Photovoltaic cleaning robot cooperative obstacle avoidance method and system based on double-row linkage photovoltaic tracking system

Abstract

This application discloses a method and system for cooperative obstacle avoidance of a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system. The method includes: the photovoltaic cleaning robot performs cleaning operations along a dual-row linkage tracking bracket while scanning its real-time travel path using lidar sensors installed on both sides of the photovoltaic cleaning robot; when a drive shaft is detected on the real-time travel path, the robot sends an obstacle avoidance request to the corresponding tracking bracket; in response to the obstacle avoidance request, the tracking bracket adjusts the tilt angle of the target photovoltaic module to the target obstacle avoidance angle, and acquires and feeds back the real-time angle information of the target photovoltaic module to the photovoltaic cleaning robot through a tilt angle sensor; after detecting that the drive shaft has been eliminated, the photovoltaic cleaning robot passes through the obstacle area and sends a passage completion signal to the tracking bracket; after receiving the passage completion signal, the tracking bracket resets the tilt angle of the target photovoltaic module from the target obstacle avoidance angle to the original cleaning angle so that the photovoltaic cleaning robot can continue to perform the cleaning task.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and more specifically, to a method and system for collaborative obstacle avoidance of photovoltaic cleaning robots based on a dual-row linkage photovoltaic tracking system. Background Technology

[0002] In photovoltaic power plants, existing dual-row parallel drive tracking brackets have a drive shaft between the two rows of tracking brackets. This drive shaft enables synchronous angle adjustment of the two rows of photovoltaic modules to improve power generation efficiency. However, this drive shaft spans between the two rows of photovoltaic modules, forming a fixed physical obstacle. Existing photovoltaic cleaning robots cannot cross this drive shaft, causing one row to get stuck when cleaning the dual-row tracking brackets. This results in the robot being able to complete the cleaning of only one row of photovoltaic modules per day, severely impacting cleaning efficiency and the next day's power generation.

[0003] Existing technologies mostly address obstacle problems by optimizing the obstacle-crossing structure of photovoltaic cleaning robots or through manual intervention. However, the drive shaft is a structural obstacle that photovoltaic cleaning robots cannot easily overcome on their own. Manual intervention is inefficient, costly, and poses safety hazards. Furthermore, existing tracking bracket control systems operate independently and cannot coordinate with cleaning equipment or proactively adjust the state of photovoltaic modules according to cleaning needs, further restricting the automation and continuity of cleaning operations. Summary of the Invention

[0004] To address the aforementioned technical problems, this application discloses a collaborative obstacle avoidance method and system for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system. Through communication coordination and tilt angle linkage control between the photovoltaic cleaning robot and the dual-row linkage parallel drive tracking bracket, the photovoltaic cleaning robot can cross obstacles on the drive shaft and continuously and synchronously clean the dual-row photovoltaic modules. Specifically, the technical solution of this application is as follows: In a first aspect, this application discloses a collaborative obstacle avoidance method for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system. The photovoltaic tracking system includes a linkage tracking bracket and photovoltaic modules. The linkage tracking bracket includes at least two rows of tracking brackets and a drive shaft that is driven between the two rows of tracking brackets. The drive shaft enables synchronous angle adjustment of at least two rows of photovoltaic modules, including the following steps: The photovoltaic cleaning robot performs cleaning tasks along the double-row linkage tracking bracket. At the same time, it scans the real-time travel path through the laser radar sensors installed on both sides of the photovoltaic cleaning robot near the drive shaft. When the drive shaft is detected on the real-time travel path, an obstacle avoidance request is sent to the corresponding tracking bracket. In response to the obstacle avoidance request, the tracking bracket adjusts the tilt angle of the target photovoltaic module to the target obstacle avoidance angle, and obtains the real-time angle information of the target photovoltaic module through the tilt angle sensor. When the target photovoltaic module is adjusted to the target obstacle avoidance angle, it stops rotating and sends feedback to the photovoltaic cleaning robot that it has been adjusted to the target obstacle avoidance angle. The photovoltaic cleaning robot detects that the drive shaft has been cleared and passes through the obstacle area, and sends a passage completion signal to the tracking bracket. After receiving the passage completion signal, the tracking bracket resets the tilt angle of the target photovoltaic module from the target obstacle avoidance angle to the original cleaning angle, so that the photovoltaic cleaning robot can continue to perform the cleaning task.

[0005] In some implementations, the obstacle avoidance request includes drive shaft position information, photovoltaic cleaning robot position information, and target obstacle avoidance angle.

[0006] In other embodiments, after sending an obstacle avoidance request to the corresponding tracking bracket, the method further includes: The tracking bracket obtains the device ID and preset key of the photovoltaic cleaning robot based on the obstacle avoidance request; The device ID is compared with the list of registered devices pre-stored in the memory of the tracking bracket, and a double verification is performed using the preset key to determine whether the photovoltaic cleaning robot is a legally registered device.

[0007] In other embodiments, the photovoltaic cleaning robot collaborative obstacle avoidance method based on a dual-row linkage photovoltaic tracking system, after confirming that the photovoltaic cleaning robot is a registered and legitimate device, further includes: The tracking bracket reads the sensing data from each bracket sensor; each bracket sensor includes: a vibration sensor and a current sensor; The operating status of the tracking bracket is evaluated based on the sensor data to determine whether there is any operational malfunction in the tracking bracket.

[0008] In other embodiments, the photovoltaic cleaning robot collaborative obstacle avoidance method based on a dual-row linkage photovoltaic tracking system further includes: After completing the obstacle avoidance operation, the photovoltaic cleaning robot generates an obstacle avoidance log containing drive shaft feature information, bracket adjustment process parameters, and collaborative operation timestamps, and uploads the obstacle avoidance log to the power station monitoring and data acquisition system for storage and filing.

