Cross-row operation method and system of photovoltaic power station cleaning system

Abstract

The present application relates to photovoltaic panel cross-row cleaning technical field, disclose a kind of photovoltaic power station cleaning system cross-row operation method and system.The system includes the multiple rows photovoltaic panels of matrix, for adjusting the angle of photovoltaic panel tracking support subsystem, cleaning robot and communication module, wherein, at least part photovoltaic panel in the multiple rows photovoltaic panels is movable photovoltaic panel that can be rotated by tracking support subsystem drive;The present application is used to solve the technical problems of complex moving path, low operation efficiency and occupying more side space caused by "side butt joint" in the prior art, eliminates the defects of complex moving path and low operation efficiency of cleaning robot caused by the existing "side butt joint" mode, and completely avoids the occupation of photovoltaic matrix side space.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cross-row cleaning technology, and more specifically, to a cross-row operation method for a photovoltaic power station cleaning system and a photovoltaic power station cleaning system. Background Technology

[0002] The power generation efficiency of photovoltaic power plants is heavily influenced by the cleanliness of their photovoltaic panel surfaces. To achieve automated cleaning, suspended cleaning robots have been widely adopted. For a single robot to clean an entire matrix containing multiple rows of photovoltaic panels, it must possess the ability to safely and reliably cross between different rows. This requirement is particularly urgent in photovoltaic power plants built on complex terrains such as mountains and hills, where significant height differences and uneven spacing between rows of panels pose substantial obstacles to direct robot movement.

[0003] In the prior art, patent application CN120811265A discloses a mobile intelligent shuttle vehicle for photovoltaic cleaning robots. The core of this solution lies in introducing an independent, highly complex dedicated lifting and transfer vehicle. This shuttle vehicle adjusts the position of its own carrying platform to dock with the side of a row of end photovoltaic panels, thereby providing a transfer carrying platform for the robot and enabling it to cross rows. However, this side-connection method has inherent technical drawbacks: First, it requires the lifting and transport vehicle to move to the side of the photovoltaic array to perform the operation, which places additional demands on the lateral space of the site and the mobility of the lifting and transport vehicle, making it difficult to implement when the row spacing is narrow or there are obstacles at the edge of the site; Second, after the cleaning robot finishes cleaning a row, it is at the end of that row. In order to perform side-connection, the robot needs to make additional lateral movements (it needs to adjust the distance between itself and the side of the photovoltaic panel to prevent interference), making the operation path complex and reducing the operation efficiency; Third, to perform precise docking with the weak side of the photovoltaic panel, the lifting and transport vehicle's carrying platform needs to be at the same tilt angle and perfectly aligned with the photovoltaic panel, which places extremely stringent requirements on control precision and poses a risk of interference with cables and other equipment on the side.

[0004] In summary, existing technologies use a "side docking" paradigm to solve cross-row problems, but they have inherent limitations such as complex operation paths, high space requirements, and great control difficulties. Summary of the Invention

[0005] The present invention aims to overcome at least one of the defects of the prior art and provide a cross-row operation method for a photovoltaic power station cleaning system, which solves the technical problems of complex movement paths, low operation efficiency and large occupation of side space caused by "side docking" in the prior art.

[0006] The technical solution adopted by this invention is a method for cross-row operation of a photovoltaic power station cleaning system. The system includes multiple rows of photovoltaic panels forming a matrix, a tracking support subsystem for adjusting the angle of the photovoltaic panels, a cleaning robot, and a communication module. At least some of the photovoltaic panels in the multiple rows are movable photovoltaic panels that can be driven to rotate by the tracking support subsystem. The method includes the following steps:

[0007] Cross-row request: When the cleaning robot finishes cleaning the first target row of photovoltaic panels and arrives at a preset cross-row position, it sends a cross-row request signal to the tracking bracket subsystem through the communication module, wherein the cross-row position is located on a movable photovoltaic panel;

[0008] Path construction and notification: In response to the cross-row request signal, the tracking bracket subsystem controls one or more movable photovoltaic panels to perform angle adjustment actions to construct a straight path connecting the first target row and the second target row, and after confirming that the straight path is ready, sends a path ready signal to the cleaning robot through the communication module.

[0009] Cleaning robot crosses rows: After receiving the path ready signal, the cleaning robot moves along the straight path to the second target row;

[0010] System reset: After the cleaning robot completes the cross-row operation, the tracking bracket subsystem controls the movable photovoltaic panels that participated in building the straight path to return to the power generation working angle.

[0011] This solution provides a more direct, efficient, and adaptable cross-row solution by reusing the existing tracking bracket subsystem to drive the photovoltaic panels to rotate and construct a through internal path. It also significantly reduces the dependence on external specialized equipment and overall costs, eliminates the defects of complex movement paths and low operating efficiency of cleaning robots caused by the existing "side docking" method, and completely avoids occupying the side space of the photovoltaic matrix.

[0012] Furthermore, the path construction and notification steps specifically include: the tracking support subsystem controlling the rotation and docking of a movable photovoltaic panel in the first target row and a movable photovoltaic panel in the second target row to form a straight path. This provides the most direct and economical way to construct a passage. It requires no additional hardware (such as adapter plates or lifting and transport vehicles), and a seamless passage can be formed simply by controlling the simultaneous rotation and docking of the front and rear rows of photovoltaic panels. This minimizes hardware costs because the moving parts are all inherent equipment of the power plant, and only some photovoltaic panels need to be modified to enable rotation.

