Automatic photovoltaic panel cleaning equipment and control process thereof

Abstract

The invention relates to the technical field of photovoltaic panel cleaning, in particular to automatic photovoltaic panel cleaning equipment and a control process thereof, and the automatic photovoltaic panel cleaning equipment comprises a machine body, a hoisting mechanism, a rocker arm, a cleaning device, a battery, a steering and driving device, a distance sensor and a laser radar. Comprising the following steps: S1, transmitting a surrounding environment signal scanned by a radar to a controller, processing data transmitted by the radar by the controller, establishing a cleaning robot surrounding environment model, and planning a reasonable path; s2, the controller controls a steering motor to rotate by a corresponding angle through the planned path; a corresponding forward rotation signal or a reverse rotation signal is output to the hub motor, so that the machine advances and retreats; s3, a distance sensor detects the ground clearance, so that whether a working area where the photovoltaic panel needs to be cleaned is entered or not is judged, a controller controls a hoisting mechanism to work, and a motor is controlled to start to work; after cleaning, the hoisting mechanism is controlled to withdraw the steel cable to achieve the purpose of withdrawing the cleaning device.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, specifically to automated photovoltaic panel cleaning equipment and its control process. Background Technology

[0002] In terms of cleaning photovoltaic power plants, there is a growing trend of using mechanical equipment to clean photovoltaic panels instead of manual cleaning. Existing large and medium-sized photovoltaic panel cleaning equipment is mainly divided into two categories. They both adopt a solution of adding a cleaning device to a walking device. The walking device integrates a power system, hydraulic system, etc. One type of solution extends the cleaning device outward from the walking device.

[0003] According to the self-propelled wireless remote-controlled photovoltaic solar panel cleaning machine mentioned in Chinese Invention No. 201621025477.6, this machine mainly solves the problems of high efficiency and low cost of manual cleaning of photovoltaic solar panels and poor adaptability of mechanical cleaning. It uses the upper edge of the photovoltaic solar panel as its walking track, eliminating the need for a dedicated work channel, and employs multiple self-rotating spray-type universal cleaner heads as cleaning units for self-propelled cleaning. However, the machine's operability is still relatively poor, requiring manual operation for cleaning. Therefore, it is necessary to propose an automated photovoltaic panel cleaning device and its control process to solve the aforementioned problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to design a self-propelled unmanned photovoltaic panel cleaning device and its control method. Under the premise of ensuring cleaning efficiency, it provides an unmanned cleaning equipment solution with lower weight, manufacturing cost, and better overall machine passability, so as to adapt to the actual conditions of different photovoltaic power stations.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a self-propelled unmanned photovoltaic panel cleaning device, comprising a body, the body including an upper support, a lower support fixedly installed at the bottom of the upper support, a hoisting mechanism installed at the bottom of the upper support, a battery fixedly installed at the top of the lower support, a drive device installed at the bottom of the lower support, a cleaning device fixedly connected to the bottom end of the hoisting mechanism via a steel cable, and the two ends of the cleaning device suspended inside the body via two identical steel cables, and a distance sensor and a lidar fixedly installed at the top of the upper support;

[0006] The cleaning device includes a motor mounting plate. The hoisting mechanism is fixedly connected to the motor mounting plate at the other end of a steel cable. A motor is fixedly installed on one side of the motor mounting plate, and an angle sensor is fixedly installed on the other side of the motor mounting plate. A roller brush is fixedly connected to the output shaft of the motor, and a roller brush rod is connected to the other end of the roller brush. The hoisting mechanism is fixedly connected to a rocker arm via a steel cable, and the roller brush rod is connected to the rocker arm via a spherical joint.

[0007] Furthermore, the hoisting mechanism includes a worm gear reducer motor, the worm gear reducer motor is fixedly installed at the bottom of the upper bracket, a drum is fixedly connected to the output shaft of the worm gear reducer motor, and a steel cable is provided on the outside of the drum.