[0009] In other embodiments, the photovoltaic cleaning robot collaborative obstacle avoidance method based on a dual-row linkage photovoltaic tracking system further includes: The photovoltaic cleaning robot has a preset obstacle avoidance request response time. If the tracking bracket fails to complete the angle adjustment within the response time after receiving the obstacle avoidance request, the photovoltaic cleaning robot determines that the obstacle avoidance coordination has timed out, generates an abnormal alarm signal and sends it to the power station operation and maintenance platform, and controls the photovoltaic cleaning robot to stop moving.

[0010] Secondly, this application also discloses a photovoltaic cleaning robot collaborative obstacle avoidance system based on a dual-row linkage photovoltaic tracking system, used to implement the photovoltaic cleaning robot collaborative obstacle avoidance method based on a dual-row linkage photovoltaic tracking system as described in any of the above embodiments. The system includes: a dual-row linkage tracking bracket and a photovoltaic cleaning robot. The photovoltaic cleaning robot is used to perform cleaning tasks along a double-row linkage tracking bracket; including: An obstacle detection sensor is used to scan the real-time travel path and determine whether a drive shaft exists on the real-time travel path; The communication module is used to send an obstacle avoidance request to the corresponding tracking bracket when the drive shaft is detected on the real-time travel path; it is also used to detect that the drive shaft has passed through the obstacle area after being eliminated, and send a passage completion signal to the tracking bracket. The dual-row linkage tracking bracket, in response to the obstacle avoidance request, is used to adjust the tilt angle of the target photovoltaic module to the target obstacle avoidance angle; the dual-row linkage tracking bracket includes: An tilt sensor is used to acquire and feed back the real-time angle information of the target photovoltaic module to the photovoltaic cleaning robot. The angle adjustment module is also used to reset the tilt angle of the target photovoltaic module from the target obstacle avoidance angle to the original cleaning angle after receiving the passage completion signal; The photovoltaic cleaning robot is communicatively connected to the dual-row linkage tracking bracket to collaboratively complete obstacle avoidance operations.

[0011] In some embodiments, the obstacle detection sensor includes at least two lidar sensors, respectively mounted on both sides of the main body of the photovoltaic cleaning robot along the direction of travel.

[0012] In some embodiments, the dual-row linkage tracking bracket further includes a request verification module; This includes: an authentication unit, used to obtain the device ID and preset key of the photovoltaic cleaning robot based on the obstacle avoidance request; compare the device ID with the list of registered devices pre-set in the memory of the tracking bracket, and perform double verification using the preset key to determine whether the photovoltaic cleaning robot is a registered and legitimate device; A status detection unit is configured to read the sensing data of each support sensor; each of the support sensors includes a vibration sensor and a current sensor; based on the sensing data, the operating status of the tracking support is evaluated to determine whether there is an operating fault in the tracking support.

[0013] In some other embodiments, the photovoltaic cleaning robot further includes a log filing module, configured to generate an obstacle avoidance log including the characteristic information of the drive shaft, the process parameters of the support adjustment, and the collaborative operation timestamp after the obstacle avoidance operation is completed, and upload the obstacle avoidance log to the power station monitoring and data acquisition system for storage and filing.

[0014] Compared with the prior art, the present application has at least one of the following beneficial effects: 1. Through the real-time communication and linkage response between the photovoltaic cleaning robot and the tracking support, when the photovoltaic cleaning robot detects an obstacle on the drive shaft, the tracking support actively adjusts the inclination angle of the photovoltaic module to the horizontal position to create a passage space for the photovoltaic cleaning robot. After the photovoltaic cleaning robot passes, the tracking support automatically resets. This process requires no manual intervention, realizes the same-day continuous cleaning of double-row photovoltaic modules, greatly improves the automation degree of the cleaning operation, the operation and maintenance efficiency, and the power generation income of the power station, and realizes the intelligent collaborative control of the photovoltaic cleaning robot and the tracking support.

[0015] 2. The present application adopts the obstacle detection and precise positioning technology of multi-sensor fusion, which significantly improves the reliability and safety of the obstacle avoidance action. The photovoltaic cleaning robot scans the traveling path in real time through lidar, and combines the high-precision positioning of the Global Positioning System (GPS) to accurately identify the positions of obstacles such as drive shafts; the tracking support realizes closed-loop control through an inclination sensor to ensure that the photovoltaic module is accurately adjusted to a preset angle. At the same time, the communication between the photovoltaic cleaning robot and the tracking support adopts an identity verification and data encryption mechanism to ensure the safe and reliable operation of the system, avoid the risks brought by misoperation or illegal device access, and provide technical guarantee for the intelligent operation and maintenance of the photovoltaic power station.

[0016] 3. This application establishes a complete anomaly handling mechanism, enhancing the system's robustness and operational response capabilities. If the tracking bracket fails to complete angle adjustment within the specified time, the photovoltaic cleaning robot will automatically send an alarm signal to the power station monitoring platform and stop moving to await processing, avoiding the risk of collisions or damage caused by equipment failure. Simultaneously, the system automatically records the entire obstacle avoidance and coordination process log and uploads it to the Supervisory Control and Data Acquisition (SCADA) system, providing maintenance personnel with data traceability and analysis support. This achieves a leap from single-point equipment control to system-level intelligent operation and maintenance, reducing manual inspection costs and improving the overall operation and management level of the photovoltaic power station. Attached Figure Description

[0017] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of this application.