[0013] Furthermore, the rotation angle between the movable photovoltaic panels of the first target row and the movable photovoltaic panels of the second target row is determined in the following way:

[0014] Obtain the height difference H and horizontal distance L between the rotation centers of the movable photovoltaic panels in the first target row and the second target row; obtain the length I of the photovoltaic panels, and set the target spacing P between the mating ends of the two photovoltaic panels after rotation;

[0015] Based on the values ​​of H, L, I, and P, the target rotation angle 'a' of the movable photovoltaic panels in the first target row and the target rotation angle 'b' of the movable photovoltaic panels in the second target row are calculated. By introducing geometric parameters (H, L, I, P), the system can accurately adapt to different terrains (height difference H, spacing L) and different equipment (panel length I, spacing P required by the cleaning robot), thereby elevating the versatility and practicality of this invention from "theoretically feasible" to "precisely implemented in engineering," which is key to overcoming complex terrain.

[0016] Furthermore, the path construction and notification steps also include a closed-loop control process:

[0017] The tilt angle of the movable photovoltaic panel is monitored in real time by an angle sensor installed on the movable photovoltaic panel, and the monitoring data is fed back to the tracking support subsystem.

[0018] The tracking support subsystem compares the real-time tilt angle with the target angle and dynamically adjusts the control commands until the tilt angle error stabilizes within the preset tolerance range.

[0019] Furthermore, a transition plate is provided between the first target row and the second target row;

[0020] The path construction and notification steps include:

[0021] The tracking support subsystem controls the rotation of a movable photovoltaic panel in the first target row, aligning its rear end with the front end of the adapter plate; simultaneously, it controls the rotation of a movable photovoltaic panel in the second target row, aligning its front end with the rear end of the adapter plate. The rotated movable photovoltaic panels in the first target row, the adapter plate, and the rotated movable photovoltaic panels in the second target row together form a straight path. By introducing the adapter plate, the technical challenge of insufficient photovoltaic panel rotation to meet the crossing conditions (P-value exceeding limits) when the spacing between the front and rear rows is too large or the height difference too significant is solved. This greatly expands the application scenarios of the invention, enabling it to cover more diverse and demanding photovoltaic power station sites.

[0022] Furthermore, the adapter plate is a supplementary photovoltaic panel, which is detachably installed between the first target row and the second target row.

[0023] Furthermore, the path construction and notification steps are performed using a lifting and transfer vehicle;

[0024] The lifting and transfer vehicle adjusts its position to sequentially connect a movable photovoltaic panel in the first target row and a movable photovoltaic panel in the second target row. The movable photovoltaic panels in the first target row, the carrying platform of the lifting and transfer vehicle, and the movable photovoltaic panels in the second target row together form a straight path.

[0025] The cleaning robot's traversing steps include: moving the cleaning robot from the movable photovoltaic panels of the first target row to the carrying platform of the lifting and transfer vehicle, transporting it via the lifting and transfer vehicle to a position for docking with the movable photovoltaic panels of the second target row, and then moving it onto the movable photovoltaic panels of the second target row. By combining with the lifting and transfer vehicle, the system provides a powerful and mobile traversing capability, especially suitable for scenarios where the rotation space of the photovoltaic panels is limited or the site layout is extremely unique. Together with the direct rotation to construct channels and the use of adapter plates, it constitutes a multi-level, multi-dimensional solution system covering different needs, demonstrating the high flexibility of this invention.

[0026] Furthermore, the lifting and transfer vehicle can operate in any of the following docking modes:

[0027] Independent transport mode: Drive to the front or rear of the photovoltaic panel and connect with the lower edge of the photovoltaic panel;

[0028] Collaborative rotation transfer mode: After the tracking bracket subsystem rotates the target photovoltaic panel to a specific angle, it docks with the edge of the rotated photovoltaic panel.

[0029] Furthermore, the cross-row request signal includes at least the real-time location information of the cleaning robot and the identification information of the second target row;

[0030] The path ready signal is a feedback signal sent to the cleaning robot by the tracking support subsystem or the lifting transfer vehicle after confirming that the straight path is ready.

[0031] A photovoltaic power plant cleaning system for performing the aforementioned cross-row operation method includes:

[0032] Multiple rows of photovoltaic panels form a photovoltaic panel matrix;

[0033] Tracking bracket subsystem, used to support and drive the rotation of some photovoltaic panels;

[0034] Cleaning robots are used to perform cleaning operations on the surface of photovoltaic panels;

[0035] A communication module is used to establish a communication connection between the cleaning robot and the tracking bracket subsystem;

[0036] The controller of the cleaning robot and the controller of the tracking support subsystem are configured to work together to execute the steps of the cross-row operation method.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows: This solution provides a more direct, efficient and adaptable cross-row solution by reusing the existing tracking bracket subsystem to drive the photovoltaic panel to rotate in order to construct a through internal path. At the same time, it significantly reduces the dependence on external special equipment and the overall cost, eliminates the defects of complex movement path and low operation efficiency of cleaning robots caused by the existing "side docking" method, and completely avoids the occupation of the side space of the photovoltaic matrix.

[0038] Utilizing the wide surface of the rotated photovoltaic panel as a channel reduces the alignment accuracy requirements compared to precise docking on the thin edge with low fault tolerance, making control simpler and more reliable. Simultaneously, the work area is far from side-mounted cables and other facilities, reducing the risk of equipment interference and collisions, thus enhancing safety.

[0039] By precisely controlling the rotation angle of the movable photovoltaic panels, the installation of the adapter plate, and the positioning of the lifting and transport vehicle, a safe and stable crossing channel is provided for the cleaning robot. From the cleaning robot sending a request, to the support system constructing the path and feeding back a ready signal, to the cleaning robot executing the crossing and the system finally resetting, a complete collaborative control process is formed. This process has a high degree of automation, ensuring the reliability and stability of the crossing operation. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention.

