Distance measuring and positioning assembly, photovoltaic cleaning robot system and cleaning method of photovoltaic cleaning robot system

Abstract

The invention discloses a distance measuring and positioning assembly for a photovoltaic cleaning robot, the distance measuring and positioning assembly comprises a first arm, a second arm and an angle measuring assembly, the first arm is rotatably arranged relative to a mechanical arm assembly, the pitching angle is adjustable, and the first arm and the second arm are movably connected; the angle measurement assembly comprises a first angle measurement assembly used for measuring the rotation angle of the first arm relative to the mechanical arm assembly. The second angle measuring assembly is used for measuring the pitching angle change of the first arm relative to the mechanical arm assembly; and the third angle measuring assembly is used for measuring the relative rotation angle of the first arm and the second arm. The invention further provides a photovoltaic cleaning robot system and a cleaning method thereof. According to the distance measuring and positioning assembly for the photovoltaic cleaning robot, the photovoltaic cleaning robot system and the cleaning method of the photovoltaic cleaning robot, the relative position between the mechanical arm assembly and the photovoltaic cleaning robot can be accurately determined.

Description

Technical Field

[0001] The present invention belongs to the field of photovoltaics, and particularly relates to a positioning device, a photovoltaic cleaning robot system and a cleaning method thereof. Background Art

[0002] With the rapid development of the photovoltaic industry, the number of photovoltaic power stations is increasing. To ensure the good operation of photovoltaic power stations, operation and maintenance after the completion of photovoltaic power stations are essential. One of the more important aspects is to ensure the cleanliness of photovoltaic panels, avoid the covering of photovoltaic panels by dirt such as dust and sand, which affects the power generation efficiency, so it is necessary to clean the photovoltaic panels.

[0003] Currently, common cleaning robots are divided into two types. One is a dry-hanging cleaning device, which is hung at the upper and lower ends of photovoltaic panels and moves along the photovoltaic panels through the driving mechanisms at both ends of the device to achieve high-frequency cleaning of large power stations. However, connection tracks need to be laid between adjacent strings, resulting in a huge construction volume, and a large number of such cleaning devices need to be arranged in large power stations, with low economic benefits. The other is a ground self-propelled cleaning device, which can be divided into three parts: a chassis, a robotic arm, and a cleaning device. The cleaning robot is placed on the photovoltaic panel through the robotic arm for cleaning. During the cleaning process, the chassis will move with the cleaning robot to supply energy for cleaning the photovoltaic panel. After cleaning one row, the robotic arm will recover the cleaning robot and transfer it to the next row to continue the cleaning task. The most important point during the process of the chassis with the robotic arm following and recovering the cleaning robot is to determine the relative position between the two.

[0004] Currently, the commonly used positioning method is to use RTK technology to perform real-time positioning on the chassis and the cleaning robot, and then measure the relative position between the two. However, in the environment of a photovoltaic power station, due to problems such as poor signal and possible occlusion of the antenna, the positioning accuracy will be greatly affected, resulting in the cleaning robot being dragged by the robotic arm, which may damage the photovoltaic panel. Therefore, on the basis of using RTK, a scheme of using a draw-wire sensor is adopted to ensure the safe distance between the robotic arm and the cleaning robot (one end of the draw-wire sensor is installed on the robotic arm, and the other end is fixed on the cleaning robot, which can detect the length of the pulled-out rope between the two). However, in the actual use process, as the number of times the rope is pulled out increases, the rope will be distorted or even rolled together, and the rope cannot be normally recovered, which will not be able to ensure the safe distance between the robotic arm and the cleaning robot. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the above background technology, and provide a ranging and positioning component for a photovoltaic cleaning robot, a photovoltaic cleaning robot system and a cleaning method for the photovoltaic cleaning robot system that can accurately measure the distance and position information between the robotic arm and the cleaning robot.

