Photovoltaic panel fastener looseness detection method and photovoltaic cleaning robot

Abstract

The invention discloses a photovoltaic panel fastener looseness detection method and a photovoltaic cleaning robot, and belongs to the technical field of photovoltaics. The photovoltaic panel fastener looseness detection method is applied to the photovoltaic cleaning robot. The photovoltaic cleaning robot comprises a robot body and a sound receiver arranged at the bottom of the robot body. The method comprises the steps that in the process that the photovoltaic cleaning robot cleans a photovoltaic module along a preset path, a sound receiver is controlled to acquire a sound signal at a fastener between two adjacent photovoltaic panels in the photovoltaic module; and judging whether the fastener is loosened or not according to the sound signal. According to the embodiment of the invention, the loosening condition of the fastener of the photovoltaic panel can be detected in time.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic technology, and in particular to a method for detecting loose fasteners in photovoltaic panels and a photovoltaic cleaning robot. Background Technology

[0002] In photovoltaic (PV) power plants, PV modules are assembled from multiple PV panels, which are typically held together by fasteners during assembly. However, over time, these fasteners can loosen. For example, see... Figure 1 The fasteners include pressure blocks and screws. The pressure blocks snap onto the frames of two adjacent photovoltaic panels on both sides. The screws secure the photovoltaic panels by locking the pressure blocks onto the mounting bracket. Loosening of the screws will cause the pressure blocks to loosen against the photovoltaic panels, thus causing the fasteners to loosen.

[0003] If loose fasteners are not maintained in a timely manner, there is a risk that the photovoltaic panels may fall. Similarly, if a photovoltaic cleaning robot cleans on loosely secured photovoltaic panels, there is also a risk that the robot may fall. Summary of the Invention

[0004] This invention provides a method for detecting loose fasteners in photovoltaic panels and a photovoltaic cleaning robot to solve one of the aforementioned technical problems.

[0005] In a first aspect, embodiments of the present invention provide a method for detecting loose fasteners on photovoltaic panels, applied to a photovoltaic cleaning robot, the photovoltaic cleaning robot including a body and a sound receiver disposed at the bottom of the body; The method includes: During the process of the photovoltaic cleaning robot cleaning the photovoltaic module along the preset path, the sound receiver is controlled to acquire the sound signal at the fastener between two adjacent photovoltaic panels in the photovoltaic module. The sound signal is used to determine whether the fastener is loose.

[0006] Optionally, during the process of the photovoltaic cleaning robot cleaning the photovoltaic modules along a preset path, the sound receiver is controlled to acquire sound signals at the fasteners between two adjacent photovoltaic panels in the photovoltaic module, including: As the photovoltaic cleaning robot travels along the preset path, when the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, the sound receiver is controlled to receive sound signals.

[0007] Optionally, the photovoltaic cleaning robot also includes a roller brush disposed on the front side of the body; When controlling the sound receiver to receive sound signals, the method further includes: Control the roller brush to work continuously.

[0008] Optionally, the photovoltaic cleaning robot further includes: a walking component, a first roller brush, and a second roller brush, wherein the walking component is disposed at the bottom of the body, the first roller brush is disposed at the front side of the body, and the second roller brush is disposed at the rear side of the body; When the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, the sound receiver is controlled to receive sound signals, including: When the walking component contacts the first frame, the first roller brush is controlled to stop working, and the second roller brush is controlled to continue working; wherein, the first frame is the frame on the first photovoltaic panel connected by the fastener, and the first photovoltaic panel is the photovoltaic panel where the photovoltaic cleaning robot is currently located; When the photovoltaic cleaning robot crosses the first frame and the second frame, the sound receiver is controlled to receive sound signals; wherein, the second frame is the frame on the second photovoltaic panel connected by the fastener, and the second photovoltaic panel is the next photovoltaic panel after the first photovoltaic panel in the preset path; When the walking component leaves the second frame, the first roller brush is controlled to start working, and the second roller brush is controlled to continue working.

[0009] Optionally, the photovoltaic cleaning robot further includes: a retractable push rod disposed at the bottom of the body, and at least one roller brush disposed on the body; Determining whether the fastener is loose based on the sound signal includes: Based on the sound signals obtained when the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, it is preliminarily determined whether the fastener is loose; After initially determining that the fasteners are loose, the photovoltaic cleaning robot is controlled to stop at a preset position, and the roller brush is controlled to stop working; Control the retractable push rod to extend and strike the frame of either of the photovoltaic panels on both sides of the fastener, and control the sound receiver to receive sound signals during the striking; When the fastener is determined to be loose again based on the sound signal received during the tapping, the fastener is confirmed to be loose.

