Mobile intelligent ferry vehicle for photovoltaic cleaning robot and operation method of mobile intelligent ferry vehicle

Abstract

The invention discloses a mobile intelligent ferry vehicle for a photovoltaic cleaning robot. The mobile intelligent ferry vehicle comprises a mobile system; a parking support; the rotating system is mounted between the box chassis and the parking bracket and is used for driving the parking bracket to rotate; the shear type lifting system is arranged between the rotating system and the parking support; the shear type lifting system comprises a set of supports capable of being independently adjusted and used for adjusting the height and the gradient of the parking support. The translation system is arranged between the shear type lifting system and the parking bracket and is used for driving the parking bracket to linearly move; the management control system is configured to obtain relative pose parameters of the parking bracket and the photovoltaic bracket; and based on the relative pose parameters, the rotating system, the shear type lifting system and the translation system are controlled to cooperatively act, so that the planeness, the side edge parallelism, the coaxiality and the clearance degree of the parking support and the photovoltaic support meet preset threshold values. The invention further discloses an operation method of the mobile intelligent ferry vehicle for the photovoltaic cleaning robot.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of photovoltaic power generation, and particularly relates to a mobile intelligent transfer vehicle for a photovoltaic cleaning robot and a working method thereof. BACKGROUND

[0002] Photovoltaic power generation has become an important part of clean energy, but the photovoltaic power generation efficiency is affected by many external factors. Among them, dust blocking is the first to be affected because photovoltaic panels are installed outdoors. Dust storms, dust, air pollution, and flying fibers cause dust accumulation on the surface of photovoltaic modules, reducing the light transmittance of photovoltaic panels by 10%-30%, directly affecting the photocurrent output and leading to a 20%-40% decrease in power generation performance. Therefore, cleaning photovoltaic panels is an important task for photovoltaic operation and maintenance. So far, various cleaning solutions have been developed, such as manual cleaning, mechanical cleaning vehicles, robot cleaning, and unmanned aerial vehicle spraying cleaning. Among them, robot cleaning is increasingly favored due to its intelligence and automation. Photovoltaic cleaning robots can be roughly divided into suspended photovoltaic cleaning robots and portable photovoltaic cleaning robots according to their different operating modes. Suspended photovoltaic cleaning robots are more mature and widely used.

[0003] Suspended photovoltaic cleaning robots are usually suspended on photovoltaic supports and move on the photovoltaic supports through multiple sets of wheels perpendicular to each other, have a certain obstacle crossing ability, and generally require the horizontal and height differences between photovoltaic modules to be less than 50mm. Therefore, suspended photovoltaic cleaning robots have limited cross-row working ability and need additional transfer vehicles or handling tools. The common configuration scheme for suspended photovoltaic cleaning robots is to install one robot for each row of photovoltaic panel arrays. Obviously, this scheme has low robot utilization and high cost.

[0004] To improve the utilization of robots, some photovoltaic power stations with flat and neatly arranged photovoltaic panel arrays arrange tracks in the field area, move photovoltaic robots through track transfer vehicles, and enable the robots to clean across rows. This scheme has high requirements for the site and arrangement of photovoltaic supports, and the height and inclination of the robot parking support on the transfer vehicle are fixed. Therefore, the installation height and inclination difference of each row of photovoltaic panels need to be within the obstacle crossing ability of the robot (less than 50mm), and an additional fixed parking space needs to be installed for each row of photovoltaic supports.

[0005] In addition, some photovoltaic power stations use manual handling of photovoltaic cleaning robots to achieve cross-row movement of the robots, but the robots are heavy (about 60-80kg) and need multiple people to handle them.

[0006] Therefore, designing an intelligent transfer vehicle that can freely and autonomously move and adapt to different inclination and height photovoltaic supports has important practical significance for improving the working ability of suspended cleaning robots. SUMMARY

[0007] Therefore, the photovoltaic cleaning robot mobile intelligent shuttle and the operation method thereof can freely and autonomously move, can adapt to photovoltaic supports with different inclination angles and different heights, and can effectively improve the operation capability of the suspended photovoltaic cleaning robot.

[0008] To achieve the above-mentioned purpose, the present application provides the following technical solutions: The present application first provides a photovoltaic cleaning robot mobile intelligent shuttle, which comprises a mobile system and a parking support, wherein the mobile system comprises a box chassis and a tracked mobile mechanism installed on the box chassis, and the parking support is used for parking a photovoltaic cleaning robot; and further comprises: A rotating system is installed between the box chassis and the parking support, and is used for driving the parking support to rotate; A scissor lifting system is arranged between the rotating system and the parking support; the scissor lifting system comprises a group of independently adjustable supports, and is used for adjusting the height and inclination of the parking support; A translation system is arranged between the scissor lifting system and the parking support, and is used for driving the linear movement of the parking support; A management control system is configured to: acquire the relative pose parameters of the parking support and the photovoltaic support; control the rotating system, the scissor lifting system and the translation system to act in coordination based on the relative pose parameters, so that the flatness, side parallelism, coaxiality and clearance of the parking support and the photovoltaic support meet the preset threshold.

[0009] Further, the rotating system comprises a cylindrical body and a double gear set; the bottom of the cylindrical body is rotationally matched with the box chassis through a rolling bearing, and the top inclined surface is connected to the bottom support plate of the scissor lifting system; the double gear set comprises a large gear and a small gear that are meshed with each other, the large gear rotates synchronously with the cylindrical body, and the small gear is drivingly connected with a rotating servo motor.

[0010] Further, the scissor lifting system comprises a bottom support plate located below and a top support plate located above, the bottom support plate and the top support plate are provided with a first support and a second support, the first support and the second support are arranged in a cross manner, and: The top surface of the bottom support plate is provided with a first sliding groove, the lower end of the first support is slidingly matched with the first sliding groove, the upper end of the first support is hingedly connected with the top support plate, and the bottom support plate or the second support is provided with a first driving mechanism for driving the lower end of the first support to move along the first sliding groove; A second slide groove is provided on the bottom surface of the top support frame, the upper end of the second bracket slides in cooperation with the second slide groove, and the lower end is hingedly connected to the bottom support plate, and a second driving mechanism is provided on the top support plate or the first bracket for driving the upper end of the second bracket to move along the second slide groove.