[0006] To solve the above technical problem, the technical solution proposed by the present invention is: A ranging and positioning component for a photovoltaic cleaning robot, comprising a first arm provided on a robotic arm component for deploying or retracting the photovoltaic cleaning robot, a second arm provided on the photovoltaic cleaning robot, and an angle measurement component for measuring the rotation angle. The first arm is rotatably provided relative to the robotic arm component, and the pitch angle is adjustable. The first arm and the second arm are movably connected; the angle measurement component includes a first angle measurement component for measuring the rotation angle of the first arm relative to the robotic arm component, a second angle measurement component for measuring the change in the pitch angle of the first arm relative to the robotic arm component, and a third angle measurement component for measuring the relative rotation angle between the first arm and the second arm.

[0007] In the above ranging and positioning component, preferably, the first arm is provided on the robotic arm component through a first bearing and a first mounting seat. The outer ring of the first bearing is provided on the robotic arm component, and the first arm is connected to the inner ring of the first bearing through the first mounting seat. The first arm is hingedly provided on the first mounting seat. The first arm can be hinged to the first mounting seat through a hinge shaft, and the first arm is rotatably provided relative to the first mounting seat, that is, the pitch angle adjustment of the first arm relative to the robotic arm component is realized. The first mounting seat is connected to the robotic arm component through a first bearing, that is, the rotational connection of the first mounting seat relative to the robotic arm component is realized. Since the first arm is connected to the first mounting seat, the rotational connection of the first arm relative to the robotic arm component is realized. Through the above settings, the rotation and pitch angle adjustment of the first arm relative to the robotic arm component can be realized. When the first arm rotates, it rotates around the central axis of the first bearing. When the first arm adjusts the pitch angle, it rotates around the hinge shaft. Since the lengths of the first arm and the second arm are known, by determining the rotation angle and the change in the pitch angle of the first arm, and then by determining the rotation angle between the first arm and the second arm, the displacement data (not only the straight-line distance, but also the spatial coordinate information) between the robotic arm component and the photovoltaic cleaning robot can be known, which is convenient for adjusting the position of the robotic arm component.

[0008] In the above distance measurement and positioning assembly, preferably, the first angle measurement assembly is connected to the first mounting seat, and the second angle measurement assembly is arranged on the first mounting seat and connected to the hinge point of the first arm and the first mounting seat. The connection between the first angle measurement assembly and the first mounting seat is used to measure the rotation angle of the first arm. The measurement end of the first angle measurement assembly is connected to the first mounting seat. When the first mounting seat rotates, its rotation angle can be measured by the first angle measurement assembly. The second angle measurement assembly is also arranged on the first mounting seat and can be arranged at the hinge point of the first arm and the first mounting seat and connected to the hinge shaft. When the pitching angle of the first arm changes, its rotation angle can be measured by the second angle measurement assembly.

[0009] In the above distance measurement and positioning assembly, preferably, the outer ring of the first bearing is arranged on the robotic arm assembly through the second mounting seat and the adapter plate. The outer ring of the first bearing is connected to the second mounting seat, the second mounting seat is connected to the adapter plate, and the adapter plate is arranged on the robotic arm assembly. The settings of the second mounting seat and the adapter plate facilitate the connection between the first bearing and the robotic arm assembly. Openings can be provided on the second mounting seat and the adapter plate, and the opening position is located at the inner ring of the first bearing. The first angle measurement assembly can pass through the opening and be connected to the first mounting seat, so that the first angle measurement assembly is located at the adapter plate.

[0010] In the above distance measurement and positioning assembly, preferably, the first arm and the second arm are hinged, and the third angle measurement assembly is located at the hinge point of the first arm and the second arm. The first arm and the second arm can be hinged through a hinge shaft, and the third angle measurement assembly can be installed at the hinge shaft to measure the relative rotation angle of the first arm and the second arm.

