Multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrains

Abstract

The invention belongs to the technical field of intelligent robots, and particularly relates to a multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrains, which comprises a mobile processing platform, a multi-degree-of-freedom suspension arm and a cleaning execution mechanism, and is characterized in that the mobile processing platform comprises a driving mechanism, a control system and an energy system; the multi-degree-of-freedom suspension arm comprises a multi-angle movement mechanism and a first connecting mechanism; the cleaning executing mechanism comprises a second connecting mechanism, a rolling brush mechanism, a crawler-type moving device and a data collecting system. The multi-joint crawler belt movement mechanism, the multi-degree-of-freedom suspension arm and the movable processing platform are matched to be suitable for photovoltaic arrays of various environment layouts, the multiple purposes of one machine are achieved through modular design, the cleaning and inspection efficiency is optimized through the AI algorithm, and the effects of being suitable for various terrains and intelligent and automatic cleaning are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent robots, and particularly relates to a multi-functional photovoltaic maintenance intelligent robot system compatible with complex terrains. Background Art

[0002] As of the end of 2024, the cumulative installed capacity of global photovoltaic power generation has exceeded 2000GW, and the cumulative installed capacity of photovoltaic power generation in the country has reached approximately 793.11GW, with a year-on-year growth of 48.4%. Among them, the centralized photovoltaic is 423GW, accounting for 58% of the total national installed capacity, and the distributed photovoltaic is 370GW, accounting for 42% of the total national installed capacity. Since photovoltaic panels are exposed outdoors for a long time, dust, dirt and other obstructions will reduce their photoelectric conversion efficiency and affect the life of photovoltaic modules. Therefore, the cleaning and maintenance of photovoltaic panels has become a periodic and necessary task. To improve the cleaning efficiency and adapt to the diverse and complex installation environments of photovoltaic panels, current photovoltaic cleaning is gradually developing from manual cleaning to mechanization and automation. Currently, the cleaning equipment that has been applied mainly includes vehicle-mounted boom type, row-mounted wall-mounted type, self-propelled robots, high-pressure drones, etc. These devices solve the problems existing in manual cleaning to a certain extent for different scenarios, but there are still many deficiencies.

[0003] The vehicle-mounted boom type installs cleaning equipment such as rotary brushes on large vehicle carriers, and extends the cleaning device to the surface of photovoltaic panels through a boom for cleaning. It is suitable for large-scale centralized photovoltaic power stations, with a wide single coverage range. However, it has high requirements for the working terrain. When the ground is inclined or there are sundries, the carrier drives the cleaning brush to tilt, easily resulting in situations such as pressing and damaging the photovoltaic panels or incomplete cleaning; a large travel space needs to be reserved between photovoltaic panels; it has high energy consumption and large transportation and operation costs.

[0004] The row-mounted wall-mounted type is fixed on the photovoltaic panel support and moves on the surface of the photovoltaic panel through the tracks or slide rails preset at the upper and lower ends of the photovoltaic panel to complete cleaning. It is suitable for fixed photovoltaic arrays and can operate automatically. However, it has high installation and maintenance costs, needs to be included in the power station construction plan, and has a large initial investment; it has strict requirements for the layout of the photovoltaic array, and additional tracks need to be installed for irregularly arranged photovoltaic panels; if there is no track for switching between panels, when the device switches the cleaning working surface, 2-3 people are required to move the robot.

[0005] The self-propelled robot is a small automated device that directly moves autonomously on the surface of photovoltaic panels and uses rotary brushes and water spraying devices for cleaning. Since it operates on the photovoltaic panels, the terrain limitations of the scenario can be ignored. However, there are problems such as at least 1 worker being required to follow the robot to arrange the water supply pipeline; when operating on the photovoltaic panels, due to the slope of the photovoltaic panels and the dragging force exerted by the water supply pipeline, the robot has problems of sliding and deviation; when switching the cleaning working surface, 2-3 people are required to move the robot; and it has insufficient intelligence, lacking intelligent perception and decision-making and control capabilities.