[0041] Figure 2 This is a schematic diagram of the cleaning robot traversing rows in Embodiment 1 of the present invention.

[0042] Figure 3 This is a schematic diagram of a straight path constructed by rotating two photovoltaic panels in Embodiment 1 of the present invention.

[0043] Figure 4 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention.

[0044] Figure 5 This is a schematic diagram of the cleaning robot crossing the adapter plate in Embodiment 2 of the present invention.

[0045] Figure 6 This is a schematic diagram of the front row photovoltaic panels rotating and connecting with the adapter plate in Embodiment 2 of the present invention.

[0046] Figure 7 This is a schematic diagram of the overall structure of Embodiment 3 of the present invention.

[0047] Figure 8 This is a schematic diagram of the coordinated transport of movable photovoltaic panels and lifting transport vehicles across rows in Embodiment 3 of the present invention.

[0048] In the picture: 1. Movable photovoltaic panel; 2. Adapter plate; 3. Lifting and transfer vehicle. Detailed Implementation

[0049] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the invention. To better illustrate the following embodiments, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions; it is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0050] Example 1

[0051] This system mainly includes a photovoltaic panel matrix, a tracking support subsystem, a cleaning robot, and a communication module.

[0052] The photovoltaic panel matrix consists of multiple rows of photovoltaic panel arrays, with each row containing multiple individual photovoltaic panels. This photovoltaic panel matrix establishes a direct path (i.e., a cross-row passage) from the front row to the back row through two modes, allowing the cleaning robot to move across rows. The direct path described in this article refers to a path that allows the cleaning robot to cross from the first target row to the second target row along a straight path (a straight path viewed from above, but allowing for some undulations when viewed from the side) without needing to move laterally to the side of the photovoltaic matrix; Mode 1: [Example 1] Figure 1 As shown, the two rows of photovoltaic panels on the left and right sides of the photovoltaic panel matrix can rotate (the rotatable photovoltaic panels are also called movable photovoltaic panels 1). After rotation, the surfaces of the two photovoltaic panels are aligned to form a straight path. The cleaning robot moves in an S-shape across the photovoltaic panel matrix through this straight path to reach the back row, i.e., the second target row; Mode 2, as shown... Figure 2 As shown, only one row of photovoltaic panels on one side can rotate to allow the panels in front and behind to align and form a straight path. After cleaning one row, the cleaning robot returns to its initial position and proceeds to clean across rows on the same side. The specific method for adjusting the rotation angle of the photovoltaic panels described above is as follows:

[0053] The tracking bracket subsystem is used to support and adjust the angle of movable photovoltaic panels. It includes: a tracking bracket: each photovoltaic panel is mounted on an independent tracking bracket; a rotating device: mounted on the tracking bracket, used to drive the photovoltaic panel to rotate about a horizontally positioned axis located in the middle of the photovoltaic panel; this device typically includes an actuator such as a servo motor or stepper motor; an angle sensing device: preferably a dual-axis tilt sensor, mounted on the tracking bracket or the photovoltaic panel, used to monitor the tilt angle of the photovoltaic panel relative to the horizontal plane in real time; and a tracking bracket controller: communicatively connected to the rotating device and the angle sensing device, used to control the movement of the rotating device and receive feedback data from the angle sensing device.

[0054] A cleaning robot is used to perform cleaning operations on the surface of photovoltaic panels. It has lateral and longitudinal movement capabilities to cover the entire photovoltaic panel matrix (e.g., the photovoltaic panel cleaning robot disclosed in invention patent CN118748536B). The cleaning robot integrates: a robot controller for planning and controlling the robot's movements across rows; robot sensors, including but not limited to lidar and ultrasonic sensors, for sensing the surrounding environment and its own position; and a communication module for establishing a communication connection with the tracking bracket controller. This communication module can be a 4G, 5G, or IoT-specific communication module, used to establish a communication link between the robot controller and the tracking bracket controller, transmitting control commands and status information. The aforementioned cleaning robot represents existing mature technology and will not be described in detail here.

[0055] The coordinated operation of the above components enables the cleaning robot to operate safely and efficiently across rows. The specific control process is as follows:

[0056] Step 1: Triggering cross-queue requests

[0057] When the cleaning robot completes cleaning the previous row of photovoltaic panels and reaches the preset cross-row position (i.e., on a rotatable photovoltaic panel), it uses its own positioning sensors to determine whether the positioning information matches the position information of a rotatable photovoltaic panel. A statistical map of the positions of rotatable and non-rotatable photovoltaic panels can be pre-built. Upon reaching the cross-row position, the robot controller generates a cross-row operation request signal. This signal contains at least the cleaning robot's real-time position information and the target row identification information. Subsequently, the cleaning robot sends this request signal to the tracking bracket controller via the communication module.

[0058] Step 2: Command Verification and Rotation Parameter Calculation

[0059] After receiving the request signal, the tracking bracket controller first performs device authentication, and then calculates the rotation angle of the photovoltaic panels that need to be rotated before and after as follows.

[0060] like Figure 1 and 2 As shown, when two rotatable photovoltaic panels are at the same height and both the front and rear photovoltaic panels are rotated to a horizontal state, and the distance between the rear end of the front row photovoltaic panel and the front end of the rear row photovoltaic panel is 2-20cm, the front and rear rows of photovoltaic panels can be laid flat to form a straight path for the cleaning robot to move across.