[0011] In the above distance measurement and positioning assembly, preferably, the end of the second arm close to the photovoltaic cleaning robot is rotatably arranged on the photovoltaic cleaning robot. The rotatable setting is to ensure that when the photovoltaic cleaning robot is in a tilted state on the photovoltaic panel, it will not have a great impact on the measured distance. The photovoltaic cleaning robot may be tilted when it is put into use. When the photovoltaic cleaning robot moves on the photovoltaic panel, due to special conditions (such as differential speed of the drive wheels), the photovoltaic cleaning robot may also be tilted. The second arm and the photovoltaic cleaning robot are rotatably connected, which can offset the influence caused by the tilt of the photovoltaic cleaning robot and avoid the impact of the tilt of the photovoltaic cleaning robot on the first arm and the second arm.

[0012] In the above distance measurement and positioning assembly, preferably, the end of the second arm is hinged to the mounting bracket, the mounting bracket is connected to the photovoltaic cleaning robot through a second bearing, the mounting bracket is connected to the inner ring of the second bearing, and the outer ring of the second bearing is connected to the photovoltaic cleaning robot. The end of the second arm is hinged to the mounting bracket and can rotate along the mounting bracket. The mounting bracket is then connected to the photovoltaic cleaning robot through a second bearing, forming a structure similar to a ball joint hinge here, and the tilt rotation angle is relatively large, which can meet the free rotation of the second arm relative to the photovoltaic cleaning robot and meet the requirements of the actual situation. That is, the degrees of freedom provided by the mounting bracket and the second bearing can prevent the distance measurement and positioning assembly from being damaged when the photovoltaic cleaning robot adjusts its posture during placement and landing on the panel or when the photovoltaic cleaning robot is accidentally tilted during operation.

[0013] In the above distance measurement and positioning assembly, preferably, the first angle measurement component, the second angle measurement component, and the third angle measurement component are all angle sensors. The angle sensors can accurately measure the rotation or tilt angles of the components, and the displacement data of the robotic arm assembly relative to the photovoltaic cleaning robot can be obtained through calculation of the angle data.

[0014] As a general technical concept, the present invention also provides a photovoltaic cleaning robot system, including a driving chassis, a robotic arm assembly, and a photovoltaic cleaning robot. The photovoltaic cleaning robot is connected to the driving chassis through the robotic arm assembly. The robotic arm assembly includes a robotic arm and the end of the robotic arm. The above distance measurement and positioning assembly is provided between the photovoltaic cleaning robot and the end of the robotic arm.

[0015] The driving chassis is a transport vehicle, and the robotic arm assembly is a tool for deployment and retrieval. During the entire operation process, the driving chassis transports the photovoltaic cleaning robot in front of the photovoltaic panel to be cleaned, and then uses the robotic arm assembly to lift the photovoltaic cleaning robot. After adjusting it to the deployment state, the chain is released to slowly place the photovoltaic cleaning robot on the photovoltaic panel. The driving chassis follows the photovoltaic cleaning robot throughout the operation process. During the following process, the driving chassis can supply energy to the photovoltaic cleaning robot and can also detect the status of the photovoltaic cleaning robot to facilitate recovery and deployment at any time. Since there is always a chain connecting the end of the robotic arm to the photovoltaic cleaning robot and the length of the chain is limited, the driving chassis needs to maintain a certain distance from the photovoltaic cleaning robot to avoid damaging the photovoltaic cleaning robot. The determination of the above-mentioned safety distance can be achieved through a ranging and positioning component. The ranging and positioning component follows and positions the photovoltaic cleaning robot, mainly used to determine the relative displacement between the end of the robotic arm and the photovoltaic cleaning robot, including distance and spatial coordinate position information, so as to follow the photovoltaic cleaning robot and adjust the height difference between the end of the robotic arm and the photovoltaic cleaning robot on the panel, avoiding the end of the robotic arm being too close to the photovoltaic cleaning robot or the photovoltaic panel, which may cause the end of the robotic arm to press on the photovoltaic cleaning robot or the photovoltaic panel when the road surface is bumpy, or avoiding the end of the robotic arm being too far away from the photovoltaic cleaning robot, causing the photovoltaic cleaning robot to be pulled by the chain and damaging the photovoltaic cleaning robot or the photovoltaic panel.