[0018] Figure 1 This is a schematic diagram of the structure of a dual-row linkage parallel drive tracking bracket in the prior art; Figure 2 This is a flowchart illustrating the steps of an embodiment of the collaborative obstacle avoidance method for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system, as described in this application. Figure 3 This is a schematic diagram illustrating a scenario in which the photovoltaic cleaning robot encounters a drive shaft on its walking path, as described in an embodiment of this application. Figure 4 This is a schematic diagram of a scenario in which the tracking bracket, as described in an embodiment of this application, challenges the target obstacle avoidance angle; Figure 5 This is a schematic diagram of the scene after the photovoltaic cleaning robot described in this application has passed through the obstacle area; Figure 6 This is a schematic diagram of a scenario in which the photovoltaic cleaning robot resets to the cleaning angle via the drive shaft tracking bracket in an embodiment of this application. Figure 7 This is a flowchart illustrating the steps of another embodiment of the collaborative obstacle avoidance method for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system, as described in this application. Figure 8 This is a schematic diagram of a scenario in which lidar sensors are installed on both sides of the photovoltaic cleaning robot in an embodiment of this application. Detailed Implementation

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0020] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or sets.

[0021] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0022] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0023] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort.

[0026] Photovoltaic power plants widely employ tracking systems to improve the power generation efficiency of photovoltaic modules. Among them, the dual-row linkage parallel drive tracking system has been widely used in large-scale ground-mounted power plants due to its advantages such as compact structure, relatively low cost, and simple control. This type of tracking system uses a single drive shaft to achieve synchronous angle adjustment of two rows of photovoltaic modules, thereby ensuring that the two rows of photovoltaic modules are always at the same tilt angle to maximize the reception of solar radiation.

[0027] However, during the operation and maintenance of photovoltaic power plants, the cleanliness of photovoltaic modules directly affects power generation efficiency. Therefore, it is necessary to regularly use photovoltaic cleaning robots to clean the surfaces of the photovoltaic modules. Existing photovoltaic cleaning robots face an inherent structural problem when operating on dual-row parallel drive tracking supports: because the two rows of tracking supports are connected by a drive shaft, this drive shaft spans between the two rows of photovoltaic modules, forming a physical obstacle. (See attached instruction manual) Figure 1 As shown, Figure 1 This is a schematic diagram of a dual-row, parallel-drive tracking bracket in existing technology. When the photovoltaic cleaning robot travels along the surface of the photovoltaic modules, it cannot cross this drive shaft. For example, when both rows of tracking brackets face east, the photovoltaic cleaning robot can smoothly pass through the easternmost row and clean normally, but cannot clean the westernmost row due to the obstruction of the drive shaft. Similarly, when both rows of tracking brackets face west, the photovoltaic cleaning robot can smoothly pass through the westernmost row and clean normally, but cannot clean the easternmost row due to the obstruction of the drive shaft. This means that the photovoltaic cleaning robot can only complete the cleaning of one row of photovoltaic modules at a time; the other row must wait for the tracking bracket to rotate to another direction before it can be cleaned, severely affecting the continuity and timeliness of the cleaning operation. Furthermore, while the photovoltaic cleaning robot is cleaning the first row of photovoltaic modules, it doesn't actually clean the second row. However, due to the parallel drive via the transmission shaft, the second row of photovoltaic modules also rotates to the cleaning angle of the first row. During this cleaning period, the second row of photovoltaic modules is positioned at the cleaning angle of the first row, rather than at an angle perpendicular to the sun's rays, thus affecting their luminous efficiency.

[0028] In existing technologies, two common approaches are used to address obstacle encounters in photovoltaic (PV) cleaning robots: one is to optimize the robot's structure to improve its obstacle-crossing ability, such as by adding tracks or swing arms; the other is to pre-set obstacle avoidance paths or use manual intervention for detours. However, neither of these methods is effective against the drive shaft, a unique obstacle in the dual-row linkage tracking bracket. The drive shaft spans between two rows of PV modules, constituting a fixed structural obstacle that the PV cleaning robot cannot overcome using its own structure. Manual intervention is not only inefficient but also increases maintenance costs and safety hazards. Furthermore, the existing tracking bracket's control system operates independently and cannot interact with the cleaning equipment, preventing the tracking bracket from proactively adjusting its state according to cleaning needs, further limiting the level of automation in the cleaning operation.

[0029] Therefore, this application aims to solve the above-mentioned technical problems and provide a collaborative obstacle avoidance method and system for a photovoltaic cleaning robot and a tracking bracket. Through intelligent communication and linkage control between the photovoltaic cleaning robot and the tracking bracket, the tracking bracket can actively adjust the tilt angle of the photovoltaic modules when the photovoltaic cleaning robot encounters an obstacle, creating passage conditions for the photovoltaic cleaning robot. This enables the tracking bracket to simultaneously clean both rows of the tracking bracket in parallel drive, improving the continuity and automation level of the cleaning operation, reducing manual intervention, and ensuring the power generation efficiency of the photovoltaic power station.

[0030] Reference manual attached Figure 2 As shown, Figure 2 This is a flowchart illustrating the steps of an embodiment of the collaborative obstacle avoidance method for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system, as described in this application. This embodiment specifically includes the following steps: S1, the photovoltaic cleaning robot performs cleaning tasks along the double-row linkage tracking bracket. At the same time, the laser radar sensors installed on both sides of the photovoltaic cleaning robot near the drive shaft along the direction of travel scan the real-time travel path. When the drive shaft is detected on the real-time travel path, an obstacle avoidance request is sent to the corresponding tracking bracket.