[0061] In mountainous or plateau regions, leveling the terrain requires significant financial investment. To save costs, photovoltaic (PV) panel arrays are sometimes built on non-level ground (such as hillsides or slopes). In this case, there will be a height difference between the front and back rows of PV panels, and the spacing will also vary depending on the terrain. Figure 3 As shown, the height difference between the two rotatable photovoltaic panels is H, the spacing is L, and the length of each panel is I. The dashed line represents the position of the two photovoltaic panels before rotation, and the solid line represents the position of the two photovoltaic panels after rotation. P is the distance between the rear end of the front photovoltaic panel and the front end of the rear photovoltaic panel after rotation. The rotation angle of the front photovoltaic panel is denoted as angle a, and the rotation angle of the rear photovoltaic panel is denoted as angle b. For the cleaning robot to cross smoothly, the front and rear photovoltaic panels need to form a relatively gentle slope transition after rotation, that is, the rear end height of the front row photovoltaic panels should be consistent with the front end height of the rear row photovoltaic panels. The specific calculation is as follows:

[0062] The values ​​of the rotation angle 'a' of the previous photovoltaic panel and the rotation angle 'b' of the next photovoltaic panel are calculated as follows:

[0063] The application docking conditions are: the docking positions are at the same height and the spacing is P;

[0064] Define the vertical direction as y, yA (height of the rear end of the front row movable photovoltaic panel 1) = yB (height of the front end of the rear row movable photovoltaic panel 1) => I / 2·sin(a) = H + I / 2·sin(b);

[0065] The horizontal spacing between the docking positions is P, and the horizontal direction is defined as x. xB (horizontal coordinate of the front end of the rear movable photovoltaic panel 1 with point A as the base point) - xA (horizontal coordinate of the rear end of the front movable photovoltaic panel 1) = P => [LI / 2·cos(b)] - [I / 2·cos(a)] = P.

[0066] The two formulas above form a system of equations concerning sin(a), cos(a), sin(b), and cos(b). Solving directly is complex, so we introduce intermediate variables U and V:

[0067] The physical meaning of the intermediate variable U is: U=arctan(H / (LP)); it represents the angle of view from point A to the target docking point (located at a horizontal distance P in front of point B), which can be understood as the "base slope angle".

[0068] Intermediate variable V: V = arcsin(sqrt(H² + (LP)²) / I). This angle originates from the geometric constraint that the length I of the photovoltaic panel must be sufficient to overcome the spatial distance from point A to the target docking point. Its physical meaning is that in order for the end of the panel to reach the specified position, the panel body needs to be tilted by an additional angle.

[0069] a=U+V, b=UV

[0070] Through this calculation, the front panel will rotate to a larger angle (a > U), causing its rear end to "lift up"; the rear panel will rotate to a smaller angle (b < U), causing its front end to "approach", ultimately achieving precise alignment of the ends of the two panels.

[0071] For the selection of P, P needs to be greater than 2 cm (to prevent the collision of the two photovoltaic panels) and less than 20 cm (to prevent the failure of the photovoltaic panel cleaning robot to cross due to excessive spacing). When selecting the value of P, it should be selected optimally. The preferred value is 10 cm, followed by 9 or 11, then 8 or 12, and so on. The minimum value should not be less than 2 cm, and the maximum value should not be greater than 20 cm.

[0072] Theoretically, when constructing photovoltaic panels, the height difference H, the spacing L, and the length I of each panel between the front and rear rows of photovoltaic panels are fixed values, and the rotation angles of the front and rear rows of photovoltaic panels can also be accurately determined as fixed values. As long as this rotation angle value is stored in the controller of the tracking bracket, when the cleaning robot moves to the position where it needs to cross rows, the front and rear rows of photovoltaic panels can be adjusted according to this stored angle; however, in this solution, taking the rotation adjustment of the photovoltaic panels in the third row as an example, it is both the rear row of photovoltaic panels of the second row and the front row of photovoltaic panels of the fourth row, that is, there are two sets of values, and when storing, it needs to be distinguished. Therefore, a whole photovoltaic panel matrix needs to store a large amount of data. And when the same cleaning robot faces different photovoltaic panel matrices, the height difference H, the spacing L, and the length I of the two rotatable photovoltaic panels in the front and rear will all change. Moreover, when the cleaning robot changes, the rotation angles of the front and rear rows of photovoltaic panels also need to change accordingly. For example, when the selected cleaning robot is smaller, the spacing P between the front and rear rows of photovoltaic panels after rotation needs to become smaller, and the rotation angle of the movable photovoltaic panel 1 needs to change accordingly. For example, because the cleaning robot becomes smaller, when P changes from the original (2 cm ≤ P ≤ 20 cm) to (2 cm ≤ P ≤ 15 cm). Therefore, this calculation method is set in this solution to match different height differences H, spacings L, lengths of the panels I, and the distance P from the rear end of the previous photovoltaic panel to the front end of the next photovoltaic panel that changes due to the change in the size of the cleaning robot.

[0073] Step 3: Precise Rotation and Closed-Loop Control

[0074] The tracking bracket controller sends drive commands to the rotation devices of the respective tracking brackets that need to rotate (for example: the photovoltaic panels at the position where the cleaning robot is located and the photovoltaic panels in the row behind it), and the rotation devices drive the corresponding photovoltaic panels to rotate to the target angle.

[0075] During this process, the angle sensing device collects the current tilt angle of the photovoltaic panel in real time and feeds it back to the tracking bracket controller. The controller compares the real-time angle with the target angle. If the deviation exceeds a preset threshold (e.g., ±0.3°), it dynamically adjusts the drive command sent to the rotating device, forming a closed-loop control loop, until the tilt angle of all movable photovoltaic panels 1 is stable within the target angle error range (±0.5°).