[0011] Furthermore, the parking bracket is slidingly fitted with the top support plate of the scissor lift system; the translation system includes a rack arranged on the parking bracket and a driving gear set installed on the top support plate, and the driving gear set includes two driving gears respectively meshed with the racks, and the driving gears are connected to the translation servo motor.

[0012] Furthermore, the management and control system includes: A posture control system, comprising a tilt-lift control system, a rotation control system, a translation control system, a scanning sensor system and a proximity control system, to adjust the posture of the parking stand; A navigation system, which realizes autonomous movement and obstacle avoidance based on an RTK positioning device and a laser radar; the RTK positioning device and the laser radar are arranged on the chassis of the box; The robot interaction system is used to provide information exchange between the shuttle bus and the photovoltaic cleaning robot, including sending operation preparation instructions to the photovoltaic cleaning robot and receiving stop signals; The human-computer interaction system is used to set control parameters and receive shuttle bus operation data.

[0013] Furthermore, multiple sets of telescopic measuring rulers are installed at intervals on the front side of the parking bracket. The multiple sets of telescopic measuring rulers include a sleeve, a spring-supported inner ruler and a capacitive grid displacement sensor. The spring support is squeezed and contracted when the parking bracket approaches the photovoltaic bracket, and the contraction distance is detected in real time by the capacitive grid displacement sensor. The proximity control system is configured as follows: when the retraction distance of the telescopic measuring ruler reaches a preset threshold, the translation control system is triggered to stop the movement of the parking bracket; by comparing the differences in the retraction distances of multiple groups of telescopic measuring rulers, the parallelism and flatness of the sides of the parking bracket and the photovoltaic bracket are verified.

[0014] Furthermore, a wedge-shaped spring limit switch is provided on the top support plate of the scissor lift system and is matched with the rear edge bar of the parking bracket; the translation control system is used to issue a stop command when the wedge-shaped spring limit switch is triggered by the parking bracket; A photosensitive sensor is provided on the front of the parking bracket, and the translation control system is used to trigger the photosensitive sensor when the photovoltaic cleaning robot parks and then send a parking signal.

[0015] Further, the front side of the parking support is provided with a group of symmetrically arranged up-down scanning sensors and a group of symmetrically arranged left-right scanning sensors; the up-down scanning sensors are used to detect the flatness and side parallelism between the parking support and the photovoltaic support; the up-down scanning sensors are used to detect the coaxiality of the parking support and the photovoltaic support; The scanning sensor system processes the data of the up-down scanning sensors and the left-right scanning sensors, and calculates the pose deviation between the parking support and the photovoltaic support, and then uses the calculation result to guide the pose adjustment of the parking support.

[0016] Further, the front side of the parking support is provided with a group of symmetrically arranged up-down scanning sensors and a group of symmetrically arranged left-right scanning sensors; the up-down scanning sensors are used to detect the flatness and side parallelism between the parking support and the photovoltaic support; the up-down scanning sensors are used to detect the coaxiality of the parking support and the photovoltaic support;

[0017] The application further provides a working method of the mobile intelligent shuttle vehicle of the photovoltaic cleaning robot. S1: obtaining calibration data of each row of photovoltaic supports to be cleaned, the calibration data including the side center position coordinates, inclination, heading and height of the starting photovoltaic panel of each row of photovoltaic supports; and delivering the calibration data to the shuttle vehicle through a human-computer interaction system; S2: planning a working order and a driving path according to the input position coordinates and a starting working point by the shuttle vehicle, and controlling the shuttle vehicle to go to the working point by a navigation system; S3: after reaching the working point, adjusting the initial pose of the parking support by an inclination-lifting control system, a rotating control system and a translation control system according to the calibration data of the photovoltaic support; or, starting a group of up-down scanning sensors installed on the parking support, processing the data of the up-down scanning sensors by a scanning sensor system, and calculating the flatness and side parallelism between the parking support and the photovoltaic support: if the flatness exceeds a flatness threshold value, starting the inclination-lifting control system to adjust the inclination angle of the parking support and / or the height of the parking support, so that the flatness between the parking support and the photovoltaic support is less than or equal to the flatness threshold value; if the side parallelism exceeds a parallelism threshold value, starting the rotating control system to adjust the heading of the parking support, so that the side parallelism between the parking support and the photovoltaic support is less than or equal to the parallelism threshold value; S4: starting a group of left-right scanning sensors installed on the side of the parking support, processing the data of the left-right scanning sensors by the scanning sensor system, calculating the coaxiality between the parking support and the photovoltaic support, and checking the flatness and side parallelism between the parking support and the photovoltaic support: If the coaxiality exceeds the coaxiality threshold, the scanning sensor system first calculates the difference, and then the navigation system controls the movement of the shuttle until the coaxiality between the parking support and the photovoltaic support is less than or equal to the coaxiality threshold. S5: Steps S3-S4 are cyclically executed until the flatness, side parallelism and coaxiality meet the preset threshold; S6: The translation control system controls the parking support to approach the photovoltaic support, and uses the left and right scanning sensors to monitor the pose change of the parking support in real time during the approaching process: When the gap between the parking support and the photovoltaic support is less than the minimum detectable distance of the laser radar or the telescopic measuring ruler shrinks due to extrusion, the proximity control system is used to monitor the approach of the parking support; when the shrinkage of the automatic telescopic measuring ruler reaches the set value, the translation control system controls the parking support to stop moving; S7: The management control system informs the photovoltaic cleaning robot to complete the preparation for work through the robot interaction system, and the photovoltaic cleaning robot moves from the parking support to the photovoltaic support after receiving the instruction, and starts the cleaning work; The management control system records and saves the current pose data of the shuttle, including the position coordinates, the adjustment parameters and the pose information of the parking support; S8: After the cleaning work is completed, the photovoltaic cleaning robot returns to the parking support, and the translation control system controls the parking support to stop moving when the photosensitive sensor is triggered, and the photovoltaic cleaning robot stops in place; S9: After the photovoltaic cleaning robot stops, it is judged whether there is an unfinished work task: if yes, step S2 is cyclically executed; if no, the shuttle drives to a preset parking position and stops.

