ends of the transverse connecting frame (211), the lower inclined frames (212) gradually tilting downward in a direction away from the transverse connecting frame (211) horizontally, and the brush (22) is mounted on the transverse connecting frame (211).

Images