[0010] Optionally, the photovoltaic cleaning robot further includes: a retractable push rod disposed at the bottom of the body, and at least one roller brush disposed on the body; During the process of the photovoltaic cleaning robot cleaning the photovoltaic modules along a preset path, the sound receiver is controlled to acquire sound signals from the fasteners between two adjacent photovoltaic panels in the photovoltaic module, including: Control the photovoltaic cleaning robot to stop at a preset position and control the roller brush to stop working; The telescopic push rod is controlled to extend and strike the frame of either of the photovoltaic panels on both sides of the fastener, and the sound receiver is controlled to receive sound signals during the striking.

[0011] Optionally, the method further includes: After confirming that the fastener is loose, the location information of the loose fastener is sent to the terminal; wherein, the location information of the fastener includes: the number of the fastener, and / or, the numbers of the two adjacent photovoltaic panels connected to the fastener.

[0012] Optionally, the photovoltaic module includes multiple photovoltaic panels arranged in multiple rows; The method further includes: Obtain the location information and maintenance information of the loose fasteners; wherein, the maintenance information is used to indicate whether the loose fasteners have been re-tightened; The cleaning path for the next cleaning of the photovoltaic module by the photovoltaic cleaning robot is generated based on the location information and the maintenance information. If the two photovoltaic panels connected to the loose fastener are both located in the bottom row of the photovoltaic array, and the loose fastener has not been reinforced, then the cleaning path is set to bypass the two photovoltaic panels connected to the loose fastener. If neither of the two photovoltaic panels connected to the loose fastener is in the bottom row of the photovoltaic array, or if the loose fasteners have been reinforced, then the preset path is used as the cleaning path.

[0013] Optionally, the photovoltaic array includes multiple photovoltaic panels arranged in a single row; The method further includes: Obtain the location information and maintenance information of the loose fasteners; wherein, the maintenance information is used to indicate whether the loose fasteners have been re-tightened; The cleaning path for the next cleaning of the photovoltaic module by the photovoltaic cleaning robot is generated based on the location information and the maintenance information. If the fasteners on both sides of a target photovoltaic panel are loose and have not been reinforced, the end point of the cleaning path is set as the photovoltaic panel preceding the target photovoltaic panel. If the fasteners on only one side of the same photovoltaic panel are loose and have not been reinforced, or if the loose fasteners have been reinforced, then the preset path shall be used as the cleaning path.

[0014] Optionally, determining whether the fastener is loose based on the sound signal includes: Extract sound features related to the tightness of the fastener from the sound signal; Determine whether the sound characteristics are consistent with the sound characteristics of the fastener in the tightened state; If so, then the fastener is determined to be secure. If not, then the fastener is determined to be loose.

[0015] Secondly, embodiments of the present invention also provide a photovoltaic cleaning robot, comprising: a body, a controller disposed within the body, and a sound receiver disposed at the bottom of the body; the controller is connected to the sound receiver, and the controller is used to execute the photovoltaic panel fastener loosening detection method provided in any embodiment of the present invention.

[0016] The photovoltaic panel fastener loosening detection method provided in this invention utilizes a photovoltaic cleaning robot to detect the tightness of fasteners. Fastener loosening detection is performed during the cleaning process, eliminating the need for additional fastener detection equipment and personnel. This effectively reduces detection costs and increases detection frequency and flexibility, allowing for timely detection of loose fasteners and enabling prompt maintenance. This reduces the risk of photovoltaic panels falling, as well as the risk of the photovoltaic cleaning robot falling, thus improving the safety of both the photovoltaic modules and the operational safety of the photovoltaic cleaning robot.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural diagram of a fastener; Figure 2 This is a schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention; Figure 3 This is a flowchart of the photovoltaic panel fastener loosening detection method provided in the embodiments of the present invention; Figure 4 This is a schematic diagram of the preset path provided in an embodiment of the present invention; Figure 5 This is another schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention; Figure 6 This is a scene diagram of the photovoltaic cleaning robot working on photovoltaic modules according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the cleaning path provided in an embodiment of the present invention; Figure 8 This is another schematic diagram of the cleaning path provided in an embodiment of the present invention; Figure 9 This is another schematic diagram of the preset path provided in the embodiment of the present invention; Figure 10 This is yet another schematic diagram of the cleaning path provided in an embodiment of the present invention; Figure 11 This is another schematic diagram of the cleaning path provided in the embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0022] This invention provides a method for detecting loose fasteners in photovoltaic panels, which is applied to a photovoltaic cleaning robot. The photovoltaic cleaning robot enables timely detection of loose fasteners for timely maintenance.

