An unmanned aerial vehicle hoisting type split photovoltaic cleaning robot, system and method

Abstract

The application discloses an unmanned aerial vehicle hoisting type split photovoltaic cleaning robot, system and method. The robot comprises a movable module and a cleaning module which are detachably connected, and are connected through a traction rope and have a whole state hoisted by the unmanned aerial vehicle and a split state. The system obtains edge distance information of the cleaning module, relative position information of the two modules and combination state information, and controls the cleaning module to stop lowering, adjusts the walking speed of the module, executes layered lifting and combination recovery. The method comprises whole hoisting, top cleaning, lowering positioning, layer-by-layer cleaning from bottom to top and combination transfer. The scheme can transfer the same robot between different photovoltaic arrays, and maintains the connection relationship between the movable module and the cleaning module through the traction rope during the split cleaning process.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic equipment cleaning and mobile robot technology, specifically to a drone-mounted split photovoltaic cleaning robot, system, and method. Background Technology

[0002] Photovoltaic modules are installed outdoors for extended periods, and their sun-receiving surfaces easily accumulate dust, bird droppings, and other contaminants. These contaminants can cause differences in the amount of sunlight received by different areas of the photovoltaic module. Therefore, it is usually necessary to clean the surface of the photovoltaic panels regularly.

[0003] Existing photovoltaic panel cleaning methods include mobile robot cleaning. To solve the problem of transportation between different photovoltaic arrays, current technologies utilize drones to lift the cleaning robot to the target photovoltaic array. However, if the cleaning robot always maintains a single-unit structure, the walking mechanism, cleaning mechanism, fall protection structure, and power supply are all concentrated on the same body, which can easily lead to mutual constraints between the overall weight, cleaning coverage, and fall protection capability.

[0004] First, for tilted photovoltaic arrays, the cleaning robot may slide down the tilt direction when moving on the panel. Especially when there is a water film on the photovoltaic panel surface, installation deviations between adjacent photovoltaic modules, or local slippage of the walking mechanism, it is difficult to simultaneously achieve lateral cleaning and prevent slippage by relying solely on the cleaning robot's own panel adhesion and walking capabilities.

[0005] In addition, how to plan the cleaning path to reduce omissions between adjacent cleaning areas is also a cleaning problem faced by existing photovoltaic panel cleaning robots. Summary of the Invention

[0006] The purpose of this invention is to provide a drone-mounted split photovoltaic cleaning robot, system, and method to solve the problems of cross-array transport, tilted panel fall prevention, and missed cleaning areas in existing integrated photovoltaic cleaning robots.

[0007] First aspect: Drone-mounted split-type photovoltaic cleaning robot This invention provides a drone-mounted split photovoltaic cleaning robot, comprising a detachable and connectable mobile module and a cleaning module.

[0008] The cleaning module is equipped with a cleaning brush and a lifting connection for attaching to the drone's hoisting structure. The moving module is equipped with a retraction mechanism, which is connected to the cleaning module via a tow rope.

[0009] The mobile module and the cleaning module have both an integrated state and a separate state. In the integrated state, the mobile module and the cleaning module are combined to form a unit that can be lifted and transported by a drone. In the separate state, the mobile module and the cleaning module are separated, with the cleaning module connected to the mobile module by a traction rope and cleaning the surface of the photovoltaic panel using a cleaning brush.

[0010] Furthermore, the mobile module includes a first frame, a board-walking assembly, an upper-edge suspension assembly, and a combined load-bearing assembly.

[0011] The panel walking assembly is located on the side of the first frame facing the photovoltaic panel, and is used to abut against the surface of the photovoltaic panel and drive the moving module to move. The upper edge suspension assembly is located at one end of the first frame, and is used to support the upper edge of the photovoltaic array, and together with the panel walking assembly, it drives the moving module to move along the photovoltaic array.

[0012] A combined support assembly is mounted on the first frame to support the cleaning module in its overall state and to restrict uncontrolled movement of the cleaning module relative to the moving module. A deployment and retrieval mechanism is mounted on the first frame for lowering or retrieving the cleaning module.

[0013] Furthermore, the cleaning module includes a second frame and rocker arm traveling assemblies disposed on both sides of the second frame. A cleaning rod is connected between the opposing rocker arm traveling assemblies, and the cleaning brush is a roller brush rotatably mounted on the cleaning rod.