[0031] In some embodiments, the lidar sensors are installed on both sides of the photovoltaic cleaning robot near the drive shaft along the direction of travel. The lidar's detection of the drive shaft is based primarily on time-of-flight ranging and point cloud data processing. During operation, the lidar emits pulsed laser beams into the area in front of the photovoltaic cleaning robot via its transmitting module. The laser beams are reflected upon encountering the surface of the drive shaft, and part of the echo signal is collected by the receiving module. The system calculates the distance between the drive shaft and the sensor based on the speed of light by accurately measuring the time interval between the emitted pulse and the received echo. By changing the laser emission angle through a mechanical rotation mechanism or electronic scanning, a large number of measurement points with three-dimensional spatial coordinates can be acquired within the field of view, forming point cloud data that characterizes the environmental contour. Preprocessing, ground point cloud separation, and spatial clustering analysis of this point cloud data can segment adjacent point groups into independent drive shaft candidate targets. Furthermore, the position and motion state of the drive shaft are determined through three-dimensional bounding box fitting and classification algorithms, thereby providing high-precision environmental perception information for subsequent path planning and decision control.

[0032] Specifically, the photovoltaic cleaning robot performs cleaning operations along a preset path that tracks the photovoltaic module array on both axes. Its onboard lidar sensor collects three-dimensional data of the travel path in real time and transmits the real-time images to the backend for data analysis and processing.

[0033] When the lidar detects a drive shaft on the travel path that exceeds the obstacle-crossing capability of the photovoltaic cleaning robot, refer to the attached instruction manual. Figure 3 As shown, Figure 3 This is a schematic diagram illustrating a scenario where the photovoltaic cleaning robot encounters a drive shaft on its walking path, as described in an embodiment of this application. (Reference) Figure 3 When the rear-row photovoltaic cleaning robot detects that the surface of the photovoltaic module or the area in front of it is blocked by the drive shaft of the dual-row linkage parallel drive tracking bracket, it determines that the obstacle area exceeds the obstacle-crossing capability of the photovoltaic cleaning robot. The photovoltaic cleaning robot immediately stops moving and cleaning, and uses GP... S The chip uses the parking platform as its position origin for accurate positioning, records obstacle coordinates and its own real-time position (positioning accuracy ±5cm), and triggers the obstacle avoidance process.

[0034] The photovoltaic cleaning robot sends an obstacle avoidance cooperation request to the dual-axis tracking bracket corresponding to the obstacle area via a LoRa communication module. In some embodiments, the obstacle avoidance request includes drive shaft position information, photovoltaic cleaning robot position information, and target obstacle avoidance angle.

[0035] In some alternative implementations, the obstacle avoidance request includes, in addition to the three-dimensional coordinates of the obstacle center point, the current position coordinates of the photovoltaic cleaning robot, and the target obstacle avoidance angle, the bracket number, the device's unique identification ID (registration number), and a communication verification code to ensure data integrity.

[0036] S2, in response to the obstacle avoidance request, tracks the bracket to adjust the tilt angle of the target photovoltaic module to the target obstacle avoidance angle, and obtains the real-time angle information of the target photovoltaic module through the tilt angle sensor. When the target photovoltaic module is adjusted to the target obstacle avoidance angle, it stops rotating and sends feedback to the photovoltaic cleaning robot that it has been adjusted to the target obstacle avoidance angle.

[0037] Specifically, the collaborative control unit of the tracking bracket pauses the cleaning mode strategy of the tracking bracket and sends tilt control commands to the tracking bracket communication box.

[0038] Optionally, the target obstacle avoidance angle is preset to 0°, which is the horizontal tilt angle of the photovoltaic modules. The reason for choosing 0° as the target obstacle avoidance angle is that by adjusting the photovoltaic modules to a horizontal position, where some drive shafts previously extended beyond the top surface of one row of photovoltaic modules, the drive shafts are now all below both rows of photovoltaic modules, thus creating a physical space for the photovoltaic cleaning robot to pass smoothly. (Refer to the attached instruction manual.) Figure 4 As shown, Figure 4 This is a schematic diagram illustrating a scenario where the tracking bracket is adjusted to the target obstacle avoidance angle. As an extension, those skilled in the art can set the target obstacle avoidance angle to other angles to allow the photovoltaic cleaning robot to successfully pass through obstacles; this embodiment is not specifically limited to this.

[0039] The high-precision tilt sensor mounted on the tracking bracket provides real-time feedback on the actual tilt angle of the photovoltaic modules, forming a closed-loop control system to ensure that the photovoltaic modules accurately stop at the target obstacle avoidance angle. The bracket's collaborative control unit sends confirmation messages back to the photovoltaic cleaning robot, including the current actual tilt angle of the tracking bracket, the adjustment completion time, and the tracking bracket's operating status indicators.

[0040] S3, after the photovoltaic cleaning robot detects that the drive shaft has been cleared, it passes through the obstacle area and sends a passage completion signal to the tracking bracket.

[0041] Specifically, after receiving the tracking bracket angle confirmation message, the photovoltaic cleaning robot uses its lidar sensor to perform a full-coverage scan of the adjusted path again to verify whether the obstacle area forms a passable path due to the horizontal placement of the photovoltaic modules. When no obstructions are detected in front of the photovoltaic modules, the photovoltaic cleaning robot controls its walking drive module to smoothly pass through the obstacle area, while the cleaning module starts simultaneously to complete the cleaning operation on the surface of the photovoltaic modules around the obstacle area. (See attached instruction manual) Figure 5 As shown, Figure 5 This is a schematic diagram illustrating the scene after the photovoltaic cleaning robot has passed through an obstacle area. After passing through the obstacle area, the photovoltaic cleaning robot stops cleaning and docks in a safe waiting area, awaiting a reset signal from the tracking bracket. Optionally, the safe waiting area is a position ≥10cm from the edge of the tracking bracket.