[0008] Furthermore, the steering and driving device includes a turntable, which is movably mounted on the bottom of the machine body. A steering motor is fixedly mounted on one side of the turntable. A base is mounted on the bottom of the turntable, and two vertical bearing seats are mounted on the bottom of the base. A rotating shaft is installed inside the two vertical bearing seats. A triangular rocker arm is connected to one end of the rotating shaft. A shock absorber is fixedly connected to the upper end of the triangular rocker arm. A wheel containing a hub motor is movably mounted on one side of the triangular rocker arm. A rotating shaft is movably mounted on one side of the triangular rocker arm, and the triangular rocker arm is connected to the wheel containing the hub motor through the rotating shaft.

[0009] Furthermore, the hoisting mechanism is provided in two sets. The hoisting mechanism on the left is fixedly connected to the left end of the cleaning device by steel cables, and the steel cables of the hoisting mechanism on the right are connected to the right end of the cleaning device by rocker arms.

[0010] Furthermore, the upper support adopts a portal steel frame structure, and the upper support is equipped with two large and two small four portal frames. Steel plates are welded between the frames, and mounting holes are opened on the side of the steel plates.

[0011] Furthermore, the worm gear reducer motor is mounted on the side of the upper bracket through the mounting hole, and an ear plate is fixedly mounted on the side of the steel plate near the mounting hole. The other end of the rocker arm is movably mounted inside the ear plate.

[0012] Furthermore, the top four corners of the fuselage are composed of two straight pipes connected by bent pipes, and the lower support is welded to four square steel bars and steel plates.

[0013] Furthermore, the outer ring of the turntable is fixed to the steering motor on one hand, providing power to it through the steering motor, and on the other hand, the outer ring of the turntable is connected to the base. The base is connected to the rotating shaft through two vertical bearing seats. The rotating shaft is connected to the triangular rocker arm. The upper ends of the two rocker arms are respectively fixed to the two ends of the shock absorber. The lower ends of the rocker arms and the wheel containing the hub motor are connected together through a rotating shaft.

[0014] The control method for a self-propelled unmanned photovoltaic panel cleaning device is characterized by comprising the control method for the self-propelled unmanned photovoltaic panel cleaning device described above, including the following control steps:

[0015] S1: The radar scans the surrounding environment and transmits the signals to the controller. The controller processes the data transmitted by the radar to build a model of the cleaning robot's surrounding environment and plans a reasonable path, thereby determining whether it is necessary to turn or move forward or backward.

[0016] S2: When a turn is required, the controller determines the required rotation angle based on the planned path, and sends a rotation angle signal to the steering motor to control the steering motor to rotate by the corresponding angle; similarly, the controller outputs corresponding forward or reverse rotation signals to the hub motor according to the path to realize the forward and backward movement of the entire machine.

[0017] S3: When the entire machine has moved to the working area, the distance sensor detects that the distance from the ground has decreased, thus determining that it has entered the working area where the photovoltaic panels need to be cleaned. The controller controls the winch mechanism to lower the steel cable to adjust the angle of the cleaning device. Based on the preset angle of the photovoltaic panel and the signal transmitted back from the angle sensor on the cleaning device, it determines whether the roller brush has been in contact with the photovoltaic panel. When the target angle is reached, the controller controls the motor to start working. Similarly, when the distance sensor detects that the distance from the ground has increased, it determines that the cleaning robot has left the working area. The controller controls the motor to stop working and controls the winch mechanism to retract the steel cable to achieve the purpose of retracting the cleaning device. At the same time, based on the signal transmitted from the angle sensor on the cleaning device, it determines whether the cleaning device has been retracted.

[0018] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0019] 1. The automated photovoltaic panel cleaning equipment and its control process, by setting a steering and drive device, adopts a four-wheel drive chassis during use. This chassis is composed of eight tires, with each pair of tires forming a tire group. The tire group can rotate around the central axis of the tire group. Therefore, when passing through undulating ground, the tires can adapt to changes in ground angle, allowing the tires to better fit the ground.