[0076] Once the rotation operation is complete, the tracking bracket controller sends a "straight path ready" signal to the cleaning robot via the communication module.

[0077] Step 4: Cleaning robot crosses rows and system reset

[0078] After receiving the "straight path ready" signal, the cleaning robot initiates the cross-row procedure, moving at a reduced speed across the area of ​​the rotated and docked photovoltaic panels. The cleaning robot can perform straight-path calibration by combining its own sensor data with the received coordinates of the rotated area. Once the cleaning robot confirms that it has completely traversed the cross-row area and entered the target row, its robot controller sends a "cross-row completed" signal to the tracking bracket controller.

[0079] Upon receiving the signal, the tracking bracket controller immediately sends a reset command to the rotating mechanism of the previously rotating tracking bracket, driving all rotating photovoltaic panels back to their optimal power generation angle. Subsequently, the cleaning robot cleans the next row of photovoltaic panels. After cleaning, it repeats the above steps to move to the next row of photovoltaic panels, thus completing the cleaning of the photovoltaic panel matrix.

[0080] Example 2

[0081] The following describes another cross-row operation scheme for a photovoltaic power station cleaning system provided by the present invention. Unlike the first embodiment above, this scheme constructs a straight path across the row by adjusting the angle of the front row tracking bracket and optionally supplementing it with an adapter plate 2.

[0082] This solution, based on the basic system components (including a photovoltaic panel matrix, a tracking support subsystem, a cleaning robot, and a communication module), further introduces the following component: Adapter plate 2: preferably a supplementary photovoltaic panel. Functionally, adapter plate 2 mainly serves as a mechanical structural component to construct a direct path for the cleaning robot; its electrical connection is not a necessary function. In terms of structural dimensions, its length, width, and frame height match the standard photovoltaic panels in the photovoltaic panel matrix to ensure a smooth and stable connection with the rotated movable photovoltaic panel 1; other plates can also be used as adapter plate 2, as long as their material and structural strength meet the requirements for supporting the passage of the cleaning robot.

[0083] During installation, such as Figure 4 and 5As shown, the rear end of the supplementary photovoltaic panel is aligned with the front end of the rear row of rotatable photovoltaic panels. The height and position of the front end are determined based on the rotation angle of the front row of photovoltaic panels. The mounting bracket, preferably made of stainless steel, is used to detachably fix the supplementary photovoltaic panel between the front and rear rows of photovoltaic panels. The mounting bracket has bolt holes, and installation is achieved by connecting to preset mounting points on the photovoltaic panel frame with bolts. The tracking bracket controller in the tracking bracket subsystem is configured to receive cross-row requests and calculate and control the rotation of the front row of photovoltaic panels to align with the subsequent supplementary photovoltaic panel according to a preset algorithm.

[0084] like Figure 6 As shown, when using a supplementary photovoltaic panel solution, the rear end of the adapter plate 2 will block the light from the rear photovoltaic panels when it is too high. Therefore, the height of the rear end of the adapter plate 2 is generally set to be consistent with the height of the front end of the rear photovoltaic panels when they are tilted during normal operation. The distance between the rear end of the supplementary photovoltaic panel and the front end of the rear photovoltaic panels is approximately 2-12cm (which can accommodate most photovoltaic panel cleaning robots).

[0085] The length M, tilt angle c, and distance d between the front end and the rear end of the front row of photovoltaic panels are calculated using the following method:

[0086] Input the known geometric parameters of the photovoltaic power station:

[0087] a: The rotation angle of the front row photovoltaic panels after adjustment (set by the tracking bracket controller according to the cross-row requirements, for example, a=40°);

[0088] H: The height difference between the front end of the rear photovoltaic panel and the rotation center (point A) of the front photovoltaic panel under normal operating conditions (can be obtained through on-site measurement, for example, H=0.5m);

[0089] L: The horizontal distance between the rotation center (point A) of the front row of photovoltaic panels and the front end of the rear row of photovoltaic panels (site design parameter, for example, L=1.8m);

[0090] q: The reserved distance between the front end of the rear photovoltaic panel and the rear end of the adapter plate 2 (preset value, usually 2-12cm, for example q=0.05m);

[0091] L0: Length of the front row of photovoltaic panels (existing photovoltaic panel dimensions at the site, e.g., L0 = 1.8m).

[0092] 1. Calculate the height and horizontal position of the rear end of the front row of photovoltaic panels.

[0093] After the front row of photovoltaic panels rotates by an angle a around the rotation center A, the height hA of its rear end relative to point A and the horizontal extension distance LA relative to point A are:

[0094] hA= L0·sina

[0095] LA= L0·cosa

[0096] For example: L0 = 1.8m, a = 40°, then hA = 0.5 × 1.8 × 0.6428 ≈ 0.5785m (which can be approximated as 0.58m).

[0097] LA = 0.5 × 1.8 × 0.7660 ≈ 0.6894 m (can be approximated as 0.69 m)

[0098] 2. Calculate the tilt angle c of the adapter plate.

[0099] The rear end of adapter plate 2 needs to be at the same height as the front end of the rear photovoltaic panels. Therefore, the height difference Δh between adapter plate 2 and the rear panel is:

[0100] Δh = H - hA, and the sign of its value directly determines the slope direction of the transition plate. If Δh > 0, it indicates that the front end of the rear row of photovoltaic panels is higher than the rear end of the front row of photovoltaic panels, and the transition plate needs to be set to an upward slope. If Δh < 0, it indicates that the front end of the rear row of photovoltaic panels is lower than the rear end of the front row of photovoltaic panels, and the transition plate needs to be set to a downward slope. In subsequent calculations, the tilt angle c will be directly calculated using the signed Δh, and the sign of the result represents the slope direction.

