A multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrain

Abstract

This invention belongs to the field of intelligent robot technology, and particularly relates to a multifunctional intelligent robot system for photovoltaic maintenance compatible with complex terrain. The system includes: a mobile processing platform, a multi-degree-of-freedom boom, and a cleaning execution mechanism. The mobile processing platform includes: a drive mechanism, a control system, and an energy system. The multi-degree-of-freedom boom includes: a multi-angle motion mechanism and a first connecting mechanism. The cleaning execution mechanism includes: a second connecting mechanism, a roller brush mechanism, a tracked mobile device, and a data acquisition system. Through the multi-joint tracked motion mechanism and the cooperation between the multi-degree-of-freedom boom and the mobile processing platform, the system is suitable for photovoltaic arrays with various environmental layouts. Modular design enables multi-purpose functionality, and AI algorithms optimize cleaning and inspection efficiency, achieving intelligent and automated cleaning suitable for various terrains.

Description

Technical Field

[0001] This invention belongs to the field of intelligent robot technology, and in particular relates to a multifunctional intelligent robot system for photovoltaic maintenance that is compatible with complex terrain. Background Technology

[0002] By the end of 2024, the global cumulative installed capacity of photovoltaic (PV) power generation had exceeded 2000 GW, while the cumulative installed capacity in China reached approximately 793.11 GW, a year-on-year increase of 48.4%. Of this, centralized PV accounted for 423 GW, or 58% of the total installed capacity, while distributed PV accounted for 370 GW, or 42%. Because PV panels are exposed to the outdoors for extended periods, dust, dirt, and other obstructions reduce their photoelectric conversion efficiency and affect the lifespan of PV modules, making PV panel cleaning and maintenance a necessary periodic task. To improve cleaning efficiency and adapt to the diverse and complex installation environments of PV panels, PV cleaning is gradually evolving from manual cleaning to mechanization and automation. Currently used cleaning equipment mainly includes vehicle-mounted cranes, wall-mounted units, self-propelled robots, and high-pressure drones. These devices address some of the challenges of manual cleaning in different scenarios, but still have many shortcomings.

[0003] Vehicle-mounted crane-type cleaning equipment, such as rotating brushes, is installed on a large vehicle. The crane arm extends the cleaning device to the surface of the photovoltaic panels for cleaning. It is suitable for large-scale centralized photovoltaic power plants and has a wide coverage area in a single operation. However, it has some drawbacks, such as high requirements for the working terrain. When the ground is sloping or has debris, the vehicle can cause the cleaning brush to tilt, which may damage the photovoltaic panels or result in incomplete cleaning. Larger space needs to be reserved between photovoltaic panels for movement. It also has high energy consumption and high transportation and operating costs.

[0004] The wall-mounted type is fixed to the photovoltaic panel bracket and moves on the surface of the photovoltaic panel via tracks or rails pre-set at the top and bottom of the photovoltaic panel to complete the cleaning. It is suitable for fixed photovoltaic arrays and can be automated. However, it has high installation and maintenance costs, needs to be included in the power plant construction plan, and has a large initial investment. It also has strict requirements for the layout of the photovoltaic array, and tracks need to be installed for irregularly arranged photovoltaic panels. If there is no inter-panel switching track, 2-3 people are needed to move the robot when the equipment switches to a different cleaning surface.

[0005] Self-propelled robots are small, automated devices that move autonomously on the surface of photovoltaic panels via tracks. They use rotating brushes and water sprayers for cleaning. Because they operate on the photovoltaic panels, terrain limitations are negligible. However, they have several drawbacks: at least one worker is needed to follow the robot to manage the water supply pipes; the robot may slip or deviate due to the slope of the panels and the drag from the water supply pipes; switching cleaning surfaces requires two to three people to move the robot; and they lack intelligence, including intelligent sensing and decision-making control capabilities.

[0006] High-pressure drones typically use large-payload drones equipped with high-pressure water guns to wash photovoltaic panels. They are suitable for photovoltaic arrays that are difficult to access (such as rooftops and water surfaces) and offer high flexibility. However, they have several drawbacks, including the inability to perform high-pressure washing and wiping; the requirement for operators to undergo professional training; difficulty in ensuring stability and safety due to environmental factors such as wind and weather; limited endurance; and high cost.