[0014] An attitude adjustment drive is installed between the rocker arm traveling assembly and the second frame. The attitude adjustment drive drives the rocker arm traveling assembly to swing up and down relative to the second frame through telescopic movement, enabling the cleaning module to change the contact state between the rocker arm traveling assembly, the roller brush, and the photovoltaic panel.

[0015] The second frame has an auxiliary anti-detachment component that can be deployed or retracted at the end near the upper edge of the photovoltaic array. When deployed, the auxiliary anti-detachment component can cooperate with the edge of the photovoltaic array, and when retracted, it can avoid the separation or combination path between the moving module and the cleaning module.

[0016] Furthermore, the combined support assembly includes two guide limiting plates arranged opposite each other, forming a combined support space between the two guide limiting plates for the cleaning module to enter. When the cleaning module is retracted, it enters the combined support space along the guide limiting plates, and its lateral movement is restricted by the guide limiting plates.

[0017] Furthermore, the take-up and release mechanism includes a take-up and release shaft, two rope winding wheels coaxially mounted on the take-up and release shaft, and a take-up and release drive component that is connected to the take-up and release shaft for transmission.

[0018] Two traction ropes are provided, each wound around a separate rope reel and connected to the cleaning module. When the retraction drive unit rotates the retraction shaft, the two rope reels simultaneously retract and extend the two traction ropes to reduce lateral tilting of the cleaning module during lowering or retrieval.

[0019] Furthermore, the mobile module is equipped with a charging output interface, and the cleaning module is equipped with a corresponding charging receiving interface. In the overall configuration, the charging output interface and the charging receiving interface are interconnected, enabling the mobile module to supply power to the cleaning module or charge the independent power supply within the cleaning module.

[0020] The second aspect: Drone-mounted split photovoltaic cleaning system The present invention also provides a drone-mounted split photovoltaic cleaning system, which is adapted to a drone with a drone-mounted structure and includes the aforementioned drone-mounted split photovoltaic cleaning robot, an edge distance detection unit, a relative position detection unit, a combined positioning detection unit, and at least one processor.

[0021] The hoisting connection between the drone hoisting structure and the cleaning module can be disconnected to lift the assembly during robot transport and to disconnect it after the robot is placed on the target photovoltaic array.

[0022] An edge distance detection unit is installed in the cleaning module to obtain edge distance information between the cleaning module and the lower edge of the photovoltaic array.

[0023] The relative position detection unit is used to acquire the relative position information between the moving module and the cleaning module. The relative position information may include the relative distance, relative orientation, lateral position deviation, or other relative status information determined by the aforementioned information between the two modules.

[0024] The assembly positioning detection unit is used to obtain the assembly status information between the moving module and the cleaning module in order to determine whether the cleaning module has been retrieved to the assembly bearing position of the moving module.

[0025] The moving module is equipped with a first walking mechanism, and the cleaning module is equipped with a second walking mechanism. The first walking mechanism is used to drive the moving module to move along the photovoltaic array, and the second walking mechanism is used to drive the cleaning module to move along the photovoltaic array.

[0026] At least one processor is communicatively connected to the edge distance detection unit, the relative position detection unit, the combined positioning detection unit, the take-up and release mechanism, the first walking mechanism, and the second walking mechanism.

[0027] At least one processor acquires edge distance information, relative position information, and combination status information, and controls the deployment and take-up mechanism to stop lowering the cleaning module based on the edge distance information; adjusts the walking speed of the first or second walking mechanism based on the relative position information; controls the deployment and take-up mechanism to lift the cleaning module after the current lateral cleaning stroke is completed; and controls the deployment and take-up mechanism to stop retrieving based on the combination status information, and generates a transfer instruction that allows the UAV to lift the combination.

[0028] Furthermore, the system also includes a stroke detection unit, which is used to obtain the lateral movement stroke of the cleaning module within the current cleaning zone.

[0029] At least one processor also performs validity verification on the current operation process. During the lowering of the cleaning module, at least one processor compares the edge distance information with the preset lower edge stop condition and compares the relative position deviation corresponding to the relative position information with the preset allowable deviation range.