[0018] The beneficial effects of the present application are: The photovoltaic cleaning robot mobile intelligent shuttle of the present application has the following advantages: (1) By arranging the crawler-type moving mechanism on the box body chassis, it is suitable for mountainous, sandy and other photovoltaic sites, can effectively enhance the passing capacity of the shuttle, and does not need to lay tracks in the site, can freely and autonomously move, does not need to build a parking space beside each row of photovoltaic supports, realizes the sharing of parking spaces, and improves the convenience; (2) By installing a rotation system on the chassis to control the rotation of the parking bracket, the heading of the parking bracket can be adjusted, thereby controlling the coaxiality between the parking bracket and the photovoltaic bracket; by setting a scissor-type lifting system between the rotation system and the parking bracket, the inclination angle and height of the parking bracket can be adjusted, thereby controlling the flatness and side parallelism between the parking bracket and the photovoltaic bracket; by setting a translation system between the scissor-type lifting system and the parking bracket, the parking bracket can be driven to move in a straight line, thereby controlling the gap between the parking bracket and the photovoltaic bracket; that is, in the photovoltaic cleaning robot mobile intelligent shuttle bus of the present invention, the parking bracket can be adjusted with multiple degrees of freedom, and is suitable for photovoltaic brackets or photovoltaic fields of different heights, different inclinations, and different orientations.

[0019] In summary, the photovoltaic cleaning robot mobile intelligent shuttle bus of the present invention can move freely and autonomously, and can adapt to photovoltaic brackets with different inclination angles and different heights, so that the photovoltaic cleaning robot can achieve cross-row cleaning, thereby improving the utilization rate of the suspended photovoltaic cleaning robot and effectively improving the operating ability of the suspended photovoltaic cleaning robot.

[0020] In addition, the photovoltaic cleaning robot mobile intelligent shuttle bus of the present invention has multiple sets of telescopic measuring rulers installed at intervals on the front side of the parking bracket, which can be conveniently used for contact measurement during movement to accurately control the distance between the parking bracket and the photovoltaic bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention provides the following drawings for illustration: Figure 1 This is a structural diagram of an embodiment of a photovoltaic cleaning robot mobile intelligent shuttle bus of the present invention; Figure 2 It is a structural diagram of the mobile system; Figure 3 It is a structural diagram of the rotating system; Figure 4 It is a structural diagram of the scissor lift system; Figure 5 It is a structural diagram of the translation system; Figure 6 It is a structural diagram of the parking bracket; Figure 7 This is the schematic diagram of the management control system.

[0022] Description of reference numerals: 1- Photovoltaic cleaning robot; 10- Mobile system; 11- Chassis; 12- Track wheels; 13- Tracks; 14- RTK positioning device; 15- LiDAR; 20-rotation system; 21-cylinder; 22-rolling bearing; 23-large gear; 24-small gear; 25-rotation servo motor; 30 - scissor lift system; 31 - bottom support plate; 32 - top support plate; 33 - first bracket; 34 - second bracket; 35 - first chute; 36 - first drive mechanism; 37 - second chute; 38 - second drive mechanism; 40-translation system; 41-rack; 42-driving gear; 43-translation servo motor; 44-wedge spring limit switch; 45-limit slider; 50-parking bracket; 51-up and down scanning sensor; 52-left and right scanning sensor; 53-high-definition camera; 54-telescopic measuring ruler; 55-photosensitive sensor; 56-rear edge strip. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0024] The primary function of the mobile intelligent shuttle vehicle for the photovoltaic cleaning robot 1 in this embodiment is to provide a multi-degree-of-freedom adjustable and movable parking stand for a suspended photovoltaic cleaning robot (hereinafter referred to as "PV cleaning robot 1"). To ensure that the PV cleaning robot 1 can safely and smoothly navigate between the parking stand and the photovoltaic stand, and to ensure that the posture difference between the parking stand and the photovoltaic stand is within the obstacle-crossing capability of the PV cleaning robot 1, this embodiment introduces "relative posture parameters" to measure the posture and position differences between the parking stand and the photovoltaic stand. These parameters include flatness, side parallelism, coaxiality, and clearance. Specifically, flatness primarily measures the height difference and relative tilt between the parking stand and the photovoltaic stand; side parallelism measures the parallelism of the opposing sides of the parking stand and the photovoltaic stand, i.e., the consistency of their orientation or heading; coaxiality primarily measures the alignment between the parking stand and the photovoltaic stand; and clearance primarily measures the gap between the parking stand and the photovoltaic stand.

[0025] Specifically, such as Figure 1As shown, the mobile intelligent shuttle vehicle of the photovoltaic cleaning robot 1 of the embodiment comprises a moving system 10, a rotating system 20, a scissor lifting system 30, a translation system 40, a parking support 50 for parking the photovoltaic cleaning robot 1, and a management control system. The rotating system 20 is installed between the box chassis 11 and the parking support 50 and is used to drive the parking support 50 to rotate. The scissor lifting system 30 is arranged between the rotating system 20 and the parking support 50 and comprises a group of independently adjustable supports for adjusting the height and inclination of the parking support 50. The translation system 40 is arranged between the scissor lifting system 30 and the parking support 50 and is used to drive the linear movement of the parking support 50. The management control system is configured to: acquire the relative pose parameters of the parking support 50 and the photovoltaic support; control the rotating system 20, the scissor lifting system 30 and the translation system 40 to act in coordination based on the relative pose parameters, so that the flatness, side parallelism, coaxiality and clearance of the parking support 50 and the photovoltaic support meet the preset threshold.