[0007] In summary, existing photovoltaic cleaning equipment is insufficient to meet the cleaning and maintenance needs of photovoltaic panels. It has deficiencies and incompatibility issues in basic functions such as adapting to various terrain conditions, combining water and dry cleaning, solving robot sliding, and real-time monitoring of water, electricity and energy, as well as intelligent functions such as multi-row panel equipment transfer, pollution level detection, drop prevention, and automatic mapping and planning. Therefore, a multi-functional intelligent robot system for photovoltaic maintenance that is compatible with complex terrain is designed to achieve intelligent, automated and efficient cleaning and maintenance of photovoltaic panels. Summary of the Invention

[0008] This invention provides a multifunctional intelligent robot system for photovoltaic maintenance that is compatible with complex terrains. The system is highly adaptable and flexible, suitable for various terrains and photovoltaic array layouts. It has complete basic functions, including both water washing and dry cleaning, and solves problems related to robot sliding, water supply, and battery life. Equipped with intelligent sensors, it can monitor information such as pollution level, fall prevention, water volume, power consumption, fuel consumption, and working environment in real time. It has a high degree of intelligence and can autonomously transfer cleaning equipment between multiple rows of photovoltaic panels based on integrated system status, dirt level, environmental mapping, and other information, using perception and control technology. It can plan the vehicle's movement route, avoid obstacles, provide early warnings of water and power shortages and return to base, update the working route of the photovoltaic panel cleaning surface, and intelligently decide on the water usage and travel speed of the cleaning execution mechanism. It also has comprehensive expansion capabilities, including a weeding mechanism that can cut weeds along the execution path.

[0009] To solve the above-mentioned technical problems, the specific technical solution of the present invention is as follows: In some embodiments of this application, a multifunctional intelligent robot system for photovoltaic maintenance compatible with complex terrain is provided, comprising: a mobile processing platform, a multi-degree-of-freedom boom, and a cleaning actuator, characterized in that: The mobile processing platform includes: a drive mechanism, a control system, and an energy system; The multi-degree-of-freedom boom includes: a multi-angle motion mechanism and a first connecting mechanism; The cleaning execution mechanism includes: a second connecting mechanism, a roller brush mechanism, a tracked mobile device, and a data acquisition system.

[0010] In some embodiments of this application, the drive mechanism is a multi-joint tracked motion mechanism, and a weeding mechanism is provided on the drive mechanism. The top of the drive mechanism is provided with a telescopic component, which is connected to a multi-degree-of-freedom boom.

[0011] In some embodiments of this application, the control system includes: a lidar, a vision camera, and an integrated processing platform, wherein the lidar, the vision camera, and the integrated processing platform are respectively mounted on a drive mechanism.

[0012] In some embodiments of this application, the energy system includes an energy storage compartment and a water tank, wherein the energy storage compartment and the water tank are respectively mounted on a drive mechanism.

[0013] In some embodiments of this application, the integrated processing platform includes: The signal acquisition module is electrically connected to the lidar and the vision camera to acquire environmental information acquired by the lidar and environmental image information acquired by the vision camera. A topographic map construction module, which is connected to the signal acquisition module, constructs a point cloud map based on the environmental information acquired by the lidar. The sensor module acquires and integrates information on the status of the drive mechanism, energy system, multi-degree-of-freedom boom, and cleaning actuator. The execution and motion decision-making module acquires and processes information from the signal acquisition module, topographic map construction module, and sensor module, and then generates corresponding action commands for the drive mechanism, multi-degree-of-freedom boom, and cleaning execution mechanism.

[0014] In some embodiments of this application, a hemispherical laser radar is provided on the multi-angle motion mechanism and is connected to the second connection mechanism of the cleaning execution mechanism through a first connection mechanism, wherein the hemispherical laser radar is electrically connected to the control system.

[0015] In some embodiments of this application, the tracked mobile device is mounted on the second connecting mechanism, and a roller brush mechanism is provided on both sides of the second connecting mechanism, and a data acquisition system is provided on the roller brush mechanism.

[0016] In some embodiments of this application, the data acquisition system includes: a drop-proof probe and a pollution detection recorder, wherein the drop-proof probe and the pollution detection recorder are respectively mounted on the roller brush mechanism and electrically connected to the control system.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The system is highly compatible, adaptable, and flexible. The multi-jointed tracked motion mechanism is suitable for various terrains such as grasslands, deserts, plains, and mountains. At the same time, the motion mode, volume, and shape of the carrier can be adapted to meet the needs of special scenarios. For example, a hovercraft motion mechanism is used on water to ensure passability and flexibility. The telescopic columns and multi-degree-of-freedom motion joints make the system suitable for various photovoltaic arrays with different heights and layouts.