[0020] 2. The automated photovoltaic panel cleaning equipment and its control process, by setting up a hoisting mechanism, allows the device to span the photovoltaic panel during cleaning operations. The hoisting mechanisms on both sides of the cleaning device change the angle of the cleaning device to fit the angle of the photovoltaic panel. Since one end of the cleaning mechanism is connected to the rocker arm through a spherical joint and the other end is fixed by a steel cable, the cleaning mechanism gains a degree of freedom perpendicular to the plane of rotation of the rocker arm. Therefore, the cleaning mechanism can passively adapt to the angle of the photovoltaic panel to a certain extent due to its own gravity, achieving a better cleaning effect. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the self-propelled unmanned photovoltaic panel cleaning device of the present invention.

[0022] Figure 2 This is a schematic diagram of the winch mechanism of the self-propelled unmanned photovoltaic panel cleaning device of the present invention.

[0023] Figure 3 This is a schematic diagram of the cleaning device of the self-propelled unmanned photovoltaic panel cleaning device of the present invention.

[0024] Figure 4 This is a schematic diagram of the steering and drive device of the self-propelled unmanned photovoltaic panel cleaning device of the present invention.

[0025] Figure 5 This is a flowchart illustrating the walking control method of the self-propelled unmanned photovoltaic panel cleaning device of the present invention.

[0026] Figure 6 This is a cleaning flowchart of the control method for the self-propelled unmanned photovoltaic panel cleaning device of the present invention.

[0027] In the diagram: 1. Body; 2. Hoisting mechanism; 3. Rocker arm; 4. Cleaning device; 5. Battery; 6. Steering and drive device; 7. Distance sensor; 8. LiDAR; 201. Worm gear reducer motor; 202. Drum; 401. Motor; 402. Motor mounting plate; 403. Angle sensor; 404. Roller brush; 405. Roller brush rod end; 601. Turntable; 602. Steering motor; 603. Triangular rocker arm; 604. Wheel with hub motor; 605. Shock absorber; 606. Shaft; 607. Vertical bearing seat; 608. Base; 101. Upper support; 102. Lower support. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figure 1-6 The self-propelled unmanned photovoltaic panel cleaning device in this embodiment includes a body 1, which includes an upper support 101. A lower support 102 is fixedly installed at the bottom of the upper support 101. A hoisting mechanism 2 is installed at the bottom of the upper support 101. A battery 5 is fixedly installed at the top of the lower support 102. A drive device 6 is installed at the bottom of the lower support 102. A cleaning device 4 is fixedly connected to the bottom of the hoisting mechanism 2 by a steel cable. The two ends of the cleaning device 4 are suspended inside the body 1 by two identical steel cables. A distance sensor 7 and a lidar 8 are fixedly installed at the top of the upper support 1.

[0030] The cleaning device 4 includes a motor mounting plate 402. The hoisting mechanism 2 is fixedly connected to the motor mounting plate 402 via the other end of a steel cable. A motor 401 is fixedly installed on one side of the motor mounting plate 402, and an angle sensor 403 is fixedly installed on the other side of the motor mounting plate 402. A roller brush 404 is fixedly connected to the output shaft of the motor 401, and a roller brush rod end 405 is connected to the other end of the roller brush 404. The hoisting mechanism 2 is fixedly connected to the rocker arm 3 via a steel cable, and the roller brush rod end 405 is connected to the rocker arm 3 via a spherical joint.

[0031] A control method for a self-propelled unmanned photovoltaic panel cleaning device, wherein the self-propelled unmanned photovoltaic panel cleaning device is as described in any one of claims 1-8, includes the following control steps:

[0032] S1: The radar scans the surrounding environment and transmits the signals to the controller. The controller processes the data transmitted by the radar to build a model of the cleaning robot's surrounding environment and plans a reasonable path, thereby determining whether it is necessary to turn or move forward or backward.