[0023] For ease of explanation, the following will first combine... Figure 2 This section provides a brief description of the structure of the photovoltaic cleaning robot. (See also...) Figure 2The photovoltaic cleaning robot 100 is an automated device used to clean the surface of photovoltaic panels. Specifically, the photovoltaic cleaning robot 100 may include a body 10, and multiple functional components such as cleaning components and walking components 30 disposed on the body 10. The body 10 may include an accommodating space enclosed by a housing and a chassis, which can be used to house components such as the motor, fan, and controller of the photovoltaic cleaning robot 100. The walking component 30 is disposed at the bottom of the body 10; for example, the walking component 30 includes track wheels disposed on the chassis, used to support the entire robot and provide power. The cleaning components may include a roller brush 40, which contacts the surface of the photovoltaic panel during the movement of the photovoltaic cleaning robot 100 to clean the surface of the photovoltaic panel.

[0024] Furthermore, the photovoltaic cleaning robot 100 also includes a sound receiver 20 located at the bottom of its body for receiving sound signals. In addition, a controller is located within the body 10 of the photovoltaic cleaning robot 100, serving as the control core for controlling the operation of the photovoltaic cleaning robot 100. The photovoltaic panel fastener loosening detection method provided in this embodiment of the invention can be executed by the controller. The photovoltaic panel fastener loosening detection method will be described in detail below.

[0025] Figure 3 This is a flowchart of the photovoltaic panel fastener loosening detection method provided in the embodiments of the present invention, see [link / reference]. Figure 3 The method for detecting loose fasteners in photovoltaic panels includes: S110. During the process of the photovoltaic cleaning robot cleaning the photovoltaic module along the preset path, the sound receiver is controlled to obtain the sound signal at the fastener between two adjacent photovoltaic panels in the photovoltaic module.

[0026] Among them, see Figure 4 The photovoltaic array 50 may include a plurality of photovoltaic panels 51 arranged in an array. For example, the photovoltaic array 50 may include at least one row of photovoltaic panels 51 arranged along the column direction Y, and each photovoltaic panel 51 in the row is arranged along the row direction X. In the row direction X, adjacent photovoltaic panels 51 are connected and locked to the mounting frame by at least one fastener 52.

[0027] The preset path is the walking path of the photovoltaic cleaning robot 100 when cleaning the photovoltaic array 50, which can be found in [reference]. Figure 4 As indicated by the middle arrow, with all fasteners 52 secure, the preset path allows the photovoltaic cleaning robot 100 to cover the entire surface of the photovoltaic array 50 during cleaning. The preset path can be an S-shaped route or other trajectories; no specific limitations are specified here.

[0028] During the process of the photovoltaic cleaning robot 100 cleaning the photovoltaic modules 50 along a preset path, the photovoltaic cleaning robot 100 will pass through the seams of every two adjacent photovoltaic panels 51. It can be understood that two adjacent photovoltaic panels 51 here refer to photovoltaic panels 51 adjacent along the row direction X. When the photovoltaic cleaning robot 100 crosses the edge of the photovoltaic panel 51, due to the height difference between the edge and the surface of the photovoltaic panel 51, the photovoltaic cleaning robot 100 will cause the fasteners 52 to vibrate when crossing the photovoltaic panel 51. At this time, the sound receiver 20 can be controlled to receive sound signals, which is equivalent to obtaining the sound signals at the fasteners 52 between the two adjacent photovoltaic panels 51. Placing the sound receiver 20 at the bottom of the robot body 10 facilitates more complete acquisition of sounds related to the tightness of the fasteners 52.

[0029] S120. Determine whether the fasteners are loose based on the sound signal.

[0030] Specifically, loose fastener 52 can manifest as the screws loosening, causing the pressure block to loosen against the photovoltaic panel 51, thus posing a risk of the photovoltaic panel 51 falling off. The sounds produced by fasteners in loose and tight states differ, therefore, the presence of loose fasteners can be analyzed based on the sound signals. Specifically, the sound characteristics of the fasteners in both tight and loose states can be pre-acquired and stored. During actual testing, sound features related to the tightness or looseness of the fasteners are extracted from the acquired sound signals and compared with the pre-stored sound features to determine whether the fasteners are loose.

[0031] The photovoltaic panel fastener loosening detection method provided in this invention utilizes a photovoltaic cleaning robot to detect the tightness of fasteners. Fastener loosening detection is performed during the cleaning process, eliminating the need for additional fastener detection equipment and personnel. This effectively reduces detection costs and increases detection frequency and flexibility, allowing for timely detection of loose fasteners and enabling prompt maintenance. This reduces the risk of photovoltaic panels falling, as well as the risk of the photovoltaic cleaning robot falling, thus improving the safety of both the photovoltaic modules and the operational safety of the photovoltaic cleaning robot.