[0026] As shown, Figure 2 The moving system 10 comprises a box chassis 11 and a track-type moving mechanism installed on the box chassis 11. Specifically, the track-type moving mechanism comprises track wheels 12 rotatably installed on the box chassis 11 and tracks 13 sleeved on the track wheels 12. The box chassis 11 is provided with a walking driving motor (not shown in the figure) in transmission connection with one of the track wheels 12. Specifically, the moving system of the embodiment is of a track-type structure and is suitable for photovoltaic sites such as mountains and sandy land, which can effectively enhance the passing capacity of the shuttle vehicle. The moving system of the embodiment realizes automatic and autonomous movement through a navigation system and can autonomously navigate to the destination according to the position coordinates. Specifically, the navigation system realizes autonomous movement and obstacle avoidance based on an RTK (Real-time kinematic, real-time dynamic carrier phase difference technology) positioning device 14 and a laser radar 15. The RTK positioning device 14 and the laser radar 15 are arranged on the box chassis 11.

[0027] As shown, Figure 3As shown, the rotating system 20 includes a cylinder 21 and a double gear set. Specifically, the bottom of the cylinder 21 is rotatably connected to the base plate 11 through a rolling bearing 22, and the top inclined surface is connected to the bottom support plate 31 of the scissor lifting system 30. The double gear set includes a large gear 23 and a small gear 24 that are engaged with each other, the large gear 23 rotates synchronously with the cylinder 21, and the small gear 24 is drivingly connected to the rotating servo motor 25 through a speed reducer, etc. In this embodiment, the servo motor 25 and the speed reducer are integrated as a whole, of course, in some other embodiments, the rotating servo motor 25 and the speed reducer can also be separately arranged, which will not be described herein. Specifically, the rotating system 20 is a double gear system, the two gears are engaged and driven, the small gear 24 provides a strong torque, and the servo driving motor 25 and the speed reducer drive the small gear 24 to rotate, thereby driving the large gear 23 to rotate. The large gear 23 is fixed on the cylinder 21, the bottom end of the cylinder 21 is the rolling bearing 22 and is fixed on the base plate 11, and the top end of the cylinder 21 is an inclined surface, which provides an initial inclination for the upper structure, and the inclined surface is connected to the bottom support plate 31 of the scissor lifting system 30, so that the rotation of the large gear 23 drives the rotation of the scissor lifting system 30 and the structure above.

[0028] In this embodiment, the scissor lifting system 30 is composed of two groups of hydraulic rods, two support plates and two brackets. The two groups of hydraulic rods can be independently adjusted, so that the inclination of the top support plate 32 can be adjusted by combining different adjustment amounts. Specifically, the bottom support plate 31 is fixed to the rotating system 20, and the top support plate 32 and the parking bracket 50 form a translation system. Since the photovoltaic panels are installed in an inclined manner, the scissor lifting system 30 is usually inclined as well. In order to improve stability, both support plates are equipped with sliding grooves on the sliding track of the bracket, providing tension to the bracket. Specifically, as shown in FIG. 4, the two groups of hydraulic rods are connected to the top support plate 32 through the sliding grooves, and the two brackets are connected to the bottom support plate 31 through the sliding grooves. The two groups of hydraulic rods can be independently adjusted, so that the inclination of the top support plate 32 can be adjusted by combining different adjustment amounts. Figure 4As shown, the scissor lift system 30 includes a bottom support plate 31 positioned below and a top support plate 32 positioned above. The bottom support plate 31 and the top support plate 32 are provided with a first bracket 33 and a second bracket 34, which are arranged crosswise to form a scissor-like structure. In this embodiment, a first slot 35 is provided on the top surface of the bottom support plate 31. The lower end of the first bracket 33 slides in the first slot 35 and the upper end is hingedly connected to the top support plate 32. A first drive mechanism 36 is provided on the bottom support plate 31 or the second bracket 34 for driving the lower end of the first bracket 33 to move along the first slot 35. In this embodiment, the first drive mechanism 36 is a hydraulic cylinder mounted on the second bracket 34. Of course, in other embodiments, the first drive mechanism 36 may utilize other drive components, such as an electric cylinder and a threaded screw mechanism, which will not be described in detail. In this embodiment, a second slide groove 37 is provided on the bottom surface of the top support frame 32. The upper end of the second bracket 34 slides in engagement with the second slide groove 37, while the lower end is hingedly connected to the bottom support plate 31. A second drive mechanism 38 is provided on the top support plate 32 or the first bracket 33 for driving the upper end of the second bracket 34 to move along the second slide groove 37. In this embodiment, the second drive mechanism 38 utilizes a hydraulic cylinder and is mounted on the first bracket 33. Of course, in other embodiments, the second drive mechanism 38 may utilize other drive components, such as an electric cylinder and a threaded screw mechanism, which will not be described in detail.