[0101] The horizontal projection length LM of adapter plate 2 is:

[0102] LM=L-LA-qd

[0103] (For example: H=0.5m, L0=1.8m, L=3m, q=0.05m, d=0.05m (the distance d between the front end of the adapter plate 2 and the rear end of the front row of photovoltaic panels is preset according to the actual situation) then Δh=H hA=0.5 0.5785= 0.0785m, LM=L LA q d=3 0.6894 0.05 0.05 = 2.2106m (approximate values ​​can be used for specific calculations).

[0104] 3. The tilt angle c of adapter plate 2 is determined by the tangent of the height difference and the horizontal projection length:

[0105] c = arctan( )

[0106] (For example: c = arctan( ≈2.047°

[0107] 4. Calculate the length M of adapter plate 2.

[0108] The length of adapter plate 2 is its actual length in the inclined direction, which, according to the Pythagorean theorem, is:

[0109] M=

[0110] (For example: M= ≈2.212m)

[0111] Verification of calculation results:

[0112] After the calculation is completed, it is necessary to verify that: the length M of the adapter plate must match the size of the photovoltaic panels in the site; the tilt angle c of the adapter plate must ensure that the slope when the cleaning robot passes is ≤25° (if the slope is too large, the rotation angle a of the front row photovoltaic panels needs to be adjusted and recalculated); the distance d between the front end of the adapter plate and the rear end of the front row photovoltaic panels is ≤15cm (to ensure a smooth transition for the cleaning robot).

[0113] The operator places the pre-selected supplemental photovoltaic (PV) panels in the transition area between the front and rear rows of PV panels. During installation, the front row of PV panels is rotated to align with the adapter plate. Using fixing brackets and bolts, the operator ensures that the rear end of the supplemental PV panel aligns with the front end of the rotatable PV panel in the rear row, maintaining an appropriate gap. After installation, a suitable gap is maintained between the front end of the supplemental PV panel and the rear end of the front row of PV panels. Subsequently, a torque wrench is used to tighten the bolts to the designed tightening torque, and the installation is checked for firmness, ensuring that the supplemental PV panel does not wobble significantly. After rotation, the front row of PV panels is rotated to its normal operating position.

[0114] The controller determines the row crossing method based on the following logic:

[0115] Step 1: Adjust the angle of the front row of photovoltaic panels

[0116] When the cleaning robot reaches the rotating photovoltaic panel surface to cross rows, the tracking bracket controller drives the actuator to adjust the front row of photovoltaic panels to the calculated target angle 'a' to align with the front end of the supplementary photovoltaic panel. Dual-axis tilt sensors mounted on the bracket provide real-time angle feedback, and the controller performs closed-loop control to ensure that the angle error does not exceed the allowable range (e.g., ±0.5°).

[0117] Step 2: Cleaning robot crosses rows and system reset

[0118] The cleaning robot travels along the front row of photovoltaic panels and supplementary photovoltaic panels, which have been adjusted to the correct angle, to complete the row-crossing operation. After completing the row-crossing, the cleaning robot sends a signal to the tracking bracket controller. The controller then controls the front row of photovoltaic panels to return to their normal operating angle.

[0119] As an alternative to this solution, the supplemental photovoltaic panels can be replaced by a support platform. The cleaning robot can travel directly from the front row to the back row from the support platform to complete the cross-row operation. The supplemental photovoltaic panels (or support platform) can be left in place or disassembled to restore the original site. For example, in a photovoltaic station in a plain where agriculture and photovoltaics complement each other, the photovoltaic panels are surrounded and below crops, and the support platform for the supplemental photovoltaic panels can be retained for long-term use.

[0120] Example 3

[0121] The following describes another cross-row operation scheme for a photovoltaic power station cleaning system provided by the present invention. This scheme introduces a lifting and transport vehicle 3 with lifting and precise movement functions to assist the cleaning robot in completing the cross-row operation.

[0122] This solution, based on basic system components (including photovoltaic panel matrix, tracking support subsystem, cleaning robot, and communication module), focuses on the introduction of a lifting and transfer vehicle 3. This lifting and transfer vehicle 3 specifically includes:

[0123] Platform: Used to support the cleaning robot. Its dimensions are specially designed, with a length no less than the length of the cleaning robot plus a safety margin of 200mm, and a width no less than the width of the cleaning robot plus a safety margin of 100mm, to ensure that the cleaning robot can safely and smoothly drive in and park.

[0124] Lifting mechanism: Connected to the support platform, it drives the platform to move up and down. The lifting height range of the lifting mechanism (such as a scissor fork structure) covers 400mm to 1600mm to accommodate the height differences of different sites.

[0125] Mobile chassis: Integrating drive wheels, steering mechanism, and braking system, enabling the lifting and transfer vehicle 3 to move autonomously between photovoltaic arrays. When the lifting and transfer vehicle 3's carrying platform is lowered, its height is small enough to allow it to move under the photovoltaic panels, such as... Figure 7 As shown, the photovoltaic panel matrix, which is fixed by a bracket, has a sufficient passage or space below it for the lifting and transfer vehicle 3 to pass through.

[0126] Vehicle-mounted control system: Communicates with the lifting mechanism and mobile chassis. This system integrates a high-precision positioning module (such as an RTK module) to achieve real-time straight-through path planning, automatic obstacle avoidance, and line-following driving, with a positioning error of no more than ±10mm.