[0006] High-pressure drones usually use large-load drones to carry high-pressure water guns to wash photovoltaic panels, which are suitable for photovoltaic arrays that are difficult to access (such as rooftops, water surfaces, etc.). They are highly flexible, but they can only complete high-pressure washing and cannot complete scrubbing; require operators to be professionally trained; have difficulty ensuring stability and safety, and are affected by environmental factors such as wind and weather; have limited endurance; and are relatively costly.

[0007] Based on the above analysis, existing photovoltaic cleaning equipment is difficult to meet the cleaning and maintenance needs of photovoltaic panels. There are defects and incompatibility problems in adapting to various terrain conditions, combining water washing and dry cleaning, solving robot slippage, real-time monitoring of water, electricity and energy, intelligent functions such as multi-row panel equipment transfer, pollution degree detection, anti-drop, and automatic mapping and planning. Therefore, a multi-functional photovoltaic maintenance intelligent robot system compatible with complex terrain is designed to achieve intelligent and automated high-efficiency cleaning and maintenance of photovoltaic panels. Summary of the Invention

[0008] The present invention provides a multi-functional photovoltaic maintenance intelligent robot system compatible with complex terrain. The system has strong compatibility and adaptability, is flexible and mobile, and is suitable for various terrains and photovoltaic array layouts; has complete basic functions, combines water washing and dry cleaning, and solves problems such as robot slippage, water supply, and endurance; is equipped with intelligent sensors to realize real-time detection of information such as pollution degree, anti-drop, water volume, electricity volume, fuel volume, and working environment; has a high degree of intelligence, and can autonomously complete the transfer of cleaning equipment between multi-row photovoltaic panels, plan the movement route of the vehicle, avoid obstacles, give early warnings and return when lacking water or electricity, update the working route of the cleaning surface of the photovoltaic panel, and make intelligent decisions on the water use and traveling speed of the cleaning execution mechanism based on the integrated system status, dirtiness degree, environmental mapping and other information; has a complete expansion and supporting system, and is equipped with a weeding mechanism to cut weeds on the execution path.

[0009] To solve the above technical problems, the specific technical solutions of the present invention are as follows:

[0010] In some embodiments of the present application, a multi-functional photovoltaic maintenance intelligent robot system compatible with complex terrain is provided, including: a mobile processing platform, a multi-degree-of-freedom boom, and a cleaning execution mechanism, characterized in that:

[0011] The mobile processing platform includes: a driving mechanism, a control system, and an energy system;

[0012] The multi-degree-of-freedom boom includes: a multi-angle motion mechanism, a first connection mechanism;

[0013] The cleaning execution mechanism includes: a second connection mechanism, a brush roller mechanism, a crawler mobile device, and a data acquisition system.

[0014] In some embodiments of the present application, the driving mechanism is a multi-joint crawler motion mechanism, and a weeding mechanism is provided on the driving mechanism. A telescopic member is provided at the top of the driving mechanism and is connected to a multi-degree-of-freedom jib through the telescopic member.

[0015] In some embodiments of the present application, the control system includes: a lidar, a vision camera, and an integrated processing platform. Among them, the lidar, the vision camera, and the integrated processing platform are respectively provided on the driving mechanism.

[0016] In some embodiments of the present application, the energy system includes: an energy bin and a water tank. Among them, the energy bin and the water tank are respectively provided on the driving mechanism.

[0017] In some embodiments of the present application, the integrated processing platform includes:

[0018] A signal acquisition module, which is electrically connected to the lidar and the vision camera, and obtains the environmental information collected by the lidar and the environmental image information collected by the vision camera;

[0019] A topographic map construction module, which is connected to the signal acquisition module and constructs a point cloud map according to the environmental information collected by the lidar;

[0020] A sensor module, which obtains the information status of the driving mechanism, the energy system, the multi-degree-of-freedom jib, and the cleaning execution mechanism, and performs integrated processing;

[0021] An execution and motion decision-making module, which generates corresponding action instructions for the driving mechanism, the multi-degree-of-freedom jib, and the cleaning execution mechanism after obtaining and processing the information in the signal acquisition module, the topographic map construction module, and the sensor module.