[0016] As a general technical concept, the present invention also provides a cleaning method for the above-mentioned photovoltaic cleaning robot system, including the following steps: S1: Use the robotic arm assembly to place the photovoltaic cleaning robot on the photovoltaic panel to be cleaned; S2: The photovoltaic cleaning robot starts cleaning. During the cleaning process, the driving chassis and the robotic arm assembly move synchronously in follow-up. During the synchronous follow-up movement, according to the feedback information of the ranging and positioning component, the positions of the driving chassis and the robotic arm assembly are synchronously adjusted to match the position of the photovoltaic cleaning robot; S3: After cleaning is completed, recover the photovoltaic cleaning robot through the robotic arm assembly.

[0017] The present invention adopts a connecting rod structure to replace the cable tension sensor for measuring the relative position between the end of the robotic arm and the photovoltaic cleaning robot. The purpose is to avoid the curling of the cable caused by frequent pulling of the cable tension sensor, resulting in the cable being unable to be normally retracted into the sensor, thus affecting the accuracy of the measurement data. This structure consists of three rotary joints, corresponding angle sensors, and a terminal ball joint. By determining the rotation angle of the first arm, it can be used to determine the left or right deviation of the cleaning robot relative to the end of the robotic arm. By detecting the angle changes at each rotary joint of the first arm and the second arm, the displacement between the end of the robotic arm and the photovoltaic cleaning robot can be solved forward. Specifically, the first angle measurement component can detect the rotation angle of the first mounting seat to determine whether the photovoltaic cleaning robot is on the left or right side of the end of the robotic arm. By detecting the rotation angles of the first arm and the second arm through the second angle measurement component and the third angle measurement component, a triangle can be constructed to accurately solve the displacement data between the end of the robotic arm and the photovoltaic cleaning robot. According to this displacement data, by controlling the robotic arm component to make a real-time response, it is convenient for the robotic arm component to adjust its position to match the position of the photovoltaic cleaning robot, ensuring that the robotic arm component and the photovoltaic cleaning robot are within a safe range.

[0018] Compared with the prior art, the advantages of the present invention are as follows: 1. The ranging and positioning component for the photovoltaic cleaning robot, the photovoltaic cleaning robot system, and its cleaning method of the present invention can accurately determine the relative position between the robotic arm component and the photovoltaic cleaning robot, and can well avoid safety accidents of the photovoltaic cleaning equipment caused by the easy failure of the cable tension sensor.

[0019] 2. The ranging and positioning component for the photovoltaic cleaning robot of the present invention provides a new solution for the power supply of the photovoltaic cleaning robot, and can supply power to the photovoltaic cleaning robot through the inner cavities of the first arm and the second arm.

[0020] 3. The ranging and positioning component for the photovoltaic cleaning robot of the present invention has a simple structure, low cost of each component, lower overall cost, and is convenient to be connected to the existing robotic arm component and the photovoltaic cleaning robot, facilitating large-scale popularization and application. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a schematic structural diagram of the ranging and positioning component in the embodiment.

[0023] Figure 2 is Figure 1 A partial enlarged view of A in

[0024] Figure 3 is Figure 1 A partial enlarged view of B in

[0025] Figure 4 is a schematic structural view of the ranging and positioning component in the embodiment from another angle.

[0026] Figure 5 is a schematic structural view of the photovoltaic cleaning robot system in the embodiment.

[0027] Figure 6 is a schematic side structural view of the photovoltaic cleaning robot system in the embodiment.

[0028] Figure 7 is a schematic structural view of the photovoltaic cleaning robot on the left side of the robotic arm assembly in the embodiment.

[0029] Figure 8 is a schematic structural view of the photovoltaic cleaning robot on the right side of the robotic arm assembly in the embodiment.

[0030] Legend Explanation 1. Photovoltaic cleaning robot; 2. Robotic arm assembly; 21. Robotic arm; 22. End of the robotic arm; 3. First arm; 4. First angle measurement component; 5. Second angle measurement component; 6. Third angle measurement component; 7. First bearing; 8. First mounting seat; 9. Second mounting seat; 10. Adapter plate; 11. Mounting bracket; 12. Second bearing; 13. Second arm. Specific Embodiment

[0031] For the convenience of understanding the present invention, the following will describe the present invention more comprehensively and meticulously with reference to the accompanying drawings of the specification and preferred embodiments, but the protection scope of the present invention is not limited to the following specific embodiments.