[0032] Based on the above embodiments, there are alternative ways to obtain the sound signal at the fastener. Several of these methods will be described below as examples, but they are not intended to limit the present invention.

[0033] In one embodiment, optionally, during the process of the photovoltaic cleaning robot cleaning the photovoltaic module along a preset path, the sound receiver is controlled to acquire the sound signal at the fastener between two adjacent photovoltaic panels in the photovoltaic module, including: during the process of the photovoltaic cleaning robot moving along the preset path, when the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, the sound receiver is controlled to receive the sound signal.

[0034] Specifically, the sound generated by the vibration of fasteners when the photovoltaic cleaning robot crosses the frame of the photovoltaic panel allows for the collection of sound signals containing acoustic features related to the tightness of the fasteners, which can be used for fastener loosening detection. During the robot's movement along a preset path, it may cross the photovoltaic panel frame on both sides of the same fastener multiple times. Sound signals can be collected at least once during this crossing, and the specific number of sound collections for the same fastener is not limited here. In this embodiment, sound signals are received by a sound receiver on the bottom of the robot during its cleaning operation, enabling the collection of fastener-related sound signals without affecting cleaning efficiency.

[0035] Depending on the structure of the photovoltaic cleaning robot, the specific steps for sound acquisition may vary, which will be explained below.

[0036] In one implementation, optionally, see [link to relevant documentation]. Figure 2 The photovoltaic cleaning robot 100 includes a roller brush 40, which is disposed on the front side of the body 10. Therefore, when controlling the sound receiver to receive sound signals, the method also includes controlling the roller brush to operate continuously.

[0037] In this embodiment, when the photovoltaic cleaning robot 100 includes only one roller brush 40, the roller brush 40 is controlled to not stop working, so that the fastener loosening detection process does not affect the cleaning process of the photovoltaic cleaning robot 100 itself. The loosening detection of each fastener can be completed while ensuring the cleaning effect of the photovoltaic module.

[0038] Figure 5 This is another schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention, see below. Figure 5 In another embodiment, optionally, the photovoltaic cleaning robot 100 includes: a walking component 30, a first roller brush 41 and a second roller brush 42, the walking component 30 being disposed at the bottom of the body 10, the first roller brush 41 being disposed at the front side of the body 10, and the second roller brush 42 being disposed at the rear side of the body 10.

[0039] Accordingly, when the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, the sound receiver is controlled to receive sound signals, including: 1) When the walking component contacts the first frame, control the first roller brush to stop working and control the second roller brush to continue working.

[0040] Among them, see Figure 6 The first frame 5111 is the frame on the first photovoltaic panel 511 connected by fasteners 52, and the first photovoltaic panel 511 is the photovoltaic panel where the photovoltaic cleaning robot 100 is currently located. For example Figure 6The middle arrow indicates the direction of travel of the photovoltaic cleaning robot 100 along the preset path. The photovoltaic cleaning robot 100 passes through the first photovoltaic panel 511 and the second photovoltaic panel 512 in succession. The second photovoltaic panel 512 is the next photovoltaic panel after the first photovoltaic panel 511 in the preset path; the frame on the second photovoltaic panel 512 connected by fasteners 52 is called the second frame 5121.

[0041] 2) When the photovoltaic cleaning robot crosses the first and second borders, control the sound receiver to receive sound signals.

[0042] When the photovoltaic cleaning robot 100 crosses the first frame 5111 and the second frame 5121, the walking component 30 will cause the fastener 52 to vibrate and make a sound when it passes due to the height difference at the frame. The sound signal received at this time contains features related to the tightness of the fastener 52.

[0043] 3) When the walking component leaves the second frame, control the first roller brush to start working and control the second roller brush to continue working.

[0044] In this embodiment, for the photovoltaic cleaning robot 100 with one roller brush at the front and one at the back, the first roller brush 41 at the front stops working when the walking component 30 just touches the first frame 5111, and starts working again when the walking component 30 leaves the second frame 5121. This is equivalent to stopping the first roller brush 41 before the fastener 52 makes a sound, and the roller brush remains stopped while the walking component 30 crosses the two frames and collects sound from the sound receiver, which can effectively reduce the interference caused by the sound of the roller brush working; and the second roller brush 42 always remains working, which can ensure that the cleaning effect is not affected. Therefore, this embodiment can reduce the interference of the roller brush working on the sound signal without affecting the cleaning effect on the photovoltaic module.

[0045] In another embodiment, the photovoltaic cleaning robot may optionally include a retractable push rod (not shown) located at the bottom of the body, and at least one roller brush located on the body. The retractable push rod can tap the photovoltaic panel when extended.