[0022] In some embodiments of the present application, a hemispherical lidar is provided on the multi-angle motion mechanism and is connected to the second connection mechanism of the cleaning execution mechanism through the first connection mechanism. Among them, the hemispherical lidar is electrically connected to the control system.

[0023] In some embodiments of the present application, a crawler-type mobile device is provided on the second connection mechanism, and brush roller mechanisms are provided on both sides of the second connection mechanism, and a data acquisition system is provided on the brush roller mechanism.

[0024] In some embodiments of the present application, the data acquisition system includes: an anti-drop probe and a pollution detection recorder. Among them, the anti-drop probe and the pollution detection recorder are respectively provided on the brush roller mechanism and are electrically connected to the control system.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows.

[0026] The system has strong compatibility and adaptability, and is flexible and mobile. The multi-joint tracked motion mechanism is suitable for various terrains such as grasslands, deserts, plains, and mountains. At the same time, for special scenario requirements, the motion mode, volume, shape, etc. of the carrier can be adaptively modified. For example, an air-cushion vehicle motion mechanism is used on water surfaces to ensure passability and flexibility; telescopic columns and multi-degree-of-freedom motion joints enable the system to be applicable to various photovoltaic arrays with different heights and layouts.

[0027] The basic functions are complete. It has functions of water washing, dry cleaning, and scrubbing; uses an active force feedback integrated cable winding and unwinding mechanism to control the pressure, a non-slip tracked motion mechanism to enhance anti-slip, real-time mapping of the cleaning work surface and real-time updating of the work path planning and other means to solve the problem of robot slippage; the water supply and power energy are carried on the mobile processing platform to reduce the pressure on the photovoltaic panels and ensure the endurance ability.

[0028] There are rich intelligent sensors, the system status can be known, and the cleaning effect can be checked. It realizes real-time detection of information such as drop warning, water volume, power, fuel volume, and working environment. Multiple pollution detection recorders are deployed to conduct multiple pollution detections and records on the photovoltaic panels before and after cleaning, providing information for control decisions, ensuring the cleaning effect, and at the same time providing relevant records for subsequent acceptance.

[0029] It has a high degree of intelligent autonomy and reduces labor costs. It can, based on the integrated system status, dirtiness, environmental mapping, GPS, images and other information, and based on perception control technology, autonomously complete the transfer of cleaning equipment between multiple rows of photovoltaic panels, plan the movement route of the vehicle, avoid obstacles, return to base when there is a lack of water or electricity warning, update the work route of the cleaning surface of the photovoltaic panels, and make intelligent operations on the whole process such as the water use and traveling speed of the cleaning execution mechanism. The staff only need to perform operations such as adding water, changing electricity, and refueling at the preset points, reducing labor costs and constraints.

[0030] Iterative optimization to improve efficiency. It stores data such as environmental perception and photovoltaic panel array maps, provides a global map for subsequent work in the same work area, and at the same time intelligently iteratively optimizes the cleaning route to improve the overall work efficiency.

[0031] The expansion and supporting facilities are complete. A weeding mechanism can be configured to cut the weeds on the movement path. Description of the Drawings

[0032] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0033] Figure 1 It is the overall structure and working schematic diagram of the multi-functional photovoltaic maintenance intelligent robot system provided by the embodiment of the present invention;

[0034] Figure 2 Schematic diagram of the composition structure of the mobile processing platform provided by the embodiment of the present invention;

[0035] Figure 3 Schematic diagram of the composition structure of the multi-degree-of-freedom boom provided by the embodiment of the present invention;

[0036] Figure 4 Schematic diagram of the composition structure of the cleaning execution mechanism provided by the embodiment of the present invention;

[0037] Figure 5 Schematic diagram of the working process of the multi-functional photovoltaic maintenance intelligent robot system provided by the embodiment of the present invention. Specific embodiments

[0038] The following combines the drawings and embodiments to further describe in detail the specific embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0039] In order to better understand the purpose, structure and function of the present invention, the following further describes the present invention in detail with reference to the drawings.