[0042] In some alternative implementations, after passing through the obstacle area, the photovoltaic cleaning robot sends a "obstacle area passage completed" signal to the corresponding tracking bracket via the LoRa module and simultaneously uploads a passage confirmation log.

[0043] S4. After the tracking bracket receives the passage completion signal, it resets the tilt angle of the target photovoltaic module from the target obstacle avoidance angle to the original cleaning angle so that the photovoltaic cleaning robot can continue to perform the cleaning task.

[0044] Specifically, after receiving the signal, the bracket coordination control unit initiates the cleaning mode process, and the drive motor precisely resets the photovoltaic modules to their original cleaning angle. (See attached instruction manual.) Figure 6 As shown, Figure 6 This is a schematic diagram illustrating the scenario in this embodiment where the photovoltaic cleaning robot resets to the cleaning angle via the drive shaft tracking bracket. After reset, the tracking bracket transmits the actual tilt angle and a "continue cleaning" command back to the photovoltaic cleaning robot.

[0045] After receiving the reset confirmation message from the tracking bracket, the photovoltaic cleaning robot recalibrates its path using its own positioning system, controls the walking drive module to resume cleaning operations, and completes the cleaning task of the remaining area of ​​the array according to the preset process.

[0046] Based on the above embodiments, this application discloses another embodiment of a collaborative obstacle avoidance method for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system, wherein the following sub-steps are included after step S1 and before S2: S201, the tracking bracket obtains the device ID and preset key of the photovoltaic cleaning robot based on the obstacle avoidance request.

[0047] S202 compares the device ID with the pre-set list of registered devices in the memory of the tracking bracket, and performs double verification using a preset key to determine whether the photovoltaic cleaning robot is a legally registered device.

[0048] Specifically, after the collaborative control unit of the tracking bracket receives the obstacle avoidance request from the photovoltaic cleaning robot through the long-distance radio communication module, it first performs an identity verification step. This step is based on the unique device identification ID and preset encryption key carried in the request data packet. The collaborative control unit compares this information with the pre-set list of registered power station devices in its local memory. Only photovoltaic cleaning robots whose identification ID exists in the list and whose keys match are recognized as legitimate devices. Otherwise, the tracking bracket will directly refuse to perform subsequent operations and send an illegal access alarm to the operation and maintenance platform.

[0049] In other embodiments, after confirming that the photovoltaic cleaning robot is a registered and legal device, the method further includes step S203: tracking the support frame to read the sensor data from each support frame sensor. The support frame sensors include a vibration sensor and a current sensor.

[0050] S204, Evaluate the operating status of the tracking bracket based on sensor data to determine whether the tracking bracket has any operational malfunctions.

[0051] Specifically, after identity verification, the tracking bracket immediately enters the operational status detection phase. The collaborative control unit reads data from sensor groups installed on key parts of the tracking bracket in real time, including vibration sensors for monitoring the vibration of mechanical transmission components, current sensors for detecting the current of the drive motor, and torque sensors for determining whether the movement of the photovoltaic modules is obstructed. This data is used to comprehensively determine whether the tracking bracket has problems such as mechanical jamming, overload operation, abnormal transmission components, or malfunctions in the angle adjustment mechanism. Only when all sensor data are within the preset normal threshold range, and the tracking bracket is not currently in fault protection mode or manual maintenance mode, will the collaborative control unit confirm that the tracking bracket is ready to safely perform angle adjustments.

[0052] This application provides another embodiment of a collaborative obstacle avoidance method for photovoltaic cleaning robots based on a dual-row linkage photovoltaic tracking system, which further includes, in addition to, any of the embodiments described above: The photovoltaic cleaning robot has a preset obstacle avoidance request response time. If the tracking bracket fails to complete the angle adjustment within the response time after receiving the obstacle avoidance request, the photovoltaic cleaning robot determines that the obstacle avoidance coordination has timed out, generates an abnormal alarm signal and sends it to the power station operation and maintenance platform, and controls the photovoltaic cleaning robot to stop moving.

[0053] Specifically, the photovoltaic cleaning robot has a preset obstacle avoidance request response time. This response time can be flexibly configured according to the response performance of the tracking bracket of different photovoltaic power stations. Optionally, the response time can be set to 2 minutes.

[0054] When the photovoltaic cleaning robot sends an obstacle avoidance request containing the target obstacle avoidance angle to the tracking bracket via the LoRa communication module, the system immediately starts a timer and enters a listening state, waiting for the tracking bracket to complete its angle adjustment. If the tracking bracket fails to adjust from its current tilt angle to the target obstacle avoidance angle within the preset response time, the photovoltaic cleaning robot will automatically determine that the obstacle avoidance coordination process has timed out. At this time, the photovoltaic cleaning robot immediately generates an abnormal alarm signal containing information such as the tracking bracket number, timeout time, and current obstacle location, and sends the alarm information to the power plant operation and maintenance platform via a long-distance radio communication module or the power plant's local area network. Simultaneously, it stops moving to avoid collision damage. Only after maintenance personnel intervene to troubleshoot the tracking bracket or perform manual intervention can the photovoltaic cleaning robot resume operation or exit the current obstacle avoidance process.