[0033] S2: When a turn is required, the controller determines the required rotation angle based on the planned path. The controller then sends a rotation angle signal to the steering motor 602, controlling the steering motor 602 to rotate by the corresponding angle. Similarly, the controller outputs corresponding forward or reverse rotation signals to the hub motor according to the path, thereby realizing the forward and backward movement of the entire machine.

[0034] S3: When the robot moves to the work area, the distance sensor 7 detects that the distance from the ground has decreased, thus determining that it has entered the work area where the photovoltaic panels need to be cleaned. The controller controls the hoisting mechanism 2 to lower the steel cable to adjust the angle of the cleaning device 4. Based on the preset angle of the photovoltaic panel and the signal transmitted back by the angle sensor 403 on the cleaning device 4, it is determined whether the roller brush 404 has been attached to the photovoltaic panel. When the target angle is reached, the control motor 401 starts to work. Similarly, when the distance sensor 7 detects that the distance from the ground has increased, it is determined that the cleaning robot has left the work area. The controller controls the motor 401 to stop working and controls the hoisting mechanism 2 to retract the steel cable to achieve the purpose of retracting the cleaning device 4. At the same time, based on the signal transmitted by the angle sensor 303 on the cleaning device 4, it is determined whether the cleaning device 4 has been retracted.

[0035] In practice:

[0036] like Figure 1 As shown, the machine body 1 consists of an upper support and a lower support. The upper support adopts a portal steel frame structure with four portal frames, two large and two small. Steel plates are welded between the large and small portal frames. Two worm gear reducer motor mounting holes are reserved on the steel plates for installing the winch mechanism 2.

[0037] Depend on Figure 2 It can be seen that the hoisting mechanism consists of a worm gear reducer motor and a drum 202. The lugs for mounting the rocker arm 3 are placed next to the mounting holes of the worm gear reducer motor to facilitate the connection between the steel cable and the rocker arm after installation. At the four corners of the top of the machine body, two straight pipes are connected by bent pipes to increase the rigidity of the machine body. At the same time, a distance sensor 8 and a laser radar 9 are fixed at the top of the upper frame. The main body of the lower support is welded from four square steel bars and steel plates. On one side of the steel plate, the installation position of the battery 4 is reserved, and on the other side, the installation hole for the steering and drive device 6 is reserved. In addition, the cleaning device 4 is suspended in the gantry by two steel cables.

[0038] like Figure 3 In the cleaning device 4, the motor 401 and the motor mounting plate 402 are connected by four bolt fixing points. The upper end of the motor mounting plate 402 is connected to the hoisting mechanism via a steel cable, and the lower end is fixed with an angle sensor 403 for detecting changes in the roller brush angle. One end of the roller brush 404 is connected to the motor 401 through a through hole on the motor mounting plate 402 to drive the roller brush. The other end is connected to the roller brush rod end 405. The roller brush rod end 405 is connected to the rocker arm 3 with a spherical joint. At the same time, the rocker arm 3 is connected to the hoisting mechanism via a steel cable. Therefore, one end of the cleaning device 3 raises or lowers the steel cable through the hoisting mechanism to achieve lifting and lowering, and the other end uses the hoisting mechanism to control the rocker arm to achieve lifting and lowering.

[0039] like Figure 4The steering and drive device 6 is mainly composed of 6 parts. The inner ring of the turntable 601 is connected to the frame 1. The outer ring of the turntable 601 is fixed to the steering motor 602 on one hand, and the steering motor provides power to it. On the other hand, the outer ring of the turntable is connected to the base 608. In addition, the base is connected to the rotating shaft 606 through two vertical bearing seats 607. A triangular rocker arm 603 is also connected to the rotating shaft 606. The steering drive device consists of two rocker arms. The upper ends of the two rocker arms are fixed to the two ends of the shock absorber 605 respectively. The lower ends of the rocker arms and the wheel 604 containing the hub motor are connected together through a rotating shaft.