[0040] Refer to the attached Figures 1 - 5 As shown, according to the embodiment of the present application, it includes: a mobile processing platform 1, a multi-degree-of-freedom boom 2, and a cleaning execution mechanism 3.

[0041] The mobile processing platform 1 includes: a driving mechanism, a control system, and an energy system;

[0042] The multi-degree-of-freedom boom 2 includes: a multi-angle movement mechanism and a first connection mechanism;

[0043] The cleaning execution mechanism 3 includes: a second connection mechanism, a rotary brush mechanism, a crawler-type mobile device, and a data acquisition system.

[0044] The driving mechanism is a multi-joint crawler movement mechanism 7, and a weeding mechanism 8 is provided on the driving mechanism. A telescopic member (a telescopic column 11) is provided at the top of the driving mechanism and is connected to the multi-degree-of-freedom boom 2 through the telescopic member.

[0045] The control system includes: a lidar 4, a vision camera 10, and an integrated processing platform 9. Among them, the lidar 4, the vision camera 10, and the integrated processing platform 9 are respectively provided on the driving mechanism.

[0046] The energy system includes: an energy storage bin 6 and a water tank 5. Among them, the energy storage bin 6 and the water tank 5 are respectively provided on the driving mechanism.

[0047] The integrated processing platform 9 includes:

[0048] A signal acquisition module, which is electrically connected to a lidar and a vision camera, and acquires environmental information collected by the lidar and environmental image information collected by the vision camera;

[0049] A topographic map construction module, which is connected to the signal acquisition module, and constructs a point cloud map according to the environmental information collected by the lidar;

[0050] A sensor module, which acquires the information status of the driving mechanism, the energy system, the multi-degree-of-freedom jib, and the cleaning execution mechanism, and performs integrated processing;

[0051] An execution and motion decision-making module, which generates corresponding action instructions for the driving mechanism, the multi-degree-of-freedom jib, and the cleaning execution mechanism after acquiring and processing the information in the signal acquisition module, the topographic map construction module, and the sensor module.

[0052] A hemispherical lidar 15 is provided on the multi-degree-of-freedom jib 2 (a multi-angle motion mechanism), and is connected to the second connecting mechanism of the cleaning execution mechanism 3 through a first connecting mechanism. Among them, the hemispherical lidar 15 is electrically connected to the control system.

[0053] The crawler-type mobile device is an anti-slip crawler motion mechanism 20 provided on the second connecting mechanism, and brush roller mechanisms are provided on both sides of the second connecting mechanism, and a data acquisition system is provided on the brush roller mechanism.

[0054] The data acquisition system includes anti-fall probes 17, 10, 11, 25 and pollution detection recorders 18, 23. Among them, the anti-fall probes and the pollution detection recorders are respectively provided on the brush roller mechanism and are electrically connected to the control system.

[0055] Furthermore, the mobile processing platform 1 is used to complete the overall positioning and movement of the equipment, the integration and processing of sensor information, and the execution and motion decision-making. The platform movement supports remote control and automatic dual-mode control. When manually remote controlling, the remote control system can complete the first construction of the global map of the photovoltaic station work scenario by walking through the photovoltaic station. However, remote control to construct the global map is not a necessary operation, and automatic control can also be directly executed. When automatically controlling, the system uses sensors such as vision cameras, lidars, and GPS to perform environmental perception and fusion positioning in real time, plans the movement route according to the task requirements, and stores relevant map data at the same time to provide a global map for subsequent re-work and optimize the cleaning route; the deployed integrated processing platform receives the information of each sensor in the system, completes system decision-making after integrated processing, and outputs the control signal to the execution mechanism; when there is a lack of water or power energy or the task is completed, the cleaning equipment is recovered and automatically goes to the preset position.

[0056] Furthermore, the mobile processing platform 1 includes: a lidar 4, a water tank 5, an energy bin 6, a multi-joint crawler motion mechanism 7, a weeding mechanism 8, an integrated processing platform 9, a vision camera 10, and a telescopic column 11.