[0029] like Figure 5 As shown, the translation system 40 of this embodiment includes a rack 41 provided on the parking bracket 50 and a driving gear set installed on the top support plate 32. The driving gear set includes two driving gears 42 respectively meshing with the rack 41. The driving gears 42 are connected to the translation servo motor 43 (see FIG. Figure 4) transmission connection. That is, in the embodiment, the translation system 40 is composed of the top support plate 32 of the scissor lifting system 30 and the parking support 50, the parking support 50 is in sliding fit with the top support plate 32 of the scissor lifting system 30, and the relative movement of the parking support is realized by the two sets of driving gears 42 installed on the top support plate 32 of the scissor lifting system 30 and the rack 41 installed on the parking support 50. Specifically, the bottom surface of the parking support 50 is provided with limiting sliding blocks 45 located at the two ends of the top support plate 32, respectively, and the parking support 50 is in sliding fit with the top support plate 32 through the limiting sliding blocks 45. The two sets of driving gears 42 are in mesh with the rack, and the two sets of driving gears 42 are driven by the servo motor 43 and the speed reducer. Similarly, in the embodiment, the servo motor 43 and the speed reducer are integrated, and of course, in other embodiments, the servo motor 43 and the speed reducer can be separately arranged. To ensure safety and avoid overturning of the transfer vehicle or derailment of the parking support 50 due to excessive translation, the bottom plate of the translation system 40, i.e. the top support plate 32 of the scissor lifting system 30, is provided with two wedge spring type limit switches 44, when the rear edge strip 56 of the parking support 50 moves to the wedge spring type limit switch 44, the wedge spring type limit switch 44 is extruded and shrinks, triggering the parking instruction, at this time, the parking support 50 cannot move forward any more. When the parking support 50 retreats, the rear edge strip 56 of the parking support 50 moves away from above the wedge spring type limit switch 44, the wedge spring type limit switch 44 rebounds and resets. The position of the wedge spring type limit switch 44 is calculated by structural mechanics, which is related to the weight of the transfer vehicle and the photovoltaic cleaning robot 1 loaded, etc.

[0030] As shown in Figure 6 the embodiment, two sets of laser scanning ranging sensors (scanning laser ranging radars) are installed at the symmetrical positions of the two ends of the front side (towards the photovoltaic support) of the parking support 50, one set is the up-down scanning sensor 51, and the other set is the left-right scanning sensor 52. The up-down scanning sensor 51 is used to judge the relative inclination and parallelism between the parking support 60 and the photovoltaic support, i.e. the flatness and the side parallelism, and to guide the adjustment of the scissor lifting system 30 and the rotation of the rotation system 20 respectively. The left-right scanning sensor 52 is used to judge the coaxiality between the parking support 50 and the photovoltaic support, and to verify the adjustment effect of the scissor lifting system 30 and the rotation system 20.

[0031] In the preferred embodiment of the embodiment, a high-definition camera 53 is arranged at the center of the front side of the parking support 50, which is used to collect photovoltaic support image data, and to judge the relative pose between the parking support 50 and the photovoltaic support, especially the relative inclination, through image recognition and other ways.

[0032] The obstacle surmounting capability of the photovoltaic cleaning robot 1 is generally about 50 mm, and therefore, the parallel interval of the parking support 50 and the photovoltaic support should be less than 50 mm. The minimum detection distance of the conventional laser scanning ranging sensor is about 100 mm, and therefore, when the parking support 50 is driven to approach the photovoltaic support by the translation system 40 and the distance is reduced to 100 mm, the laser scanning ranging sensor will not work. To solve this problem, a telescopic measuring scale 54 is designed in this embodiment, which is composed of a sleeve, an inner scale, a spring support, a capacitive grating displacement sensor and the like. The telescopic measuring scale 54 is installed on the front side of the parking support 50 where the left-right scanning sensor 52 and the up-down scanning sensor 51 are located, and is arranged in multiple groups (for mutual checking) in parallel. That is, in this embodiment, multiple telescopic measuring scales 54 are installed on the front side of the parking support 50 in parallel, and the telescopic measuring scale 54 is squeezed and shrunk when the parking support 50 approaches the photovoltaic support, and the contraction distance is detected in real time by the capacitive grating displacement sensor. Specifically, in the natural state or when not squeezed, the inner scale of the telescopic measuring scale 54 is supported out of the sleeve by the spring in the sleeve, and the capacitive grating displacement sensor reads 0. When the parking support 50 continuously approaches the photovoltaic support, the spring support of the telescopic measuring scale 54 is squeezed inward by the inner scale (the spring provides damping), and the capacitive grating displacement sensor records the contraction distance. When the contraction distance reaches a threshold value (at this time, the parallel interval of the parking support and the photovoltaic support is less than 50 mm), the parking support stops moving.

[0033] In the preferred embodiment of this embodiment, multiple photosensitive sensors 55 are installed on the front of the parking support 50, and when the photovoltaic cleaning robot 1 returns to the parking position and moves above the photosensitive sensor 55 after completing the cleaning task, a parking-in-position signal is triggered, and the photovoltaic cleaning robot 1 completes parking.

[0034] In the preferred embodiment of this embodiment, the parking support 50 is also provided with a multi-axis gyroscope sensor (not shown in the figure) for detecting the pitch, orientation, inclination and other poses of the parking support 50.

[0035] As shown in Figure 7 , the management control system includes a pose control system, a navigation system, a robot interaction system and a human-computer interaction system.

[0036] The human-computer interaction system is used to realize control parameter setting and receive the operation data of the shuttle. The control parameters include photovoltaic support position coordinate input and path planning, and the operation data includes the operation trajectory, operation state and operation parameters of the shuttle.

[0037] The navigation system realizes autonomous movement and obstacle avoidance based on the RTK positioning device 14 and the laser radar 15; the RTK positioning device 14 and the laser radar 15 are arranged on the box chassis 11. Specifically, the navigation system drives the shuttle vehicle to the destination according to the received position coordinates and the planned path, and provides the obstacle avoidance function during the driving by the laser radar and the like, and provides the real-time position and accurate positioning by the RTK positioning device 14.

[0038] The robot interaction system is used to provide information interaction between the shuttle vehicle and the photovoltaic cleaning robot 1, including sending a job preparation instruction to the photovoltaic cleaning robot 1 and receiving a parking signal. Specifically, the robot interaction system of the embodiment mainly provides information interaction between the shuttle vehicle and the photovoltaic cleaning robot, for example, after the shuttle vehicle drives to the position of the photovoltaic support to be cleaned and adjusts the pose of the parking support, the photovoltaic cleaning robot 1 is informed that the job preparation is completed; after receiving the information, the photovoltaic cleaning robot 1 moves from the parking support of the shuttle vehicle to the photovoltaic support and starts the cleaning job; after the job is completed, the photovoltaic cleaning robot 1 returns to the parking support, and whether it has arrived at the parking position is checked by the multiple groups of photosensitive sensors installed on the front face of the parking support, if yes, the photovoltaic cleaning robot 1 is informed by the robot interaction system that the parking is completed, and the photovoltaic cleaning robot 1 no longer moves.