[0018] It has complete basic functions. It also has water washing, dry cleaning and scrubbing functions; it uses active force feedback integrated bundling and retraction mechanism to control the amount of pressure, anti-slip track movement mechanism to enhance anti-slip, real-time mapping of the cleaning surface and real-time updating and planning of the work path to solve the robot slippage problem; water supply and power energy are carried on the mobile processing platform to reduce the pressure on the photovoltaic panel and ensure the endurance.

[0019] With a wealth of intelligent sensors, the system status is readily available, and the cleaning effect is verifiable. It enables real-time monitoring of information such as drop warnings, water volume, electricity consumption, fuel levels, and the working environment. Multiple pollution detection and recording devices are deployed to conduct repeated pollution checks and records on the photovoltaic panels before and after cleaning, providing information for control decisions, ensuring cleaning effectiveness, and providing relevant records for subsequent acceptance testing.

[0020] It boasts a high degree of intelligence and autonomy, reducing labor costs. Based on integrated system status, level of contamination, environmental mapping, GPS, and image data, and using perception and control technology, it can autonomously transfer cleaning equipment between multiple rows of photovoltaic panels, plan vehicle movement routes, avoid obstacles, provide early warnings of water and power shortages and return to base, update the working route of the photovoltaic panel cleaning surface, and make decisions on water usage and travel speed for the cleaning actuators. The entire process is intelligent, and staff only need to perform operations such as adding water, changing batteries, and replenishing fuel at preset points, reducing labor costs and constraints.

[0021] Iterative optimization improves efficiency. Data such as storage environment awareness and photovoltaic panel array maps provide a global map for subsequent work in the same work area, while intelligently iteratively optimizing cleaning routes to improve overall work efficiency.

[0022] Expanded and improved supporting facilities. It can be equipped with a weeding mechanism to cut weeds along the movement path. Attached Figure Description

[0023] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the overall structure and operation of the multifunctional photovoltaic maintenance intelligent robot system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the composition structure of the mobile processing platform provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the multi-degree-of-freedom boom assembly structure provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the composition of the cleaning execution mechanism provided in an embodiment of the present invention; Figure 5This is a schematic diagram of the workflow of the multifunctional photovoltaic maintenance intelligent robot system provided in an embodiment of the present invention. Detailed Implementation

[0024] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0025] To better understand the purpose, structure, and function of this invention, the invention will be described in further detail below with reference to the accompanying drawings.

[0026] See appendix Figures 1-5 As shown in the embodiment of this application, it includes: a mobile processing platform 1, a multi-degree-of-freedom boom 2, and a cleaning execution mechanism 3.

[0027] The mobile processing platform 1 includes: a drive mechanism, a control system, and an energy system; The multi-degree-of-freedom boom 2 includes: a multi-angle motion mechanism and a first connecting mechanism; The cleaning execution mechanism 3 includes: a second connecting mechanism, a roller brush mechanism, a tracked mobile device, and a data acquisition system.

[0028] The drive mechanism is a multi-joint tracked motion mechanism 7, and a weeding mechanism 8 is provided on the drive mechanism. The top of the drive mechanism is provided with a telescopic component (telescopic column 11), which is connected to the multi-degree-of-freedom boom 2 through the telescopic component.

[0029] The control system includes: a lidar 4, a vision camera 10, and an integrated processing platform 9, wherein the lidar 4, the vision camera 10, and the integrated processing platform 9 are respectively mounted on the drive mechanism.

[0030] The energy system includes an energy storage compartment 6 and a water tank 5, wherein the energy storage compartment 6 and the water tank 5 are respectively located on the drive mechanism.

[0031] The integrated processing platform 9 includes: The signal acquisition module is electrically connected to the lidar and the vision camera to acquire environmental information acquired by the lidar and environmental image information acquired by the vision camera. A topographic map construction module, which is connected to the signal acquisition module, constructs a point cloud map based on the environmental information acquired by the lidar. The sensor module acquires and integrates information on the status of the drive mechanism, energy system, multi-degree-of-freedom boom, and cleaning actuator. The execution and motion decision-making module acquires and processes information from the signal acquisition module, topographic map construction module, and sensor module, and then generates corresponding action commands for the drive mechanism, multi-degree-of-freedom boom, and cleaning execution mechanism.