[0046] Accordingly, during the process of the photovoltaic cleaning robot cleaning the photovoltaic modules along a preset path, the sound receiver is controlled to acquire sound signals at the fasteners between two adjacent photovoltaic panels in the photovoltaic module, including: 1) Control the photovoltaic cleaning robot to stay at the preset position and control the roller brush to stop working.

[0047] The preset position can be set as follows: When the photovoltaic cleaning robot stops at the preset position, the retractable push rod can tap the frame of the photovoltaic panel connected by fasteners. This causes the fasteners to make a sound due to the push rod tapping, resulting in a sound signal containing sound characteristics representing the tightness of the fasteners. For example, the preset position can be located near the frame of the photovoltaic panel, such as on the photovoltaic panel itself or in the gap between two photovoltaic panels.

[0048] The noise from the roller brush during operation may affect the detection of fasteners. Controlling the roller brush to stop working can make the collected sound signals more accurate.

[0049] 2) Control the telescopic push rod to extend and strike the frame of either photovoltaic panel on both sides of the fastener, and control the sound receiver to receive sound signals while striking.

[0050] After receiving the sound signal, the system can control the roller brush to start working and control the photovoltaic cleaning robot to continue cleaning along the preset path.

[0051] In this embodiment, when acquiring sound signals, the photovoltaic cleaning robot is controlled to remain on the photovoltaic panel and the roller brush rotation is stopped. A retractable push rod is extended to tap the frame of the photovoltaic panel, while a sound receiver simultaneously receives the sound signal. This allows for analysis of whether fasteners are loose. Because the walking parts and roller brush are stationary when acquiring sound signals, the collected sound signal only includes sound information related to the fasteners caused by the tapping, enabling a more accurate determination of whether fasteners are loose. This is especially suitable when the height difference between the photovoltaic panel surface and its frame is small, as the vibration caused by the photovoltaic cleaning robot crossing the frame may be minimal. In such cases, using a retractable push rod to tap the frame to acquire fastener-related sound signals is more appropriate.

[0052] For example, the photovoltaic cleaning robot can be controlled to stop each time it passes through the gap where the fastener is located, and a retractable push rod can be used to tap the photovoltaic panel frame to detect the looseness of the fastener, which can ensure the reliability of the detection results.

[0053] Alternatively, after the photovoltaic cleaning robot initially determines that there are loose fasteners during the cleaning process, a retractable push rod can be used to tap the frame of the photovoltaic panel to further check for loose fasteners. This can effectively reduce the impact on the battery life and cleaning efficiency of the photovoltaic cleaning robot.

[0054] Specifically, after initially determining that a fastener is loose before activating the retractable push rod, for any fastener, the sound receiver can be controlled to receive a sound signal as the photovoltaic cleaning robot travels along a preset path and crosses the edges of two adjacent photovoltaic panels on either side of the fastener. Further, the determination of whether the fastener is loose based on the sound signal includes: 1) Based on the sound signals obtained when the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, it is initially determined whether the fastener is loose.

[0055] 2) After initially determining that the fasteners are loose, control the photovoltaic cleaning robot to stay in the preset position and control the roller brush to stop working.

[0056] 3) Control the telescopic push rod to extend and strike the frame of either photovoltaic panel on both sides of the fastener, and control the sound receiver to receive sound signals while striking.

[0057] 4) If the fastener is found to be loose again based on the sound signal received during tapping, then the fastener is confirmed to be loose.

[0058] For example, during the cleaning process of the photovoltaic cleaning robot along the preset path, the fasteners can be initially checked for looseness. After cleaning is completed, the retractable push rod can be used to check the fasteners that were initially determined to be loose again, so as to achieve a comprehensive and accurate inspection of each fastener.

[0059] Based on the above embodiments, optionally, the photovoltaic panel fastener loosening detection method further includes: after confirming that the fastener is loose, sending the location information of the loose fastener to the terminal. This facilitates the terminal to obtain fastener loosening information in a timely manner, making it easier for maintenance personnel to tighten the loose fastener in a timely manner.

[0060] The location information of the fasteners includes: the fastener's number, and / or, the respective numbers of the two adjacent photovoltaic panels connected to the fastener. Alternatively, the location information of the fasteners can also be their coordinates. In short, any location information that can represent the specific location of the fastener is acceptable. It is understandable that the photovoltaic cleaning robot can acquire its own position during the cleaning operation; when it receives and analyzes the sound signals, it can attach a location marker, thus knowing the location information when it confirms that the fasteners are loose.

[0061] For example, the location information of each loose fastener can be sent to the terminal as soon as it is detected; or, the location information of all loose fasteners detected can be sent to the terminal after the photovoltaic modules have been cleaned. The timing of information transmission is not specifically limited here and can be set according to actual needs. For example, after receiving the location information, the terminal can display the location of the loose fasteners on the screen.