[0039] The pose control system is the core of the management control system, through the pose control system, the pose of the parking support of the shuttle vehicle is adjusted, so that the aforementioned "relative pose parameters" between the parking support and the photovoltaic panel array to be cleaned are within the obstacle crossing ability of the photovoltaic cleaning robot 1, so that the photovoltaic cleaning robot 1 safely moves from the shuttle vehicle to the photovoltaic support or the photovoltaic cleaning robot 1 safely moves from the photovoltaic support to the shuttle vehicle.

[0040] Specifically, the pose control system includes a tilt-lift control system, a rotation control system, a translation control system, a scanning sensor system and a proximity control system to adjust the pose of the parking support.

[0041] The tilt-lift control system mainly controls the adjustment amount of the first driving mechanism 36 and the second driving mechanism 38, so that the height and inclination of the parking support 50 are the same as those of the photovoltaic support, thereby adjusting the flatness between the parking support 50 and the photovoltaic support.

[0042] The rotation control system mainly adjusts the orientation of the parking support 50 by driving the rotation servo motor 25 in the rotation system 20, so that the parallelism between the parking support 50 and the photovoltaic support meets the requirements.

[0043] The translation control system mainly drives the translation servo motor 43 in the translation system 40 to make the parking support 50 continuously approach the photovoltaic support and make the gap between them meet the requirements. Specifically, the wedge spring limit switch 44 is arranged on the top support plate 32 of the scissor lifting system 30 and is limited with the rear edge strip 56 of the parking support 50; the translation control system is used to send a stop command when the wedge spring limit switch 44 is triggered by the parking support 50. The front surface of the parking support 50 is provided with a photosensitive sensor 55, and the translation control system is used to send a parking in-place signal after triggering the photosensitive sensor 55 when the photovoltaic cleaning robot 1 is parked.

[0044] The approach control system mainly reads the contraction data of multiple groups of automatic telescopic measuring rods 54, and when the contraction amount reaches the requirement, it informs the translation control system to stop approaching, and judges whether the side parallelism and up-down inclination meet the requirements by comparing the differences between the contraction data of the telescopic measuring rods 54, and makes the last check. Specifically, multiple groups of telescopic measuring rods 54 are arranged on the front side surface of the parking support 50, and the telescopic measuring rods 54 are squeezed and contracted when the parking support 50 approaches the photovoltaic support, and the contraction distance is detected in real time by the capacitive displacement sensor; the approach control system is configured to: when the contraction distance of the telescopic measuring rod 54 reaches a preset threshold, trigger the translation control system to stop the movement of the parking support; by comparing the contraction distance differences of multiple groups of telescopic measuring rods 54, the side parallelism and flatness of the parking support 50 and the photovoltaic support are checked.

[0045] The scanning sensor system is mainly used to process the data of the up-down scanning sensor 51 and the left-right scanning sensor 52, and calculate the pose deviation between the parking support 50 and the photovoltaic support according to the data, and then use the calculation result to guide the pose adjustment of the parking support 50. Specifically, the front side surface of the parking support 50 is provided with a group of symmetrically arranged up-down scanning sensors 51 and a group of symmetrically arranged left-right scanning sensors 52; the up-down scanning sensor 51 is used to detect the flatness and side parallelism between the parking support 50 and the photovoltaic support; the up-down scanning sensor 52 is used to detect the coaxiality of the parking support 50 and the photovoltaic support. The scanning sensor system processes the data of the up-down scanning sensor 51 and the left-right scanning sensor 51, and calculates the pose deviation between the parking support 50 and the photovoltaic support, and then uses the calculation result to guide the pose adjustment of the parking support.

[0046] The embodiment also proposes a working method of the mobile intelligent shuttle vehicle of the photovoltaic cleaning robot 1, which includes the following steps.

[0047] S1: Obtain the calibration data of each row of photovoltaic racks to be cleaned, and the calibration data includes the side center position coordinates, inclination, heading and height of the starting photovoltaic panel of each row of photovoltaic racks; the calibration data is transmitted to the shuttle vehicle through the man-machine interaction system. Specifically, when performing data calibration, the photovoltaic field operation personnel carry precise positioning systems (such as RTK positioning devices 14), gyro sensors and other equipment to the photovoltaic field area, and calibrate the side center position coordinates, inclination, orientation (heading), height and the like of the starting photovoltaic panel of each row of photovoltaic racks to be cleaned. Only one calibration operation is required, and subsequent operations of the shuttle vehicle can directly use the first calibration data.

[0048] S2: The calibration data is transmitted to the shuttle vehicle through the man-machine interaction system of the shuttle vehicle and is saved. The shuttle vehicle plans the operation sequence and driving path according to the input position coordinates and starting operation point, and the shuttle vehicle is controlled by the navigation system to go to the operation point.

[0049] S3: After arriving at the operation point, the shuttle vehicle adjusts the initial pose of the parking rack according to the calibration data of the photovoltaic rack including the pose information, by the tilt-lift control system, the rotation control system and the translation control system; or, A set of up-down scanning sensors 51 installed on the parking rack 50 are started, and the scanning sensor system processes the data of the up-down scanning sensors 51 to calculate the flatness and side parallelism between the parking rack 50 and the photovoltaic rack: If the flatness exceeds the flatness threshold, the tilt-lift control system is started to adjust the inclination angle of the parking rack 50 and / or the height of the parking rack 50, so that the flatness between the parking rack 50 and the photovoltaic rack is less than or equal to the flatness threshold; If the side parallelism exceeds the parallelism threshold, the rotation control system is started to adjust the heading of the parking rack 50, so that the side parallelism between the parking rack 50 and the photovoltaic rack is less than or equal to the parallelism threshold.