[0057] Lidar 4: Collects environmental information and constructs a point cloud map;

[0058] Water tank 5: Provides water and cleaning liquid for the cleaning mechanism and is equipped with a water volume detection sensor;

[0059] Energy bin 6: Utilizes portable replaceable large-capacity batteries and fuel to provide energy for the operation of various mechanisms and sensors in the system, ensures endurance, and is equipped with power and fuel volume detection sensors;

[0060] Multi-joint crawler motion mechanism 7: The system's moving and obstacle-crossing mechanism, which adapts to multi-scene ground environments such as rough and pitted terrains, and can be adaptively modified in terms of the carrier's motion mode, volume, shape, etc. according to the actual usage environment to ensure passability and flexibility;

[0061] Weeding mechanism 8: A supporting device used to cut weeds on the working path;

[0062] Integrated processing platform 9: Integrates a power distribution unit, a control processing unit, GPS, a computing power platform, etc., receives and comprehensively processes sensor information from various parts of the system, makes decisions based on task objectives and the states of various mechanisms in the system, and finally sends control information to each executing mechanism in the system;

[0063] Vision camera 10: Obtains environmental image information for system fusion positioning and the recognition of special targets such as parking points and obstacles;

[0064] Telescopic column 11: The height of the photovoltaic panel from the ground is at a certain level and is uneven. The telescopic column 11 expands and contracts up and down to adapt to the requirements of the working scenario. It contracts when the system is in a state of long-distance movement, recovery, sleep, etc., and expands when the system deploys the cleaning executing mechanism to the photovoltaic panel.

[0065] Furthermore, the multi-degree-of-freedom jib 2 is used for stretching and transporting, position fine-tuning, folding and storing, integrating cable force feedback for retracting and deploying, deploying and recovering the cleaning executing mechanism 3, and perceiving and mapping the cleaning work surface.

[0066] Furthermore, the multi-degree-of-freedom jib 2 includes a multi-degree-of-freedom motion joint 12, an active force feedback integrated cable retracting and deploying mechanism 13, a first electromagnetic storage plate 14, and a hemispherical lidar 15;

[0067] Multi-degree-of-freedom motion joint 12: When performing cleaning tasks, it is used to fine-tune the hanging position according to the cleaning operation progress and scope, and at the same time, it folds and performs related controls during the transfer between photovoltaic panels or when returning, to avoid collisions with photovoltaic panels;

[0068] Active force feedback integrated bundle retraction and extension mechanism 13: The water pipes and cables are integrated into a bundle, which is connected to the cleaning actuator 3. At the same time, it is equipped with a force feedback device. Based on the information collected by the force feedback device, the integrated bundle is automatically retracted and extended to control the degree of contact between the cleaning actuator 3 and the photovoltaic panel, thereby improving the cleaning ability, overcoming the displacement of the cleaning device, and preventing the integrated bundle from being pulled and damaged;

[0069] The first electromagnetic receiving plate 14 is used in conjunction with the second electromagnetic receiving plate 16 to open and release the connection with the cleaning actuator 3 through the electromagnet. When the cleaning actuator 3 is retracted, the power is turned on to generate magnetism and fix the mechanism; when the cleaning actuator 3 is lowered, the power is turned off to eliminate the magnetism and release the restriction;

[0070] Hemispherical LiDAR 15: Senses and maps the photovoltaic panel cleaning work surface. The acquired sensing information is used for cleaning path planning of the cleaning actuator, anti-fall inspection and early warning, and collision avoidance when extending multi-degree-of-freedom motion joints.

[0071] Furthermore, the cleaning execution mechanism is used to perform cleaning operations on photovoltaic panels and has functions such as anti-fall warning and real-time pollution detection and recording.

[0072] Furthermore, the cleaning actuator 3 includes a second electromagnetic receiving plate 16 , an anti-fall probe 17 , a pollution detection recorder 18 , roller brushes 19 , 24 , and an anti-slip track motion mechanism 20 .