[0127] The onboard sensor system includes, but is not limited to, LiDAR, tilt sensors, and a gravity sensor located at the bottom of the platform. LiDAR is used to perceive the surrounding environment; the tilt sensor is used to detect the angle of the platform; and the gravity sensor is used to detect whether the cleaning robot has driven onto the platform.

[0128] Onboard communication module: used for data interaction with the cleaning robot and optional tracking bracket controller. The technologies used in the lifting and transfer vehicle 3 are all existing mature technologies in this field and will not be detailed here.

[0129] The lifting and transfer vehicle 3 has both manual and automatic control modes. In automatic mode, it can be linked with the cleaning robot and the tracking support subsystem for control.

[0130] Depending on the site conditions, the implementation of this solution can be divided into the following two typical linkage control modes:

[0131] Mode 1: Independent transfer mode (suitable for high ground clearance and large spacing scenarios)

[0132] like Figure 7 As shown, this mode is suitable for scenarios where the distance between the front and rear photovoltaic panels is large and the photovoltaic panels are high off the ground. In this mode, the system does not adjust the angle of the tracking bracket and relies entirely on the mobility of the lifting and transport vehicle 3 to complete the crossing of rows. The working process is as follows: After the cleaning robot completes the front row cleaning, it sends a cross-row request to the lifting and transport vehicle 3; the lifting and transport vehicle 3 then autonomously drives to the designated docking position at the bottom of the front row photovoltaic panel; the on-board control system of the lifting and transport vehicle 3, based on its own lidar and tilt sensor, senses the actual tilt angle and bottom position of the front row photovoltaic panel, and drives the lifting mechanism to adjust the height and tilt angle of the carrying platform so that it docks with the bottom edge of the front row photovoltaic panel; finally, the cleaning robot drives to the carrying platform, and the lifting and transport vehicle 3 transports it to the designated docking position at the bottom of the rear row photovoltaic panel; the on-board control system of the lifting and transport vehicle 3, based on its own lidar and tilt sensor, senses the actual tilt angle and bottom position of the rear row photovoltaic panel, and drives the lifting mechanism to adjust the height and tilt angle of the carrying platform so that it docks with the bottom of the rear row photovoltaic panel; finally, the cleaning robot drives onto the rear row photovoltaic panel and drives away to perform cleaning operations, thus completing the cross-row operation.

[0133] Mode 2: Collaborative Rotation and Transfer Mode (System-wide Interaction)

[0134] like Figure 8As shown, this mode is mainly suitable for scenarios where the photovoltaic panel has a large tilt angle and the risk of the cleaning robot slipping off the panel during movement is high. In this case, the collaborative control of the cleaning robot, the tracking bracket, and the lifting transfer vehicle 3 works as follows: After the cleaning robot arrives at the cross-row point, it simultaneously sends a cross-row signal to the tracking bracket controller and the lifting transfer vehicle 3; after receiving the signal, the tracking bracket controller controls the photovoltaic panel at the end of the front row to rotate to a specific angle (e.g., horizontal); at the same time, the lifting transfer vehicle 3 travels to the predetermined transfer point between the front and rear rows, and confirms that the photovoltaic panel is horizontal based on the rotation angle data fed back by the tracking bracket system or through its own sensors. Then, it precisely adjusts the carrying platform to dock with the rotated photovoltaic panel; finally, the cleaning robot smoothly travels in a straight line from the rotating photovoltaic panel to the carrying platform of the lifting transfer vehicle 3, and after the transfer, completes the transfer operation to the rear row.

[0135] Through the configuration of the above two modes, the system of the present invention demonstrates a high degree of adaptability and flexibility, and can be widely applied to various complex photovoltaic power plant layouts.

[0136] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention should be included within the protection scope of the claims of the present invention.

Claims

1. A method for cross-row operation of a photovoltaic power station cleaning system, the system comprising multiple rows of photovoltaic panels forming a matrix, a tracking support subsystem for adjusting the angle of the photovoltaic panels, a cleaning robot, and a communication module, wherein, At least some of the photovoltaic panels in the multi-row photovoltaic panels are movable photovoltaic panels (1) that can be driven to rotate by the tracking support subsystem; characterized in that it includes the following steps: Cross-row request: When the cleaning robot finishes cleaning the first target row of photovoltaic panels and arrives at a preset cross-row position, it sends a cross-row request signal to the tracking bracket subsystem through the communication module, wherein the cross-row position is located on a movable photovoltaic panel (1); Path construction and notification: In response to the cross-row request signal, the tracking bracket subsystem controls a movable photovoltaic panel (1) of the first target row and a movable photovoltaic panel (1) of the second target row to rotate and connect with each other to form a straight path connecting the first target row and the second target row. After confirming that the straight path is ready, the system sends a path ready signal to the cleaning robot through the communication module. The rotation angle between the movable photovoltaic panels (1) of the first target row and the movable photovoltaic panels (1) of the second target row is determined in the following manner: Obtain the height difference H and horizontal distance L between the rotation center of the movable photovoltaic panel (1) of the first target row and the rotation center of the movable photovoltaic panel (1) of the second target row; Obtain the length I of the photovoltaic panel and set the target distance P between the mating ends of the two photovoltaic panels after rotation; The docking conditions are defined as follows: after rotation, the height of the rear end of the first target row of movable photovoltaic panels is equal to the height of the front end of the second target row of movable photovoltaic panels, and the horizontal distance between them is P. A system of equations is constructed as follows: I / 2·sin(a) = H + I / 2·sin(b); LI / 2·cos(b)-I / 2·cos(a)=P; Introduce intermediate variables U and V. U represents the line of sight from point A to the target docking point, which is located at a horizontal distance P in front of point B. V represents the additional angle that the plate body needs to tilt in order to make the end of the plate reach the specified position. Where U=arctan(H / (LP)) and V=arcsin(sqrt(H²+(LP)²) / I). The target rotation angle a=U+V of the movable photovoltaic panel (1) in the first target row and the target rotation angle b=UV of the movable photovoltaic panel (1) in the second target row are obtained by solving. Cleaning robot crosses rows: After receiving the path ready signal, the cleaning robot moves to the second target row along the straight path formed by the rotation and docking; System reset: After the cleaning robot completes the cross-row, the tracking bracket subsystem controls the movable photovoltaic panel (1) that participated in building the straight path to return to the power generation working angle.