[0062] Based on the above embodiments, optionally, maintenance personnel can reinforce the loose fasteners according to the location information received by the terminal, and update the maintenance information of the fasteners in the terminal after reinforcement, so that the maintenance information can indicate whether the loose fasteners have been reinforced again.

[0063] Based on this, the method for detecting loose fasteners in photovoltaic panels also includes: 1) Obtain the location and maintenance information of loose fasteners.

[0064] The maintenance information is used to indicate whether loose fasteners have been reinforced. Based on the location information of the loose fasteners and the maintenance information, the location of fasteners in the photovoltaic modules that have not been reinforced and are still loose can be determined, and the next cleaning path for the photovoltaic modules can be planned accordingly.

[0065] 2) Generate the cleaning path for the next time the photovoltaic cleaning robot cleans the photovoltaic modules based on the location information and maintenance information.

[0066] When the photovoltaic cleaning robot cleans the photovoltaic modules again, it will use this cleaning path as the updated preset path.

[0067] The planning method for the next cleaning path can vary depending on the array configuration of the photovoltaic panels in the photovoltaic module. These methods will be explained separately below.

[0068] In one implementation, optionally, see [link to relevant documentation]. Figure 4 The photovoltaic module 50 includes multiple photovoltaic panels 51 arranged in multiple rows; wherein each row of photovoltaic panels 51 is arranged along the column direction Y, that is, arranged vertically, so that the lower row of photovoltaic panels 51 can support the upper row of photovoltaic panels 51. Figure 4 The preset path indicated by the middle arrow covers all photovoltaic panels 51 in the photovoltaic array 50.

[0069] Accordingly, the following strategy can be used as a reference when planning the next cleaning route: 1) If the two photovoltaic panels connected by the loose fastener are both located in the bottom row of the photovoltaic array, and the loose fastener has not been reinforced, then set the cleaning path to bypass the two photovoltaic panels connected by the loose fastener.

[0070] For details, see Figure 7 A red cross indicates a still loose fastener 52. When the still loose fastener 52 is located in the bottom row of photovoltaic panels 51, since there are no other photovoltaic panels 51 supporting it below, the photovoltaic panels 51 on both sides of the fastener 52 have a greater risk of falling. Therefore, the next cleaning path is set to avoid passing through the photovoltaic panels 51 on both sides of the still loose fastener to prevent the photovoltaic cleaning robot from having an accident (such as falling) when cleaning these two photovoltaic panels 51.

[0071] 2) If the two photovoltaic panels connected to the loose fasteners are not in the bottom row of the photovoltaic array, or if the loose fasteners have been reinforced, then the preset path will be used as the cleaning path.

[0072] For details, see Figure 8 A red cross indicates a still loose fastener 52. When the still loose fastener 52 is not among the bottom row of photovoltaic panels 51, the risk of the photovoltaic panels 51 on both sides of the fastener 52 falling is low because there is at least one row of photovoltaic panels 51 supporting it below. Therefore, the next cleaning path can still pass through the photovoltaic panels 51 on both sides of the still loose fastener without changing the preset path. Alternatively, for cases where all loose fasteners have been reinforced, please refer to [link to relevant documentation]. Figure 4 All fasteners 52 are in a tightened state, and the preset path does not need to be changed, so it can be directly used as the next cleaning path.

[0073] This is equivalent to considering the risk of photovoltaic panels 51 falling under various circumstances, and cleaning as many photovoltaic panels 51 as possible while ensuring safety.

[0074] In another implementation, alternatively, see [link to relevant documentation]. Figure 9 The photovoltaic module 50 includes multiple photovoltaic panels 51 arranged in a single row; each photovoltaic panel 51 is arranged sequentially along the row direction X. Figure 9 The preset path indicated by the middle arrow covers all photovoltaic panels 51 in the photovoltaic array 50.

[0075] Accordingly, the following strategy can be used as a reference when planning the next cleaning route: 1) If the fasteners on both sides of a target photovoltaic panel are loose and have not been reinforced, then set the end point of the cleaning path to the photovoltaic panel preceding the target photovoltaic panel.

[0076] For details, see Figure 10 The red cross indicates a loose fastener 52. It is evident that the fasteners 52 on both sides of the third photovoltaic panel 51 from left to right are still loose, posing a significant risk of the photovoltaic panel 51 falling. Therefore, Figure 10 The cleaning path indicated by the middle arrow ends at the second photovoltaic panel 51 from left to right to avoid accidents (such as falls) when the photovoltaic cleaning robot is cleaning the third photovoltaic panel 51. It can be understood that the end of the cleaning path refers to the last photovoltaic panel covered by the cleaning path.