[0032] It should be particularly noted that when an element is described as "fixed to, fixedly connected to, connected to, or communicated with" another element, it can be directly fixed, fixedly connected, connected, or communicated to the other element, or indirectly fixed, fixedly connected, connected, or communicated to the other element through other intermediate connecting members.

[0033] Unless otherwise defined, all the technical terms used hereinafter have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of the present invention.

[0034] Unless otherwise specified, various raw materials, reagents, instruments, and equipment used in the present invention can be obtained through market purchases or prepared by existing methods.

[0035] Embodiment: As Figures 1-4 shown, the ranging and positioning component for the photovoltaic cleaning robot in this embodiment includes a first arm 3 provided on a robotic arm assembly 2 for deploying or retracting the photovoltaic cleaning robot 1, a second arm 13 provided on the photovoltaic cleaning robot 1, and an angle measurement component for measuring the rotation angle. The first arm 3 is rotatably arranged relative to the robotic arm assembly 2, and the pitching angle is adjustable. The first arm 3 and the second arm 13 are movably connected; the angle measurement component includes a first angle measurement component 4 for measuring the rotation angle of the first arm 3 relative to the robotic arm assembly 2, a second angle measurement component 5 for measuring the change in the pitching angle of the first arm 3 relative to the robotic arm assembly 2, and a third angle measurement component 6 for measuring the relative rotation angle between the first arm 3 and the second arm 13. The first angle measurement component 4, the second angle measurement component 5, and the third angle measurement component 6 are all angle sensors. The specific structural form is not limited, and conventional equipment in the prior art can be used. The data collected by them can be transmitted to the control system of the photovoltaic cleaning robot system.

[0036] As Figure 2 , Figure 4 shown, specifically, the first arm 3 is provided on the robotic arm assembly 2 through a first bearing 7, a first mounting seat 8, a second mounting seat 9, and an adapter plate 10. The outer ring of the first bearing 7 is provided on the robotic arm assembly 2 through the second mounting seat 9 and the adapter plate 10 (the outer ring of the first bearing 7 is connected to the second mounting seat 9, the second mounting seat 9 is connected to the adapter plate 10, and the adapter plate 10 is provided on the robotic arm assembly 2). The first arm 3 is connected to the inner ring of the first bearing 7 through the first mounting seat 8, and the first arm 3 is hingedly arranged on the first mounting seat 8. The first angle measurement component 4 is connected to the first mounting seat 8 through an opening on the second mounting seat 9 and the adapter plate 10. The second angle measurement component 5 is provided on the first mounting seat 8 and is connected to the hinge point of the first arm 3 and the first mounting seat 8. With the above arrangement, due to the presence of the first bearing 7, the first arm 3 can rotate relative to the central axis of the first bearing 7, and at the same time, the first arm 3 can rotate relative to the first mounting seat 8, that is, the rotation and pitching angle adjustment of the first arm 3 relative to the robotic arm assembly 2 can be realized. The changes in the rotation angle and the pitching angle can be measured by the first angle measurement component 4 and the second angle measurement component 5 respectively.

[0037] In this embodiment, the first arm 3 and the second arm 13 are hinged, and the third angle measurement component 6 is located at the hinge point of the first arm 3 and the second arm 13 and can be connected to the hinge shaft at the hinge point. The rotation angle of the first arm 3 and the second arm 13 can be measured by the third angle measurement component 6.

[0038] Based on the angle change data measured by the above-mentioned first angle measurement component 4, second angle measurement component 5, and third angle measurement component 6, and based on the known length data of the first arm 3 and the second arm 13, a triangle can be constructed to solve the displacement between the end 22 of the robotic arm and the photovoltaic cleaning robot 1, which can be solved in ROS (Robot Operating System), facilitating the adjustment of the position of the robotic arm component 2 to meet the position requirements of the photovoltaic cleaning robot 1.