[0055] This application provides another embodiment of a collaborative obstacle avoidance method for photovoltaic cleaning robots based on a dual-row linkage photovoltaic tracking system. Based on any of the above embodiments, after completing the obstacle avoidance operation, the photovoltaic cleaning robot generates an obstacle avoidance log containing drive shaft feature information, bracket adjustment process parameters, and collaborative operation timestamps, and uploads the obstacle avoidance log to the power plant monitoring and data acquisition system for storage and filing.

[0056] Specifically, after the photovoltaic cleaning robot successfully passes through the obstacle area of ​​the drive shaft and receives a confirmation signal that the tracking bracket has been reset, it automatically triggers the obstacle avoidance log generation and uploading process.

[0057] In other optional implementations, the obstacle avoidance log is used to summarize key data from the entire obstacle avoidance coordination process. This key data is encapsulated into a standard-format obstacle avoidance log file according to a preset data structure and uploaded to the power plant monitoring and data acquisition system via a long-distance radio communication module or the power plant's Ethernet network in an encrypted transmission manner. Upon receiving the log, the system automatically stores it in a historical database and associates it with the corresponding tracking bracket and photovoltaic cleaning robot's operational records, providing maintenance personnel with a visual query interface for subsequent fault tracing, equipment performance evaluation, and cleaning strategy optimization.

[0058] This application discloses another embodiment of a collaborative obstacle avoidance method for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system, as shown in the attached specification. Figure 7 As shown, Figure 7 This is a flowchart illustrating another embodiment of the collaborative obstacle avoidance method for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system, as described in this application. The steps of this application are explained in detail below: 1. Obstacle Detection: The photovoltaic cleaning robot performs cleaning operations along the photovoltaic module array in the double-row linkage parallel drive tracking bracket. Its onboard lidar sensor scans the travel path in real time. When it detects an obstacle in front of the photovoltaic module, it determines that it cannot pass directly.

[0059] 2. Obstacle Avoidance Request Sending: The photovoltaic cleaning robot sends an obstacle avoidance request to the tracking bracket corresponding to the photovoltaic module through the long-range radio LoRa communication module. The request includes the position of the drive shaft, the position of the photovoltaic cleaning robot, and the target obstacle avoidance angle of 0°.

[0060] 3. Request Verification and Angle Adjustment: After receiving the request, the collaborative control module of the tracking bracket verifies that the photovoltaic cleaning robot is a registered cleaning device for the power station, confirms that the current tracking bracket is operating without faults, pauses the cleaning mode strategy, sends a command to the angle adjustment module, drives the motor to rotate the photovoltaic module to 0°, and the tilt sensor provides real-time angle feedback to achieve closed-loop control. It also sends the real-time angle position information of the corresponding tracking bracket to the photovoltaic cleaning robot.

[0061] 4. Photovoltaic cleaning robot passage: When the photovoltaic cleaning robot receives that the tracking bracket angle has been adjusted to 0°, it scans the travel path again. When it detects that there is no obstacle area in front of the photovoltaic module, it controls the walking drive module to pass through the obstacle area. At the same time, the cleaning module completes the cleaning operation in that area and stops running to wait for the tracking bracket to enter the cleaning angle.

[0062] 5. Tracking bracket reset: The laser radar scans to see if there is still a drive shaft. If there is no drive shaft, it means that the obstacle area has been passed. After the photovoltaic cleaning robot passes through the obstacle area, it sends a passage completion signal to the tracking bracket. The tracking bracket drives the photovoltaic module to reset to the cleaning angle and sends the angle information to the photovoltaic cleaning robot.

[0063] 6. The photovoltaic cleaning robot continues its cleaning task: After receiving the angle information of the tracking bracket, the photovoltaic cleaning robot controls the walking drive module to complete the remaining cleaning task.

[0064] 7. Abnormal Handling: If the tracking bracket fails to complete the angle adjustment within 2 minutes, the photovoltaic cleaning robot will immediately send an abnormal alarm signal to the power station operation and maintenance platform and stop moving, waiting for manual handling.

[0065] Based on the same concept, this application also discloses a cooperative obstacle avoidance system for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system. The system is used to implement the steps described in any of the above method embodiments. Specifically, one embodiment of the cooperative obstacle avoidance system for a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system includes: a dual-row linkage tracking bracket and a photovoltaic cleaning robot.

[0066] The photovoltaic cleaning robot is used to perform cleaning tasks along a double-row linkage tracking bracket. This includes: An obstacle detection sensor is used to scan the real-time travel path and determine whether a drive shaft exists on the real-time travel path.

[0067] The communication module is used to send an obstacle avoidance request to the corresponding tracking bracket when the drive shaft is detected in the real-time travel path. It is also used to detect when the drive shaft has cleared the obstacle area and then sends a passage completion signal to the tracking bracket.

[0068] In some alternative embodiments, the photovoltaic cleaning robot further includes a walking drive module, which provides core power and control support for the smooth movement of the photovoltaic cleaning robot on the surface of the photovoltaic modules. Specifically, the walking drive module includes a servo motor, a reducer, drive wheels, and corresponding control circuitry. When the photovoltaic cleaning robot receives a cleaning task instruction or a passage signal for passing through an obstacle area, the control system sends speed and direction instructions to the walking drive module, driving the photovoltaic cleaning robot to move or stop along a preset path.

[0069] The cleaning module is used for efficient cleaning of the photovoltaic module surface. It includes roller brushes, scrapers, and a dust collection device, and the cleaning module operates continuously as the photovoltaic cleaning robot travels along a preset path.

[0070] A dual-row linkage tracking bracket, in response to the obstacle avoidance request, is used to adjust the tilt angle of the target photovoltaic module to the target obstacle avoidance angle. This includes: Tilt sensors are used to acquire and feed back real-time angle information of the target photovoltaic modules to the photovoltaic cleaning robot.