[0077] 2) If only one side of the fasteners on the same photovoltaic panel is loose and has not been reinforced, or if all the loose fasteners have been reinforced, then the preset path will be used as the cleaning path.

[0078] For details, see Figure 11The red cross indicates a loose fastener 52. It can be seen that the second and third photovoltaic panels 51 from left to right both have loose fasteners 52 on only one side. These two photovoltaic panels 51 are still secured by fasteners 52 on the other side, minimizing the risk of them falling. Therefore, the next cleaning path can still pass through these two photovoltaic panels 51 without changing the preset path. Alternatively, for cases where the loose fasteners have been reinforced, please refer to [link to relevant documentation]. Figure 9 All fasteners 52 are in a tightened state, and the preset path does not need to be changed, so it can be directly used as the next cleaning path.

[0079] This is equivalent to considering the risk of photovoltaic panels 51 falling under various circumstances, and cleaning as many photovoltaic panels 51 as possible while ensuring safety.

[0080] It should be noted that the cleaning paths (preset paths) in the accompanying drawings of this invention are simplified and are mainly intended to show the range of photovoltaic panels that the path can cover, and do not represent the actual paths. In practical applications, due to the limited cleaning range of the photovoltaic cleaning robot, it may be necessary for the photovoltaic cleaning robot to clean the same photovoltaic panel by repeatedly moving along an S-shaped path. The principle for setting the cleaning path is to ensure that the photovoltaic cleaning robot completely cleans the surface of each photovoltaic panel it passes through without missing any parts.

[0081] Based on the above embodiments, optionally, determining whether a fastener is loose based on a sound signal includes: 1) Extract sound features related to the tightness of fasteners from the sound signal.

[0082] The sound features related to the tightness of the fasteners can include time-domain features and / or frequency-domain features. The specific feature type and the appropriate feature extraction method can be selected according to actual needs, and no limitation is made here.

[0083] 2) Determine whether the sound characteristics are consistent with the sound characteristics of the fastener when it is in a tightened state; if yes, then the fastener is not loose; if no, then the fastener is loose.

[0084] The sound characteristics of the fastener in the tightened state can be acquired and stored in advance. The feature comparison step can be performed using machine learning or other methods, which are not limited here.

[0085] It is understood that regardless of how the sound signal is acquired, the method provided in this embodiment can be used to analyze the sound signal to determine whether the fastener is loose.

[0086] This invention also provides a photovoltaic cleaning robot, which can use the photovoltaic panel fastener loosening detection method provided in any embodiment of this invention to detect the loosening of fasteners in photovoltaic modules, and has corresponding beneficial effects.

[0087] Specifically, the photovoltaic cleaning robot includes: a body, a controller installed within the body, and a sound receiver installed at the bottom of the body; the controller is connected to the sound receiver and is used to execute the photovoltaic panel fastener loosening detection method provided in any embodiment of the present invention. Furthermore, the photovoltaic cleaning robot also includes a walking component and a cleaning component to support basic cleaning functions; the operation of both the walking component and the cleaning component is also controlled by the controller.

[0088] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0089] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for detecting loose fasteners in photovoltaic panels, characterized in that, An application to photovoltaic cleaning robots, the photovoltaic cleaning robot including a body and a sound receiver located at the bottom of the body; The method includes: During the process of the photovoltaic cleaning robot cleaning the photovoltaic module along the preset path, the sound receiver is controlled to acquire the sound signal at the fastener between two adjacent photovoltaic panels in the photovoltaic module. The sound signal is used to determine whether the fastener is loose.

2. The method for detecting loose fasteners in photovoltaic panels according to claim 1, characterized in that, During the process of the photovoltaic cleaning robot cleaning the photovoltaic modules along a preset path, the sound receiver is controlled to acquire sound signals from the fasteners between two adjacent photovoltaic panels in the photovoltaic module, including: As the photovoltaic cleaning robot travels along the preset path, when the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, the sound receiver is controlled to receive sound signals.

3. The method for detecting loose fasteners in photovoltaic panels according to claim 2, characterized in that, The photovoltaic cleaning robot also includes a roller brush, which is located on the front side of the body; When controlling the sound receiver to receive sound signals, the method further includes: Control the roller brush to work continuously.

4. The method for detecting loose fasteners in photovoltaic panels according to claim 2, characterized in that, The photovoltaic cleaning robot also includes: a walking component, a first roller brush and a second roller brush. The walking component is located at the bottom of the body, the first roller brush is located at the front side of the body, and the second roller brush is located at the rear side of the body. When the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, the sound receiver is controlled to receive sound signals, including: When the walking component contacts the first frame, the first roller brush is controlled to stop working, and the second roller brush is controlled to continue working; wherein, the first frame is the frame on the first photovoltaic panel connected by the fastener, and the first photovoltaic panel is the photovoltaic panel where the photovoltaic cleaning robot is currently located; When the photovoltaic cleaning robot crosses the first frame and the second frame, the sound receiver is controlled to receive sound signals; wherein, the second frame is the frame on the second photovoltaic panel connected by the fastener, and the second photovoltaic panel is the next photovoltaic panel after the first photovoltaic panel in the preset path; When the walking component leaves the second frame, the first roller brush is controlled to start working, and the second roller brush is controlled to continue working.