[0040] Control methods for self-propelled unmanned photovoltaic panel cleaning devices, such as Figure 5 The radar scans the surrounding environment and transmits the signals to the controller. The controller processes the radar data to build a model of the cleaning robot's surrounding environment and plans a reasonable path, thereby determining whether turning and forward / backward movement are necessary. When turning is required, the controller determines the required rotation angle based on the planned path and sends a rotation angle signal to the steering motor, controlling the steering motor to rotate by the corresponding angle. Similarly, the controller outputs corresponding forward or reverse rotation signals to the hub motors according to the path, thereby enabling the entire machine to move forward and backward.

[0041] When the entire machine has been moved to the approximate working area, such as Figure 6 When distance sensor 7 detects a decrease in the distance from the ground, it determines that the robot has entered the work area where the photovoltaic panels need to be cleaned. The controller controls the winch mechanism to lower the steel cable to adjust the angle of the cleaning device. Based on the preset angle of the photovoltaic panel and the signal transmitted back from the angle sensor 403 on the cleaning device, it determines whether the cleaning brush has been in contact with the photovoltaic panel. When the target angle is reached, the controller controls the roller brush motor to start working. Similarly, when distance sensor 8 detects an increase in the distance from the ground, it determines that the cleaning robot has left the work area. The controller controls the roller brush motor to stop working and controls the winch mechanism to retract the steel cable to achieve the purpose of retracting the cleaning device. At the same time, based on the signal transmitted from the angle sensor 303 on the cleaning device, it determines whether the cleaning device has been retracted.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-propelled unmanned photovoltaic panel cleaning device, comprising a body (1), characterized in that: The body (1) includes an upper bracket (101), a lower bracket (102) is fixedly installed at the bottom of the upper bracket (101), a hoisting mechanism (2) is installed at the bottom of the upper bracket (101), a battery (5) is fixedly installed at the top of the lower bracket (102), a drive device (6) is installed at the bottom of the lower bracket (102), a cleaning device (4) is fixedly connected to the bottom end of the hoisting mechanism (2) by a steel cable, and the two ends of the cleaning device (4) are suspended inside the body (1) by two identical steel cables. A distance sensor (7) and a lidar (8) are fixedly installed at the top of the upper bracket (1). The cleaning device (4) includes a motor mounting plate (402). The hoisting mechanism (2) is fixedly connected to the motor mounting plate (402) at the other end of a steel cable. A motor (401) is fixedly installed on one side of the motor mounting plate (402). An angle sensor (403) is fixedly installed on the other side of the motor mounting plate (402). A roller brush (404) is fixedly connected to the output shaft of the motor (401). A roller brush rod end (405) is connected to the other end of the roller brush (404). The hoisting mechanism (2) is fixedly connected to the rocker arm (3) via a steel cable. The roller brush rod end (405) is connected to the rocker arm (3) with a spherical joint.

2. The self-propelled unmanned photovoltaic panel cleaning device according to claim 1, characterized in that: The hoisting mechanism (2) includes a worm gear reducer motor (201). The worm gear reducer motor (201) is fixedly installed at the bottom of the upper bracket (101). A drum (202) is fixedly connected to the output shaft of the worm gear reducer motor (201). A steel cable is provided on the outside of the drum (202).

3. The self-propelled unmanned photovoltaic panel cleaning device according to claim 1, characterized in that: The steering and driving device (6) includes a turntable (601). The turntable (601) is movably mounted on the bottom of the body (1). A steering motor (602) is fixedly mounted on one side of the turntable (601). A base (608) is mounted on the bottom of the turntable (601). Two vertical bearing seats (607) are mounted on the bottom of the base (608). A rotating shaft (606) is installed inside the two vertical bearing seats (607). A triangular rocker arm (603) is connected to one end of the pivot (606). A shock absorber (605) is fixedly connected to the upper end of the triangular rocker arm (603). A wheel (604) containing a hub motor is movably mounted on one side of the triangular rocker arm (603). The pivot (606) is movably mounted on one side of the triangular rocker arm (603). The triangular rocker arm (603) is connected to the wheel (604) containing the hub motor through the pivot (606).