[0032] The multi-angle motion mechanism (a multi-degree-of-freedom boom 2) is equipped with a hemispherical laser radar 15, which is connected to the second connection mechanism of the cleaning execution mechanism 3 through the first connection mechanism. The hemispherical laser radar 15 is electrically connected to the control system.

[0033] The tracked mobile device has an anti-slip track movement mechanism 21 mounted on the second connecting mechanism, and a roller brush mechanism is provided on both sides of the second connecting mechanism, and a data acquisition system is provided on the roller brush mechanism.

[0034] The data acquisition system includes: anti-drop probes 17, 20, 22, and 25 and pollution detection recorders 18 and 23. The anti-drop probes and pollution detection recorders are respectively mounted on the roller brush mechanism and are electrically connected to the control system.

[0035] Furthermore, the mobile processing platform 1 is used to complete the overall positioning and movement of the equipment, sensor information integration and processing, execution, and motion decision-making. The platform supports both remote and automatic dual-mode control. In manual remote control mode, the system can be remotely controlled to complete the entire photovoltaic station and build the global map of the photovoltaic station's working scene for the first time. However, remotely building the global map is a necessary operation. Automatic control can also be executed directly. In automatic control mode, the system uses sensors such as visual cameras, LiDAR, 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 to provide a global map for subsequent work and optimize the cleaning route. The deployed integrated processing platform receives information from various sensors in the system, integrates and processes it to complete system decisions, and outputs control signals to the actuators. When there is a lack of water or power, or when the task is completed, the cleaning equipment is retrieved and automatically moves to the preset location.

[0036] Furthermore, the mobile processing platform 1 includes: a lidar 4, a water tank 5, an energy storage compartment 6, a multi-jointed tracked motion mechanism 7, a weeding mechanism 8, an integrated processing platform 9, a vision camera 10, and a telescopic column 11.

[0037] LiDAR 4: Collects environmental information and constructs point cloud maps; Water tank 5: Provides water and cleaning fluid for the cleaning mechanism, and is equipped with a water level detection sensor; Energy Capsule 6: Utilizes portable replacement high-capacity batteries and fuel to provide power for the operation of various mechanisms and sensors in the system, ensuring battery life. Equipped with power and fuel level detection sensors. Multi-joint tracked motion mechanism 7: System movement and obstacle crossing mechanism, adaptable to various ground environments such as rugged and uneven terrain, and the carrier's movement mode, volume and shape can be adapted to the actual use environment to ensure passability and flexibility; Weeding mechanism 8: Can be equipped with additional equipment for cutting weeds along the working path; Integrated processing platform 9: It integrates power distribution unit, control processing unit, GPS, computing platform, etc., receives and comprehensively processes sensor information from various parts of the system, makes decisions based on task objectives and the status of various mechanisms in the system, and finally sends control information to various actuators in the system. Visual camera 10: Acquires environmental image information for system fusion and localization, as well as for the identification of special targets such as parking spots and obstacles; Telescopic column 11: The photovoltaic panels are at a certain height from the ground, and the height is uneven. The telescopic column 11 can extend and retract to adapt to the needs of the working scenario. It retracts when the system is in a long-distance movement, recycling, or dormant state, and extends when the system deploys the cleaning execution mechanism to the photovoltaic panels.

[0038] Furthermore, the multi-degree-of-freedom boom 2 is used for extended transport, fine-tuning of position, folding and storage, integrated binding force feedback for deployment and retraction, and the cleaning actuator 3 for deployment, retrieval, and sensing and mapping of the cleaning work surface.

[0039] Furthermore, the multi-degree-of-freedom boom 2 includes a multi-degree-of-freedom motion joint 12, an active force feedback integrated snagging and retraction mechanism 13, a first electromagnetic storage plate 14, and a hemispherical lidar 15; 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 operation range. At the same time, it is used for folding and related control when transferring between photovoltaic panels or returning to the shore to avoid collision of photovoltaic panels. Active force feedback integrated bundle retraction and extension mechanism 13: integrates water pipes and cables into a bundle, connects to the cleaning execution mechanism 3, and is equipped with a force feedback device. Based on the information collected by the force feedback device, it autonomously retracts and extends the integrated bundle, controls the degree of contact between the cleaning execution mechanism 3 and the photovoltaic panel, improves cleaning ability, overcomes the displacement of the cleaning device, and avoids the integrated bundle being pulled and damaged. First electromagnetic storage plate 14: Used in conjunction with second electromagnetic storage plate 16, it is connected to cleaning actuator 3 by electromagnet opening and releasing. When cleaning actuator 3 is retracted, it is energized to generate magnetism and fix the mechanism; when cleaning actuator 3 is lowered, it is de-energized to eliminate magnetism and release the restriction. Hemispherical LiDAR 15: It performs perception mapping on the working surface of photovoltaic panel cleaning. The acquired perception information is used for cleaning path planning of cleaning actuators, anti-fall inspection and early warning, and collision avoidance when extending multi-degree-of-freedom joints.