5. The method for detecting loose fasteners in photovoltaic panels according to any one of claims 2-4, characterized in that, The photovoltaic cleaning robot also includes: a retractable push rod disposed at the bottom of the body, and at least one roller brush disposed on the body; Determining whether the fastener is loose based on the sound signal includes: Based on the sound signals obtained when the photovoltaic cleaning robot crosses the frame of two adjacent photovoltaic panels on both sides of the fastener, it is preliminarily determined whether the fastener is loose; After initially determining that the fasteners are loose, the photovoltaic cleaning robot is controlled to stop at a preset position, and the roller brush is controlled to stop working; Control the retractable push rod to extend and strike the frame of either of the photovoltaic panels on both sides of the fastener, and control the sound receiver to receive sound signals during the striking; When the fastener is determined to be loose again based on the sound signal received during the tapping, the fastener is confirmed to be loose.

6. The method for detecting loose fasteners in photovoltaic panels according to claim 1, characterized in that, The photovoltaic cleaning robot also includes: a retractable push rod disposed at the bottom of the body, and at least one roller brush disposed on the body; During the process of the photovoltaic cleaning robot cleaning the photovoltaic modules along a preset path, the sound receiver is controlled to acquire sound signals from the fasteners between two adjacent photovoltaic panels in the photovoltaic module, including: Control the photovoltaic cleaning robot to stop at a preset position and control the roller brush to stop working; The telescopic push rod is controlled to extend and strike the frame of either of the photovoltaic panels on both sides of the fastener, and the sound receiver is controlled to receive sound signals during the striking.

7. The method for detecting loose fasteners in photovoltaic panels according to claim 1, characterized in that, The method further includes: After confirming that the fastener is loose, the location information of the loose fastener is sent to the terminal; wherein, the location information of the fastener includes: the number of the fastener, and / or, the numbers of the two adjacent photovoltaic panels connected to the fastener.

8. The method for detecting loose fasteners in photovoltaic panels according to claim 7, characterized in that, The photovoltaic module includes multiple photovoltaic panels arranged in multiple rows; The method further includes: Obtain the location information and maintenance information of the loose fasteners; wherein, the maintenance information is used to indicate whether the loose fasteners have been re-tightened; The cleaning path for the next cleaning of the photovoltaic module by the photovoltaic cleaning robot is generated based on the location information and the maintenance information. If the two photovoltaic panels connected to the loose fastener are both located in the bottom row of the photovoltaic array, and the loose fastener has not been reinforced, then the cleaning path is set to bypass the two photovoltaic panels connected to the loose fastener. If neither of the two photovoltaic panels connected to the loose fastener is in the bottom row of the photovoltaic array, or if the loose fasteners have been reinforced, then the preset path is used as the cleaning path.

9. The method for detecting loose fasteners in photovoltaic panels according to claim 7, characterized in that, The photovoltaic array includes multiple photovoltaic panels arranged in a single row; The method further includes: Obtain the location information and maintenance information of the loose fasteners; wherein, the maintenance information is used to indicate whether the loose fasteners have been re-tightened; The cleaning path for the next cleaning of the photovoltaic module by the photovoltaic cleaning robot is generated based on the location information and the maintenance information. If the fasteners on both sides of a target photovoltaic panel are loose and have not been reinforced, the end point of the cleaning path is set as the photovoltaic panel preceding the target photovoltaic panel. If the fasteners on only one side of the same photovoltaic panel are loose and have not been reinforced, or if the loose fasteners have been reinforced, then the preset path shall be used as the cleaning path.

10. The method for detecting loose fasteners in photovoltaic panels according to claim 1, characterized in that, Determining whether the fastener is loose based on the sound signal includes: Extract sound features related to the tightness of the fastener from the sound signal; Determine whether the sound characteristics are consistent with the sound characteristics of the fastener in the tightened state; If so, then the fastener is determined to be secure. If not, then the fastener is determined to be loose.

11. A photovoltaic cleaning robot, characterized in that, include: The device body, the controller disposed within the device body, and the sound receiver disposed at the bottom of the device body; The controller is connected to the sound receiver, and the controller is used to perform the photovoltaic panel fastener loosening detection method according to any one of claims 1-10.

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