[0050] S4: A set of left-right scanning sensors 52 installed on the side of the parking rack 50 are started, and the scanning sensor system processes the data of the left-right scanning sensors 52 to calculate the coaxiality between the parking rack 50 and the photovoltaic rack, and checks the flatness and side parallelism between the parking rack 50 and the photovoltaic rack: If the coaxiality exceeds the coaxiality threshold, the scanning sensor system first calculates the difference, and then controls the shuttle vehicle to move by the navigation system until the coaxiality between the parking rack 50 and the photovoltaic rack is less than or equal to the coaxiality threshold.

[0051] S5: Since the shuttle vehicle and the parking rack 50 are not parallel, the relative pose between the parking rack 50 above the shuttle vehicle and the photovoltaic rack will change after the shuttle vehicle moves, therefore, steps S3-S4 are repeatedly executed until the flatness, side parallelism and coaxiality all meet the preset threshold.

[0052] S6: The translation control system controls the parking support 50 to approach the photovoltaic support through the translation system, and uses the left and right scanning sensors 52 to monitor the position change of the parking support in real time during the approaching process: When the gap between the parking support 50 and the photovoltaic support is less than the minimum detectable distance of the laser radar or the telescopic measuring ruler 54 shrinks due to extrusion, the proximity control system is used to monitor the approaching of the parking support 50; when the shrinkage of the automatic telescopic measuring ruler 54 reaches the set value, the translation control system controls the parking support to stop moving.

[0053] S7: The management control system informs the photovoltaic cleaning robot 1 to complete the preparation of the work through the robot interaction system, and the photovoltaic cleaning robot 1 transfers from the parking support 50 to the photovoltaic support after receiving the instruction, and starts the cleaning work.

[0054] The management control system records and saves the current position data of the shuttle vehicle, including the position coordinates, the adjustment parameters, and the position information of the parking support.

[0055] S8: After the cleaning work is completed, the photovoltaic cleaning robot 1 returns to the parking support 50, and when the photosensitive sensor 55 is triggered, the translation control system controls the parking support 50 to stop moving, and the photovoltaic cleaning robot 1 stops in place.

[0056] S9: After the photovoltaic cleaning robot 1 is parked, it is judged whether there is an unfinished work task: if yes, step S2 is executed cyclically; if no, the shuttle vehicle drives to the preset parking position to park.

[0057] The above-described embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent replacement or transformation made by those skilled in the art on the basis of the present application is within the protection scope of the present application. The protection scope of the present application is subject to the claims.

Claims

1. A photovoltaic cleaning robot mobile intelligent shuttle vehicle, including a mobile system and a parking bracket, characterized by: The mobile system includes a box chassis and a crawler-type mobile mechanism installed on the box chassis, and the parking bracket is used to park the photovoltaic cleaning robot; and further includes: A rotating system is installed between the box chassis and the parking bracket, and is used to drive the parking bracket to rotate; a scissor lift system disposed between the rotating system and the parking support; the scissor lift system comprises a set of independently adjustable supports for adjusting the height and inclination of the parking support; a translation system, arranged between the scissor lift system and the parking support, for driving the linear movement of the parking support; The management and control system is configured to: obtain the relative posture parameters of the parking bracket and the photovoltaic bracket; control the coordinated actions of the rotation system, scissor lift system and translation system based on the relative posture parameters, so that the flatness, side parallelism, coaxiality and clearance of the parking bracket and the photovoltaic bracket meet the preset thresholds.

2. The photovoltaic cleaning robot mobile intelligent shuttle bus according to claim 1 is characterized by: The rotating system includes a cylinder and a double gear set; the bottom of the cylinder is rotatably engaged with the box chassis through a rolling bearing, and the top inclined surface is connected to the bottom support plate of the scissor lift system; the double gear set includes a large gear and a small gear that mesh with each other, the large gear rotates synchronously with the cylinder, and the small gear is connected to the rotating servo motor.

3. The photovoltaic cleaning robot mobile intelligent shuttle bus according to claim 1 is characterized by: The scissor lift system comprises a bottom support plate located below and a top support plate located above, wherein the bottom support plate and the top support plate are provided with a first bracket and a second bracket, wherein the first bracket and the second bracket are arranged crosswise, and: The top surface of the bottom support plate is provided with a first slide groove, the lower end of the first bracket is slidably engaged with the first slide groove, and the upper end is hingedly connected to the top support plate, and a first driving mechanism for driving the lower end of the first bracket to move along the first slide groove is provided on the bottom support plate or the second bracket; A second slide groove is provided on the bottom surface of the top support frame, the upper end of the second bracket slides in cooperation with the second slide groove, and the lower end is hingedly connected to the bottom support plate, and a second driving mechanism is provided on the top support plate or the first bracket for driving the upper end of the second bracket to move along the second slide groove.

4. The photovoltaic cleaning robot mobile intelligent shuttle bus according to claim 1 is characterized by: The parking bracket is slidably fitted with the top support plate of the scissor lift system; the translation system includes a rack arranged on the parking bracket and a driving gear set installed on the top support plate, the driving gear set includes two driving gears respectively meshed with the racks, and the driving gears are connected to the translation servo motor.

5. The photovoltaic cleaning robot mobile intelligent shuttle vehicle according to any one of claims 1 to 4, characterized in that: The management and control system includes: A posture control system, comprising a tilt-lift control system, a rotation control system, a translation control system, a scanning sensor system and a proximity control system, to adjust the posture of the parking stand; A navigation system, which realizes autonomous movement and obstacle avoidance based on an RTK positioning device and a laser radar; the RTK positioning device and the laser radar are arranged on the chassis of the box; The robot interaction system is used to provide information exchange between the shuttle bus and the photovoltaic cleaning robot, including sending operation preparation instructions to the photovoltaic cleaning robot and receiving stop signals; The human-computer interaction system is used to set control parameters and receive shuttle bus operation data.