[0040] Furthermore, the cleaning and enforcement agency uses 3 to perform cleaning operations on photovoltaic panels, and has functions such as anti-fall warning and real-time pollution detection and recording.

[0041] Furthermore, the cleaning execution mechanism 3 includes a second electromagnetic storage plate 16, an anti-fall probe 17, a pollution detection recorder 18, roller brushes 19 and 24, and an anti-slip track movement mechanism 21.

[0042] Second electromagnetic storage plate 16: Used in conjunction with first electromagnetic storage plate 14, it is connected to multi-degree-of-freedom boom 2 by opening and releasing via electromagnet. Fall protection probes 17, 20, 22, and 25: Multiple fall protection probes are deployed around the machine body and at the extension of the motion mechanism to provide early warning of fall risk to the actuator 3. 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 degree of pollution in 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 degree of pollution in the cleaned area, providing information for judging whether the cleaning meets the standards and whether it needs to be re-marked as an area to be cleaned. At the same time, they provide relevant records for subsequent acceptance. Roller brushes 19 and 24: Equipped with front and rear roller brushes, different roller brush materials can be used according to task requirements to perform dry cleaning, wet cleaning and washing and scrubbing integrated operations. Anti-slip track movement mechanism 21: When the cleaning actuator 3 moves, the anti-slip track increases the friction between itself and the photovoltaic panel.

[0043] The cleaning execution mechanism 3 mainly includes a second electromagnetic storage plate 16, an anti-fall probe 17, a pollution detection recorder 18, a roller brush 19, an anti-fall probe 20, an anti-slip track movement mechanism 21, an anti-fall probe 22, a pollution detection recorder 23, a roller brush 24, and an anti-fall probe 25. Among them, four anti-fall probes are deployed around the movement mechanism; two pollution detection recorders are deployed on the front and rear roller brush support beams. The pollution detection recorder 23 is used to detect and record the degree of pollution in the area to be cleaned, providing information for water consumption and speed control decisions. The pollution detection recorder 18 is used to detect and record the degree of pollution in the cleaned area, providing judgment information for whether the cleaning meets the standards and whether it needs to be re-marked as an area to be cleaned, and also providing cleaning effect records for subsequent acceptance. Two roller brushes are deployed at the front and rear. The roller brush 24 is used for washing, and the roller brush 19 is used for wiping.