4. The self-propelled unmanned photovoltaic panel cleaning device according to claim 2, characterized in that: The winch mechanism (2) is provided in two sets. The winch mechanism (2) on the left side is fixedly connected to the left end of the cleaning device (4) by steel cable. The steel cable of the winch mechanism (2) on the right side is connected to the right end of the cleaning device (4) by rocker arm (3).

5. The self-propelled unmanned photovoltaic panel cleaning device according to claim 1, characterized in that: The upper support (101) adopts a portal steel frame structure, and the upper support (101) is provided with two large and two small four portal frames. Steel plates are welded between the frames, and mounting holes are opened on the side of the steel plates.

6. The self-propelled unmanned photovoltaic panel cleaning device according to claim 2 or 5, characterized in that: The worm gear reducer motor (201) is mounted on the side of the upper bracket (101) through the mounting hole. A lug is fixedly mounted on the side of the steel plate near the mounting hole. The other end of the rocker arm (3) is movably mounted inside the lug.

7. The self-propelled unmanned photovoltaic panel cleaning device according to claim 1, characterized in that: The top four corners of the fuselage (1) are composed of two straight pipes connected by bent pipes, and the lower support (102) is welded to a steel plate by four square steel bars.

8. The self-propelled unmanned photovoltaic panel cleaning device according to claim 3, characterized in that: The outer ring of the turntable (601) is fixed to the steering motor (602) on one hand, and the steering motor (602) provides power to it on the other hand, the outer ring of the turntable is connected to the base (608), the base (608) is connected to the shaft (606) through two vertical bearing seats (607), the shaft (606) is connected to the triangular rocker arm (603), the upper ends of the two rocker arms (3) are respectively fixed to the two ends of the shock absorber (605), and the lower end of the rocker arm (3) is connected to the wheel (604) containing the hub motor through a shaft (606).

9. A control method for a self-propelled unmanned photovoltaic panel cleaning device, characterized in that, The control method for the self-propelled unmanned photovoltaic panel cleaning device according to any one of claims 1-8 includes the following control steps: S1: The radar scans the surrounding environment and transmits the signals to the controller. The controller processes the data transmitted by the radar to build a model of the cleaning robot's surrounding environment and plans a reasonable path, thereby determining whether it is necessary to turn or move forward or backward. S2: When a turn is required, the controller determines the required rotation angle based on the planned path, and sends a rotation angle signal to the steering motor (602) to control the steering motor (602) to rotate by the corresponding angle; similarly, the controller outputs corresponding forward or reverse rotation signals to the hub motor according to the path to realize the forward and backward movement of the entire machine. S3: When the whole machine moves to the working area, the distance sensor (7) detects that the distance from the ground has decreased, thus determining that it has entered the working area where the photovoltaic panel needs to be cleaned. The controller controls the hoisting mechanism (2) to lower the steel cable to adjust the angle of the cleaning device (4). Based on the preset photovoltaic panel angle and the signal transmitted back by the angle sensor (403) on the cleaning device (4), it determines whether the roller brush (404) has been attached to the photovoltaic panel. After reaching the target angle, the controller controls the motor (401) to start working. Similarly, when the distance sensor (7) detects that the distance from the ground has increased, it determines that the cleaning robot has left the working area. The controller controls the motor (401) to stop working and controls the hoisting mechanism (2) to retract the steel cable to achieve the purpose of retracting the cleaning device (4). At the same time, based on the signal transmitted by the angle sensor (303) on the cleaning device (4), it determines whether the cleaning device (4) has been retracted.

Images