[0071] The angle adjustment module is also used to reset the tilt angle of the target photovoltaic module from the target obstacle avoidance angle to the original cleaning angle after receiving the passage completion signal.

[0072] In other embodiments of this example, the dual-row linkage tracking bracket also includes a central control module, which serves as the core processing unit on the tracking bracket side for signal processing and collaborative decision-making.

[0073] The photovoltaic cleaning robot communicates with the dual-row linkage tracking bracket to work together to complete obstacle avoidance operations.

[0074] Based on the above embodiments, this application discloses another embodiment of a photovoltaic cleaning robot collaborative obstacle avoidance system based on a dual-row linkage photovoltaic tracking system. The obstacle detection sensor includes at least two lidar sensors, which are respectively installed on both sides of the main body of the photovoltaic cleaning robot along the direction of travel.

[0075] Optionally, the photovoltaic cleaning robot is equipped with LiDAR sensors on both sides to enable real-time scanning along both sides of its movement. The LiDAR sensors are configured with a horizontal scanning range of ≥120° and a ranging accuracy of ±2cm. This ensures that the photovoltaic cleaning robot can fully cover potential obstacle areas in front of and to the sides when moving along the photovoltaic module array, avoiding missed detections or collisions due to blind spots. (See attached instruction manual.) Figure 8 As shown, Figure 8 This is a schematic diagram of a scenario where lidar sensors are installed on both sides of the photovoltaic cleaning robot in this embodiment.

[0076] In some implementations, the dual-row linkage parallel drive tracking bracket is specifically composed of two tracking bracket units, which are mechanically linked through the same drive shaft, thereby ensuring that the two rows of photovoltaic modules always rotate synchronously when tracking the sun's trajectory.

[0077] In practical implementation, since the two rows of tracking brackets are mechanically linked via a drive shaft, their tilt angle changes remain highly consistent. Therefore, it supports deploying one photovoltaic cleaning robot on each of the two linked tracking brackets to achieve synchronous cleaning of the two rows of photovoltaic modules, thereby maximizing operation and maintenance efficiency. Optionally, only LiDAR sensors need to be installed on both sides of one of the photovoltaic cleaning robots to simultaneously meet the obstacle avoidance and detection needs of both photovoltaic cleaning robots. Since the cleaning angle is relatively fixed, for example, each cleaning angle is 15° westward, the photovoltaic cleaning robot corresponding to the western row of photovoltaic modules will not be blocked by the drive shaft and does not need to install a LiDAR sensor. Only the photovoltaic cleaning robot corresponding to the eastern row of photovoltaic modules needs to be equipped with a LiDAR sensor. Of course, when it is necessary to detect obstacles other than the drive shaft, the photovoltaic cleaning robot corresponding to the western row of photovoltaic modules can also be equipped with a LiDAR sensor. The photovoltaic cleaning robot equipped with LiDAR scans and synchronously sends obstacle avoidance commands to the bracket control system via the communication module. The other photovoltaic cleaning robot acts as a following unit, receiving the passage signal after the tracking bracket angle is adjusted and performing the cleaning task.

[0078] This application provides another embodiment of a photovoltaic cleaning robot collaborative obstacle avoidance system based on a dual-row linkage photovoltaic tracking system. Based on any embodiment of the above system, the dual-row linkage tracking bracket also includes a request verification module.

[0079] This includes an authentication unit, used to obtain the device ID and preset key of the photovoltaic cleaning robot based on an obstacle avoidance request. The device ID is compared with a pre-stored list of registered devices in the tracking bracket's memory, and a double verification is performed using the preset key to determine whether the photovoltaic cleaning robot is a registered and legitimate device.

[0080] The status detection unit is used to read the sensing data from each support sensor. Each support sensor includes a vibration sensor and a current sensor. Based on the sensing data, the operating status of the tracking support is evaluated to determine if any operational faults exist.

[0081] This application provides another embodiment of a photovoltaic cleaning robot collaborative obstacle avoidance system based on a dual-row linkage photovoltaic tracking system. Based on any embodiment of the above system, the photovoltaic cleaning robot further includes: a log filing module, which is used to generate an obstacle avoidance log containing drive shaft feature information, tracking bracket adjustment process parameters and collaborative operation timestamps after completing the obstacle avoidance operation, and upload the obstacle avoidance log to the power plant monitoring and data acquisition system for storage and filing.

[0082] The photovoltaic cleaning robot collaborative obstacle avoidance method and system based on the dual-row linkage photovoltaic tracking system of this application have the same technical concept, and the technical details of the embodiments of the two are mutually applicable. In order to reduce repetition, they will not be repeated here.

[0083] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of program modules is merely an example. In practical applications, the above functions can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program units or modules to complete all or part of the functions described above. The program modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software program unit. Furthermore, the specific names of the program modules are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0084] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for collaborative obstacle avoidance of a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system, wherein the photovoltaic tracking system includes a linkage tracking bracket and photovoltaic modules, the linkage tracking bracket includes at least two rows of tracking brackets and a drive shaft disposed between the two rows of tracking brackets, and the drive shaft realizes synchronous angle adjustment of at least two rows of photovoltaic modules, characterized in that, Includes the following steps: The photovoltaic cleaning robot performs cleaning tasks along the linkage tracking bracket. At the same time, it scans the real-time travel path through the laser radar sensors installed on both sides of the photovoltaic cleaning robot near the drive shaft. When the drive shaft is detected on the real-time travel path, an obstacle avoidance request is sent to the corresponding tracking bracket. In response to the obstacle avoidance request, the tracking bracket adjusts the tilt angle of the target photovoltaic module to the target obstacle avoidance angle, and obtains the real-time angle information of the target photovoltaic module through the tilt angle sensor. When the target photovoltaic module is adjusted to the target obstacle avoidance angle, it stops rotating and sends feedback to the photovoltaic cleaning robot that it has been adjusted to the target obstacle avoidance angle. The photovoltaic cleaning robot detects that the drive shaft has been cleared and passes through the obstacle area, and sends a passage completion signal to the tracking bracket. After receiving the passage completion signal, the tracking bracket resets the tilt angle of the target photovoltaic module from the target obstacle avoidance angle to the original cleaning angle, so that the photovoltaic cleaning robot can continue to perform the cleaning task.