[0044] See Figure 5 This is a schematic diagram of the overall system workflow. The detailed system workflow is as follows: a. At the mooring point, the operator confirms the water volume, power volume, fuel volume and basic system operation status, sets the return point and starting work point. The system can first be manually remote controlled to complete the journey of the photovoltaic station. At night, the global map of the photovoltaic station's working scene is constructed for the first time, or automatic control can be started directly. b. After startup, the system begins to perform environmental perception and fusion positioning based on visual camera 10, LiDAR 4, GPS, etc., and plans the movement route and avoids obstacles according to the task requirements, automatically driving to the starting work point, and the weeding mechanism 8 removes debris and weeds on the road. c. The telescopic column 11 and the multi-degree-of-freedom boom 2 begin to extend, while the hemispherical lidar 15 identifies the surrounding environment, the position of the photovoltaic panel, and the target on the working surface in real time to avoid collision with the photovoltaic panel; d. After extending above the working surface, release the connection between the first electromagnetic storage plate 14 and the second electromagnetic storage plate 16. The active force feedback integrated bundle release mechanism 13 lowers the integrated bundle water pipe, cable bundle and 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. e. The hemispherical lidar 15 perceives and maps the cleaning work surface, plans the cleaning path, and the cleaning execution mechanism begins to work; f. Pollution detection recorder 18 and pollution detection recorder 23 collect and return pollution detection results, hemispherical lidar 15 returns the cleaning operation status in real time, the comprehensive computing power platform updates the cleaning path in real time, and controls the anti-slip track movement mechanism 21 to adjust the cleaning area; g. Based on the mapping information of the working face of the hemispherical lidar and the early warning of the anti-fall probe, multiple measures are taken to prevent the mechanism from falling in terms of route planning and emergency early warning, so as to ensure work safety; h. Based on information such as cleaning task progress, work scope, and force feedback, comprehensively control the position of the mobile processing platform 1, and fine-tune the multi-degree-of-freedom motion joints 12 and the active force feedback integrated snagging and retracting mechanism 13. i. Complete the current photovoltaic panel cleaning, retract the bundle, retract the cleaning actuator 3, and open the connection between the first electromagnetic storage plate 14 and the second electromagnetic storage plate 16; j. Based on real-time mapping and identification information, the mobile processing platform 1 marks the cleaned panels, automatically moves to the adjacent photovoltaic panels, completes the transfer of cleaning equipment between photovoltaic panels, and begins to perform normal cleaning operations. k. When water or power is scarce, or when the mission is completed, automatically proceed to the preset location or return docking point; The system stores data such as environmental perception and photovoltaic array maps to provide a global map for subsequent work in the same work area. At the same time, it intelligently iterates and optimizes the cleaning route to improve overall work efficiency. If the equipment is permanently configured at a photovoltaic station, it can optimize the cleaning trajectory and strategy based on multiple work information. In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0045] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0047] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0048] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multifunctional intelligent robot system for photovoltaic maintenance compatible with complex terrain, characterized in that, include: The mobile processing platform includes a multi-degree-of-freedom boom and a cleaning execution mechanism. The mobile processing platform is equipped with a telescopic column, and a multi-degree-of-freedom boom is mounted on the telescopic column. The multi-degree-of-freedom boom is connected to the cleaning execution mechanism through an active force feedback integrated sling and retraction mechanism. The mobile processing platform includes: a drive mechanism, a control system, and an energy system; The multi-degree-of-freedom boom includes: a multi-angle motion mechanism and a first connecting mechanism, wherein the multi-angle motion mechanism is provided with the first connecting mechanism; The cleaning execution mechanism includes: a second connecting mechanism, a roller brush mechanism, a tracked mobile device, and a data acquisition system; the first connecting mechanism is connected to the second connecting mechanism through an active force feedback integrated harnessing and retracting mechanism; the tracked mobile device is mounted on the second connecting mechanism, and roller brush mechanisms are provided on both sides of the second connecting mechanism, and a data acquisition system is provided on the roller brush mechanisms; The drive mechanism is a multi-joint tracked motion mechanism, and a weeding mechanism is provided on the drive mechanism. A telescopic component is provided on the top of the drive mechanism, and the telescopic component is connected to a multi-degree-of-freedom boom. The control system includes: a lidar, a vision camera, and an integrated processing platform, wherein the lidar, the vision camera, and the integrated processing platform are respectively mounted on the drive mechanism; The integrated processing platform includes: a signal acquisition module, which is electrically connected to a lidar and a vision camera to acquire environmental information acquired by the lidar and environmental image information acquired by the vision camera; a topographic map construction module, which is connected to the signal acquisition module and constructs a point cloud map based on the environmental information acquired by the lidar; a sensor module, which acquires and integrates the status information of the drive mechanism, energy system, multi-degree-of-freedom boom, and cleaning actuator; and an execution and motion decision module, which generates corresponding action commands for the drive mechanism, multi-degree-of-freedom boom, and cleaning actuator after acquiring and processing the information from the signal acquisition module, topographic map construction module, and sensor module.

2. The multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrain according to claim 1, characterized in that, The energy system includes an energy storage compartment and a water tank, wherein the energy storage compartment and the water tank are respectively mounted on the drive mechanism.

3. The multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrain according to claim 1, characterized in that, The multi-angle motion mechanism is equipped with a hemispherical laser radar. The multi-angle motion mechanism is connected to the second connection mechanism of the cleaning execution mechanism through an electromagnet for opening and releasing. The hemispherical laser radar is electrically connected to the control system.

4. The multifunctional photovoltaic maintenance intelligent robot system compatible with complex terrain according to claim 1, characterized in that, The data acquisition system includes a drop-proof probe and a pollution detection recorder, wherein the drop-proof probe and the pollution detection recorder are respectively mounted on the roller brush mechanism and are electrically connected to the control system.

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