[0073] Second electromagnetic receiving plate 16: used in conjunction with the first electromagnetic receiving plate 14, opening and releasing the connection with the multi-degree-of-freedom boom 2 through the electromagnet;

[0074] Anti-drop probes 17, 10, 11, 25: Multiple anti-drop probes are deployed around the body and at the extension of the motion mechanism to provide early warning of the risk of falling of the cleaning actuator 3;

[0075] Pollution detection recorders 18 and 23: Multiple pollution detection recorders are deployed on the front and rear roller brush support beams. On the one hand, they detect and record the pollution level of the area to be cleaned, providing information for control decisions such as water consumption and speed. On the other hand, they detect and record the pollution level of the cleaned area, providing information for judging whether the cleaning has met the standards and whether it needs to be re-classified as a waiting area for cleaning, and also provide relevant records for subsequent acceptance inspections.

[0076] Roller brushes 19 and 24: Equipped with front and rear roller brushes, they can be equipped with different roller brush materials according to task requirements to perform dry cleaning, wet cleaning, and scrubbing operations;

[0077] Anti-skid track movement mechanism 21: When the cleaning actuator 3 moves, the anti-skid track increases the friction between it and the photovoltaic panel.

[0078] The cleaning execution mechanism 3 mainly includes a second electromagnetic storage board 16, anti-drop probes 17, pollution detection recorders 18, rolling brushes 19, anti-drop probes 20, anti-slip crawler movement mechanisms 21, anti-drop probes 22, pollution detection recorders 23, rolling brushes 24, and anti-drop probes 25. Among them, 4 anti-drop probes are deployed on the periphery of the movement mechanism; 2 pollution detection recorders are deployed on the front and rear rolling brush support beams. The pollution detection recorder 23 is used to detect and record the pollution degree of the area to be cleaned, providing information for control decisions such as water consumption and movement speed. The pollution detection recorder 18 is used to detect and record the pollution degree of the cleaned area, providing judgment information for whether the cleaning meets the standard and whether it needs to be re-designated as an area to be cleaned, and at the same time providing a cleaning effect record for subsequent acceptance. Two rolling brushes are deployed front and back. The rolling brush 24 is used for cleaning, and the rolling brush 19 is used for wiping.

[0079] See Figure 5 For the schematic diagram of the overall working process of the system, the working process of the system is introduced in detail as follows:

[0080] a. The operator confirms the water volume, power volume, fuel volume and the basic operating conditions of the system at the mooring point, sets the return point and the starting working point. The system can first be enabled to manually remotely control the system to complete the photovoltaic station. The global map of the working scene of the photovoltaic station is constructed for the first time at night, or the automatic control can be directly started;

[0081] b. After starting to run, the system begins to perform environmental perception and fusion positioning based on the vision camera 10, lidar 4, GPS, etc., plans the movement route according to the task requirements, avoids obstacles, and automatically drives to the starting working point. The weeding mechanism 8 removes sundries and weeds on the path;

[0082] c. The telescopic column 11 and the multi-degree-of-freedom boom 2 start to extend. At the same time, the hemispherical lidar 15 continuously identifies the surrounding environment, the position of the photovoltaic panels, and the working surface targets to avoid colliding with the photovoltaic panels;

[0083] d. After extending above the working surface, release the connection 16 between the first electromagnetic storage board 14 and the second electromagnetic storage board. The active force feedback integrated cable retraction and release mechanism 13 lowers the integrated cable bundle of water pipes and cables and the cleaning execution mechanism 3 according to the relative working surface positioning information, and performs force feedback and relative position update in real time until the cleaning execution mechanism 3 reaches the working surface;

[0084] e. The hemispherical lidar 15 senses and maps the cleaning working surface, plans the cleaning path, and the cleaning execution mechanism starts to work;

[0085] f. The pollution detection recorder 18 and the pollution detection recorder 23 collect and return the pollution detection results. The hemispherical lidar 15 returns the execution situation of the cleaning operation surface in real time. The comprehensive computing power platform updates the cleaning path in real time and controls the anti-slip crawler movement mechanism 21 to adjust the cleaning area;

[0086] g. Based on the mapping information of the working surface of the hemispherical lidar 15 and the anti-falling probe warning, multiple measures are taken in route planning and emergency warning to prevent the mechanism from falling, ensuring work safety;