[0039] As Figure 3 shown, specifically, one end of the second arm 13 close to the photovoltaic cleaning robot 1 is rotatably arranged on the photovoltaic cleaning robot 1. The specific solution of this embodiment is: the end of the second arm 13 is hinged to the mounting bracket 11, and the mounting bracket 11 is connected to the photovoltaic cleaning robot 1 through the second bearing 12. The mounting bracket 11 is connected to the inner ring of the second bearing 12, and the outer ring of the second bearing 12 is connected to the photovoltaic cleaning robot 1.

[0040] As Figure 5 、 Figure 6 shown, the photovoltaic cleaning robot system of this embodiment includes a driving chassis, a robotic arm component 2, and a photovoltaic cleaning robot 1. The photovoltaic cleaning robot 1 is connected to the driving chassis through the robotic arm component 2. The robotic arm component 2 includes a robotic arm 21 and an end 22 of the robotic arm. A ranging and positioning component as described above is provided between the photovoltaic cleaning robot 1 and the end 22 of the robotic arm.

[0041] The cleaning method of the above-mentioned photovoltaic cleaning robot system of this embodiment includes the following steps: S1: Use the robotic arm component 2 to place the photovoltaic cleaning robot 1 on the photovoltaic panel to be cleaned; S2: The photovoltaic cleaning robot 1 starts cleaning. During the cleaning process, the driving chassis and the robotic arm component 2 move synchronously. During the synchronous following movement, according to the feedback information of the ranging and positioning component, the positions of the driving chassis and the robotic arm component 2 are synchronously adjusted to match the position of the photovoltaic cleaning robot 1; S3: After cleaning, recover the photovoltaic cleaning robot 1 through the robotic arm component 2.

[0042] In the above cleaning method, using the robotic arm component 2 to place or recover the photovoltaic cleaning robot 1 can both adopt existing conventional means. For example, the robotic arm component 2 is connected to the photovoltaic cleaning robot 1 through a chain to achieve placement and recovery.

[0043] In this embodiment, the first angle measurement component 4 can judge whether the photovoltaic cleaning robot 1 is on the left side (as Figure 7 shown) or the right side (as Figure 8As shown). By detecting the rotation angles of the first arm 3 and the second arm 13 through the second angle measuring component 5 and the third angle measuring component 6, a triangle can be constructed to solve the displacement between the end 22 of the robotic arm and the photovoltaic cleaning robot 1, ensuring that the robotic arm assembly 2 and the photovoltaic cleaning robot 1 are within a safe range. Specifically, in this embodiment, the ranging and positioning component and the robotic arm assembly 2 can be regarded as an integral part (referred to as a linkage arm frame). There is a coordinate system on each moving joint of the linkage arm frame, and one axis always points forward along the arm frame. Then, the transformation relationship between the coordinate systems can be determined according to the rotation angle of each joint. Accordingly, a DH parameter table of the linkage arm frame can be listed. Through the DH parameter table, the TF tree transformation relationship of the linkage arm frame can be published in ROS. Combining the TF tree and using the underlying commands of ROS, the pose relative relationship between any joint of the linkage arm frame and any other joint can be obtained, and the data related to the relative relationship between the end 22 of the robotic arm and the photovoltaic cleaning robot 1 can be deduced. According to this data, the relative position between the robotic arm assembly 2 and the photovoltaic cleaning robot 1 can be adjusted to meet the requirements, avoiding the end 22 of the robotic arm being too close to the photovoltaic cleaning robot 1 or the photovoltaic panel, which may cause the end 22 of the robotic arm to press on the photovoltaic cleaning robot 1 or the photovoltaic panel when the road surface is bumpy, or avoiding the end 22 of the robotic arm being too far from the photovoltaic cleaning robot 1, resulting in the photovoltaic cleaning robot 1 being dragged by the chain and damaging the photovoltaic cleaning robot 1 or the photovoltaic panel.