2. The method for cross-row operation of the photovoltaic power station cleaning system according to claim 1, characterized in that, The path construction and notification steps also include a closed-loop control process: The tilt angle of the movable photovoltaic panel (1) is monitored in real time by an angle sensing device installed on the movable photovoltaic panel (1), and the monitoring data is fed back to the tracking support subsystem. The tracking support subsystem compares the real-time tilt angle with the target rotation angles a and b, and dynamically adjusts the control commands until the tilt angle error stabilizes within the preset tolerance range.

3. A method for cross-row operation of a photovoltaic power station cleaning system, the system comprising multiple rows of photovoltaic panels forming a matrix, a tracking support subsystem for adjusting the angle of the photovoltaic panels, a cleaning robot, and a communication module, wherein, At least some of the photovoltaic panels in the multi-row photovoltaic panels are movable photovoltaic panels (1) that can be driven to rotate by the tracking support subsystem; characterized in that it includes the following steps: Cross-row request: When the cleaning robot finishes cleaning the first target row of photovoltaic panels and arrives at a preset cross-row position, it sends a cross-row request signal to the tracking bracket subsystem through the communication module; Path construction and notification: In response to the cross-row request signal, the tracking bracket subsystem controls one or more movable photovoltaic panels (1) to perform angle adjustment actions to construct a straight path connecting the first target row and the second target row, and after confirming that the straight path is ready, sends a path ready signal to the cleaning robot through the communication module; A transition plate (2) is fixedly installed between the first target row and the second target row; the path construction and notification steps include: The tracking bracket subsystem controls a movable photovoltaic panel (1) of the first target row to rotate to the first target angle, so that its rear end is connected to the front end of the adapter plate (2); At the same time, control the rotation of a movable photovoltaic panel (1) of the second target row to the second target angle so that its front end connects with the rear end of the adapter plate (2); The rotated first target row movable photovoltaic panel (1), the adapter plate (2), and the rotated second target row movable photovoltaic panel (1) together form a straight path; The first target angle and the second target angle are determined based on the following steps: Obtain the height difference H and horizontal distance L between the rotation center of the movable photovoltaic panel (1) of the first target row and the rotation center of the movable photovoltaic panel (1) of the second target row, as well as the photovoltaic panel length I and the adapter plate length M; Set the reserved distance q between the rear end of the adapter plate (2) and the front end of the second target row movable photovoltaic panel (1), and the reserved distance d between the front end of the adapter plate (2) and the rear end of the first target row movable photovoltaic panel (1); Calculate the height hA and horizontal extension distance LA of the rear end of the first target row of movable photovoltaic panels (1) after it rotates to the first target angle a, relative to its rotation center, where hA = L0·sina,LA= L0·cosa, where L0 is the length of the front row of photovoltaic panels; Calculate the height difference Δh between the two ends of the adapter plate (2) that needs to be connected: Δh = H - hA; Calculate the horizontal projection length LM of the adapter plate (2) = L - LA - qd; The tilt angle c of the adapter plate (2) is calculated from the height difference Δh and the horizontal projection length LM: c = arctan( ); Calculate the length M of the adapter plate (2), M = Verify that the length M of the adapter plate matches the size of the photovoltaic panels at the site. Verify whether the tilt angle c of the adapter plate (2) meets the slope requirements for the cleaning robot. If it does not meet the requirements, adjust the first target angle a and recalculate until the requirements are met. Based on the tilt angle c and length M of the adapter plate (2), the second target angle required for the second target row of movable photovoltaic panels (1) is determined so that the front end of the second target row of movable photovoltaic panels (1) matches and docks with the rear end of the adapter plate (2) in height and spacing. Cleaning robot crosses rows: After receiving the path ready signal, the cleaning robot moves along the straight path to the second target row; System reset: After the cleaning robot completes the cross-row, the tracking bracket subsystem controls the movable photovoltaic panel (1) that participated in building the straight path to return to the power generation working angle.

4. The method for cross-row operation of the photovoltaic power station cleaning system according to claim 3, characterized in that: The adapter plate (2) is a supplementary photovoltaic panel, which is installed in a detachable manner between the first target row and the second target row.

5. A photovoltaic power station cleaning system for performing the cross-row operation method as described in any one of claims 1 to 4, characterized in that, include: Multiple rows of photovoltaic panels form a photovoltaic panel matrix; Tracking bracket subsystem, used to support and drive the rotation of some photovoltaic panels; Cleaning robots are used to perform cleaning operations on the surface of photovoltaic panels; A communication module is used to establish a communication connection between the cleaning robot and the tracking bracket subsystem; The controller of the cleaning robot and the controller of the tracking support subsystem are configured to work together to execute the steps of the cross-row operation method.

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