[0087] h. According to information such as the cleaning task progress, operation range, and force feedback, comprehensively control the position of the mobile processing platform 1, and fine-tune the multi-degree-of-freedom motion joint 12 and the active force feedback integrated cable retraction and release mechanism 13;

[0088] i. After completing the cleaning of the current photovoltaic panel, retract the cable, recycle the cleaning execution mechanism 3, and activate the connection between the first electromagnetic storage board 14 and the second electromagnetic storage board 16;

[0089] j. The mobile processing platform 1 marks the cleaned panels according to the real-time mapping plan and recognition information, automatically moves to the adjacent photovoltaic panel, completes the transfer of the cleaning equipment between the photovoltaic panels, and starts to perform normal cleaning operations;

[0090] k. When there is a lack of water, lack of power energy, or the task is completed, automatically go to the preset position or the return parking point;

[0091] The system stores data such as environmental perception and the map of the photovoltaic panel array, provides a global map for subsequent work in the same work area, and at the same time intelligently iteratively optimizes the cleaning route to improve the overall work efficiency. If the device is permanently configured at a certain photovoltaic power station, the cleaning trajectory and strategy can be optimized based on multiple work information.

[0092] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0093] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0094] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0095] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0096] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-functional photovoltaic maintenance intelligent robot system compatible with complex terrains, comprising: Mobile processing platform, multi-degree-of-freedom boom, and cleaning execution mechanism, characterized in that: The mobile processing platform includes: a driving mechanism, a control system, and an energy system; The multi-degree-of-freedom boom includes: a multi-angle motion mechanism and a first connection mechanism; The cleaning execution mechanism includes: a second connection mechanism, a rotary brush mechanism, a crawler mobile device, and a data acquisition system.

2. The multi-functional photovoltaic maintenance intelligent robot system compatible with complex terrains according to claim 1, wherein, The driving mechanism is a multi-joint crawler motion mechanism, and a weeding mechanism is provided on the driving mechanism. A telescopic member is provided at the top of the driving mechanism and is connected to the multi-degree-of-freedom boom through the telescopic member.

3. A multi-functional photovoltaic maintenance intelligent robot system compatible with complex terrains according to claim 1, characterized in that, The control system includes: a lidar, a vision camera, and an integrated processing platform. Among them, the lidar, the vision camera, and the integrated processing platform are respectively provided on the driving mechanism.

4. A multi-functional photovoltaic maintenance intelligent robot system compatible with complex terrains according to claim 1, characterized in that, The energy system includes: an energy storage bin and a water tank. Among them, the energy storage bin and the water tank are respectively provided on the driving mechanism.

5. The multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrain according to claim 3 is characterized in that: The integrated processing platform includes: A signal acquisition module, which is electrically connected to the lidar and the vision camera, and obtains the environmental information collected by the lidar and the environmental image information collected by the vision camera; A topographic map construction module, which is connected to the signal acquisition module and constructs a point cloud map according to the environmental information collected by the lidar; A sensor module, which obtains the information states of the driving mechanism, the energy system, the multi-degree-of-freedom boom, and the cleaning execution mechanism, and performs integration processing; An execution and motion decision-making module, which generates corresponding action instructions for the driving mechanism, the multi-degree-of-freedom boom, and the cleaning execution mechanism after obtaining and processing the information in the signal acquisition module, the topographic map construction module, and the sensor module.

6. The multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrain according to claim 1 is characterized in that: A hemispherical lidar is provided on the multi-angle motion mechanism and is connected to the second connection mechanism of the cleaning execution mechanism through the first connection mechanism. Among them, the hemispherical lidar is electrically connected to the control system.

7. The multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrains according to claim 1, characterized in that The crawler mobile device is provided on the second connection mechanism, and rotary brush mechanisms are provided on both sides of the second connection mechanism, and a data acquisition system is provided on the rotary brush mechanism.

8. The multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrains according to claim 7, characterized in that, The data acquisition system includes: an anti-fall probe and a pollution detection recorder. Among them, the anti-fall probe and the pollution detection recorder are respectively provided on the rotary brush mechanism and are electrically connected to the control system.

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