[0044] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A ranging and positioning component for a photovoltaic cleaning robot, characterized in that, Comprising a first arm (3) provided on a robotic arm assembly (2) for deploying or retracting the photovoltaic cleaning robot (1), a second arm (13) provided on the photovoltaic cleaning robot (1), and an angle measurement assembly for measuring the rotation angle. The first arm (3) is rotatably provided relative to the robotic arm assembly (2), and the pitch angle is adjustable. The first arm (3) is movably connected to the second arm (13). The angle measurement assembly includes a first angle measurement assembly (4) for measuring the rotation angle of the first arm (3) relative to the robotic arm assembly (2), a second angle measurement assembly (5) for measuring the change in the pitch angle of the first arm (3) relative to the robotic arm assembly (2), and a third angle measurement assembly (6) for measuring the relative rotation angle between the first arm (3) and the second arm (13).

2. The ranging and positioning component according to claim 1, characterized in that The first arm (3) is provided on the robotic arm assembly (2) through a first bearing (7) and a first mounting seat (8). The outer ring of the first bearing (7) is provided on the robotic arm assembly (2). The first arm (3) is connected to the inner ring of the first bearing (7) through the first mounting seat (8). The first arm (3) is hingedly provided on the first mounting seat (8).

3. The ranging and positioning component according to claim 2, characterized in that, The first angle measurement assembly (4) is connected to the first mounting seat (8). The second angle measurement assembly (5) is provided on the first mounting seat (8) and is connected to the hinge point between the first arm (3) and the first mounting seat (8).

4. The ranging and positioning component according to claim 2, characterized in that, The outer ring of the first bearing (7) is provided on the robotic arm assembly (2) through a second mounting seat (9) and an adapter plate (10). The outer ring of the first bearing (7) is connected to the second mounting seat (9). The second mounting seat (9) is connected to the adapter plate (10). The adapter plate (10) is provided on the robotic arm assembly (2).

5. The ranging and positioning component according to claim 1, wherein The first arm (3) is hinged to the second arm (13). The third angle measurement assembly (6) is located at the hinge point between the first arm (3) and the second arm (13).

6. The ranging and positioning component according to claim 1, characterized in that One end of the second arm (13) close to the photovoltaic cleaning robot (1) is rotatably provided on the photovoltaic cleaning robot (1).

7. The ranging and positioning component according to claim 6, wherein The end of the second arm (13) is hingedly provided on a mounting bracket (11). The mounting bracket (11) is connected to the photovoltaic cleaning robot (1) through a second bearing (12). The mounting bracket (11) is connected to the inner ring of the second bearing (12). The outer ring of the second bearing (12) is connected to the photovoltaic cleaning robot (1).

8. The ranging and positioning component according to any one of claims 1-7, characterized in that, The first angle measurement assembly (4), the second angle measurement assembly (5), and the third angle measurement assembly (6) are all angle sensors.

9. A photovoltaic cleaning robot system, comprising a driving chassis, a robotic arm assembly (2) and a photovoltaic cleaning robot (1), wherein the photovoltaic cleaning robot (1) is connected to the driving chassis through the robotic arm assembly (2), and the robotic arm assembly (2) includes a robotic arm (21) and a robotic arm end (22), characterized in that, A ranging and positioning assembly according to any one of claims 1-8 is provided between the photovoltaic cleaning robot (1) and the end of the robotic arm (22).

10. A cleaning method for a photovoltaic cleaning robot system as described in claim 9, characterized in that, Comprising the following steps: S1: Using the robotic arm assembly (2) to deploy the photovoltaic cleaning robot (1) onto the photovoltaic panel to be cleaned; S2: The photovoltaic cleaning robot (1) starts cleaning. During the cleaning process, the driving chassis and the robotic arm assembly (2) move synchronously. During the synchronous movement, according to the feedback information of the ranging and positioning assembly, the positions of the driving chassis and the robotic arm assembly (2) are synchronously adjusted to match the position of the photovoltaic cleaning robot (1). S3: After cleaning is completed, the photovoltaic cleaning robot (1) is retrieved through the robotic arm assembly (2).

Images