6. The photovoltaic cleaning robot mobile intelligent shuttle bus according to claim 5 is characterized by: Multiple sets of telescopic measuring rulers are installed at intervals on the front side of the parking bracket. The multiple sets of telescopic measuring rulers include a sleeve, a spring-supported inner ruler and a capacitive grid displacement sensor. The spring support is squeezed and contracted when the parking bracket approaches the photovoltaic bracket, and the contraction distance is detected in real time by the capacitive grid displacement sensor. The proximity control system is configured as follows: when the retraction distance of the telescopic measuring ruler reaches a preset threshold, the translation control system is triggered to stop the movement of the parking bracket; by comparing the differences in the retraction distances of multiple groups of telescopic measuring rulers, the parallelism and flatness of the sides of the parking bracket and the photovoltaic bracket are verified.

7. The photovoltaic cleaning robot mobile intelligent shuttle bus according to claim 5, characterized in that: A wedge-shaped spring limit switch is provided on the top support plate of the scissor lift system and is engaged with the rear edge bar of the parking bracket; the translation control system is used to issue a stop command when the wedge-shaped spring limit switch is triggered by the parking bracket; A photosensitive sensor is provided on the front of the parking bracket, and the translation control system is used to trigger the photosensitive sensor when the photovoltaic cleaning robot parks and then send a parking signal.

8. The photovoltaic cleaning robot mobile intelligent shuttle bus according to claim 5, characterized in that: A group of symmetrically arranged upper and lower scanning sensors and a group of symmetrically arranged left and right scanning sensors are provided on the front side of the parking bracket; the upper and lower scanning sensors are used to detect the flatness and side parallelism between the parking bracket and the photovoltaic bracket; the upper and lower scanning sensors are used to detect the coaxiality between the parking bracket and the photovoltaic bracket; The scanning sensor system processes the data of the upper and lower scanning sensors and the left and right scanning sensors, calculates the posture deviation between the parking bracket and the photovoltaic bracket, and then uses the calculation result to guide the posture adjustment of the parking bracket.

9. The photovoltaic cleaning robot mobile intelligent shuttle bus according to claim 5, characterized in that: A high-definition camera is provided at the center of the front side of the parking bracket, and the high-definition camera is used to collect image data of the photovoltaic bracket to determine the relative posture between the parking bracket and the photovoltaic bracket.

10. A method for operating a photovoltaic cleaning robot mobile intelligent shuttle bus, characterized by: The steps include: S1: Obtain calibration data for each row of photovoltaic brackets to be cleaned, the calibration data including the side center position coordinates, inclination, heading, and height of the starting photovoltaic panel of each row of photovoltaic brackets; transmit the calibration data to the shuttle bus through the human-computer interaction system; S2: The shuttle bus plans the operation sequence and driving route based on the input location coordinates and the starting operation point. The shuttle bus is controlled by the navigation system to go to the operation point. S3: After arriving at the operation point, the shuttle vehicle adjusts the initial position of the parking bracket according to the calibration data of the photovoltaic bracket by the tilt-lift control system, rotation control system and translation control system; or, A set of upper and lower scanning sensors are installed on the parking bracket of the starting vehicle. The scanning sensor system processes the data of the upper and lower scanning sensors and calculates the flatness and side parallelism between the parking bracket and the photovoltaic bracket: If the flatness exceeds the flatness threshold, the tilt-lift control system is activated to adjust the tilt angle of the parking bracket and / or the height of the parking bracket so that the flatness between the parking bracket and the photovoltaic bracket is less than or equal to the flatness threshold; If the side parallelism exceeds the parallelism threshold, the rotation control system is activated to adjust the heading of the parking bracket so that the side parallelism between the parking bracket and the photovoltaic bracket is less than or equal to the parallelism threshold; S4: Start a set of left and right scanning sensors installed on the sides of the parking bracket. The scanning sensor system processes the data of the left and right scanning sensors, calculates the coaxiality between the parking bracket and the photovoltaic bracket, and verifies the flatness and side parallelism between the parking bracket and the photovoltaic bracket: If the coaxiality exceeds the coaxiality threshold, the scanning sensor system first calculates the difference, and then the navigation system controls the shuttle bus to move until the coaxiality between the parking bracket and the photovoltaic bracket is less than or equal to the coaxiality threshold; S5: cyclically executing steps S3-S4 until the flatness, side parallelism, and coaxiality all meet the preset thresholds; S6: The translation control system controls the parking bracket to approach the photovoltaic bracket through the translation system, and uses the left and right scanning sensors to monitor the changes in the parking bracket's posture in real time during the approach process: When the gap between the parking bracket and the photovoltaic bracket is less than the minimum detectable distance of the laser radar or the telescopic measuring ruler shrinks due to squeezing, the proximity control system is used to monitor the approach of the parking bracket; when the shrinkage of the automatic telescopic measuring ruler reaches the set value, the translation control system controls the parking bracket to stop moving; S7: The management and control system notifies the photovoltaic cleaning robot through the robot interaction system to complete the work preparation. After receiving the instruction, the photovoltaic cleaning robot moves from the parking bracket to the photovoltaic bracket and starts the cleaning operation; The management and control system records and saves the current posture data of the shuttle bus, including position coordinates, adjustment parameters, and posture information of the parking bracket; S8: After the cleaning operation is completed, the photovoltaic cleaning robot returns to the parking bracket. When the light sensor is triggered, the translation control system controls the parking bracket to stop moving, and the photovoltaic cleaning robot stops in place. S9: After the photovoltaic cleaning robot completes parking, it is determined whether there are any unfinished tasks: if so, step S2 is executed in a loop; if not, the shuttle bus drives to the preset parking space and parks.

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