2. The method for cooperative obstacle avoidance of a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system as described in claim 1, characterized in that, The obstacle avoidance request includes drive shaft position information, photovoltaic cleaning robot position information, and target obstacle avoidance angle.

3. The method for collaborative obstacle avoidance of a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system as described in claim 1, characterized in that, After sending an obstacle avoidance request to the corresponding tracking bracket, the process also includes: The tracking bracket obtains the device ID and preset key of the photovoltaic cleaning robot based on the obstacle avoidance request; The device ID is compared with the list of registered devices pre-stored in the memory of the tracking bracket, and a double verification is performed using the preset key to determine whether the photovoltaic cleaning robot is a legally registered device.

4. The method for cooperative obstacle avoidance of a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system as described in claim 3, characterized in that, After confirming that the photovoltaic cleaning robot is a legally registered device, the following is also included: The tracking bracket reads the sensing data from each bracket sensor; each bracket sensor includes: a vibration sensor and a current sensor; The operating status of the tracking bracket is evaluated based on the sensor data to determine whether there is any operational malfunction in the tracking bracket.

5. The method for collaborative obstacle avoidance of a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system as described in claim 1, characterized in that, Also includes: After completing the obstacle avoidance operation, the photovoltaic cleaning robot generates an obstacle avoidance log containing drive shaft feature information, bracket adjustment process parameters, and collaborative operation timestamps, and uploads the obstacle avoidance log to the power station monitoring and data acquisition system for storage and filing.

6. The method for collaborative obstacle avoidance of a photovoltaic cleaning robot based on a dual-row linkage photovoltaic tracking system as described in claim 1, characterized in that, Also includes: The photovoltaic cleaning robot has a preset obstacle avoidance request response time. If the tracking bracket fails to complete the angle adjustment within the response time after receiving the obstacle avoidance request, the photovoltaic cleaning robot determines that the obstacle avoidance coordination has timed out, generates an abnormal alarm signal and sends it to the power station operation and maintenance platform, and controls the photovoltaic cleaning robot to stop moving.

7. A photovoltaic cleaning robot collaborative obstacle avoidance system based on a dual-row linkage photovoltaic tracking system, characterized in that, The system includes: Dual-row linkage tracking bracket and photovoltaic cleaning robot; The photovoltaic cleaning robot is used to perform cleaning tasks along the double-row linkage tracking bracket; These include: An obstacle detection sensor is used to scan the real-time travel path and determine whether a drive shaft exists on the real-time travel path; The communication module is used to send an obstacle avoidance request to the corresponding tracking bracket when the drive shaft is detected on the real-time travel path; it is also used to detect that the drive shaft has passed through the obstacle area after being eliminated, and send a passage completion signal to the tracking bracket. The dual-row linkage tracking bracket, in response to the obstacle avoidance request, is used to adjust the tilt angle of the target photovoltaic module to the target obstacle avoidance angle; the dual-row linkage tracking bracket includes: An tilt sensor is used to acquire and feed back the real-time angle information of the target photovoltaic module to the photovoltaic cleaning robot. The angle adjustment module is also used to reset the tilt angle of the target photovoltaic module from the target obstacle avoidance angle to the original cleaning angle after receiving the passage completion signal; The photovoltaic cleaning robot is communicatively connected to the dual-row linkage tracking bracket to collaboratively complete obstacle avoidance operations.

8. The photovoltaic cleaning robot collaborative obstacle avoidance system based on a dual-row linkage photovoltaic tracking system according to claim 7, characterized in that, The obstacle detection sensor includes at least two lidar sensors, which are respectively installed on both sides of the main body of the photovoltaic cleaning robot along the direction of travel.

9. The photovoltaic cleaning robot collaborative obstacle avoidance system based on a dual-row linkage photovoltaic tracking system according to claim 7, characterized in that, The dual-row linkage tracking bracket also includes a request verification module; This includes: an authentication unit, used to obtain the device ID and preset key of the photovoltaic cleaning robot based on the obstacle avoidance request; compare the device ID with the list of registered devices pre-set in the memory of the tracking bracket, and perform double verification using the preset key to determine whether the photovoltaic cleaning robot is a registered and legitimate device; A status detection unit is used to read the sensing data of each support sensor; each support sensor includes a vibration sensor and a current sensor; the operating status of the tracking support is evaluated based on the sensing data to determine whether the tracking support has an operational fault.

10. The photovoltaic cleaning robot collaborative obstacle avoidance system based on a dual-row linkage photovoltaic tracking system according to claim 7, characterized in that, The photovoltaic cleaning robot also includes a log filing module, which generates an obstacle avoidance log containing drive shaft feature information, bracket adjustment process parameters and collaborative operation timestamps after completing the obstacle avoidance operation, and uploads the obstacle avoidance log to the power station monitoring and data acquisition system for storage and filing.

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