[0030] When the edge distance information meets the preset lower edge stopping condition and the relative position deviation is within the preset allowable deviation range, the processor stops lowering the cleaning module and controls the robot to enter the lateral cleaning process.

[0031] When the relative position deviation exceeds the preset allowable deviation range, the processor stops the take-up and take-down mechanism and generates a position correction command.

[0032] During the lateral cleaning process, the processor compares the lateral movement distance obtained by the movement detection unit with the preset cleaning distance. When the lateral movement distance meets the preset cleaning distance, the current lateral cleaning process is confirmed to be completed; when the lateral movement distance does not meet the preset cleaning distance, the current lateral cleaning process continues to be executed.

[0033] Furthermore, at least one processor determines the interlayer lifting distance based on the effective cleaning bandwidth formed by the cleaning brush along the tilt direction of the photovoltaic array and the preset overlap width between adjacent cleaning bands.

[0034] After the current horizontal cleaning stroke is completed, the processor controls the take-up and take-down mechanism to raise the cleaning module according to the interlayer lifting distance, and obtains the remaining distance between the cleaning module and the upper boundary of the remaining uncleaned area.

[0035] When the remaining distance is less than the interlayer lifting distance, the processor determines the remaining distance as the lifting distance for this operation, so that the cleaning module can reach the position corresponding to the remaining uncleaned area.

[0036] After completing the cleaning of all areas, the processor controls the take-up and take-down mechanism to retrieve the cleaning module, and generates a transfer command after acquiring the combination status information indicating that the cleaning module has reached the combination position.

[0037] Third aspect: Drone-mounted split photovoltaic cleaning method This invention also provides a method for cleaning a drone-mounted split photovoltaic system, comprising the following steps: Switch the mobile module and cleaning module to the integrated state, and use a drone to lift the combined unit of the two modules to the target photovoltaic array, keeping the mobile module on top of the target photovoltaic array, and disconnect the drone lifting structure from the cleaning module; The control module, which is in the overall state, moves laterally along the target photovoltaic array and cleans the uppermost cleaning strip of the target photovoltaic array with a cleaning brush; after the uppermost cleaning strip is cleaned, the cleaning module is switched to the split state. The system controls the lowering mechanism to lower the cleaning module and obtains the edge distance information between the cleaning module and the lower edge of the target photovoltaic array; the lowering stops when the edge distance information meets the preset lower edge stopping condition, so that the cleaning module reaches the lower part of the target photovoltaic array. The control module and the cleaning module move laterally along the target photovoltaic array to clean the current cleaning zone; during the cleaning process, the relative position information between the two modules is acquired, and the walking speed of at least one module is adjusted according to the relative position information; After completing the current cleaning zone, the cleaning module is lifted to the next cleaning zone by the take-up and take-down mechanism, and the horizontal cleaning and upward lifting are repeated until the cleaning of the target photovoltaic array is completed from bottom to top; The cleaning module is retrieved to the mobile module via a retraction mechanism. After receiving the signal that the modules are in place, the two modules are switched to the overall state, and the assembly is lifted away from the target photovoltaic array by a drone.

[0038] Furthermore, when lowering the cleaning module, the relative positional deviation between the moving module and the cleaning module is determined based on the relative positional information.

[0039] When the edge distance information meets the preset lower edge stop condition and the relative position deviation is within the preset allowable deviation range, the descent stops and the lateral cleaning process begins; when the relative position deviation exceeds the preset allowable deviation range, the descent stops and a position correction command is generated.

[0040] During the transverse cleaning process, the transverse movement stroke corresponding to the current cleaning belt is obtained, and the transverse movement stroke and relative position deviation are compared with the preset cleaning stroke and the preset allowable deviation range, respectively.

[0041] When the lateral movement travel meets the preset cleaning travel and the relative position deviation is within the preset allowable deviation range, the current cleaning belt is confirmed as the cleaning belt that has been cleaned; when either condition is not met, a position correction command or a re-cleaning command is generated.

[0042] Furthermore, the interlayer lifting distance is determined based on the effective cleaning bandwidth formed by the cleaning brush along the tilt direction of the photovoltaic array and the preset overlap width between adjacent cleaning bands.

[0043] After completing the current cleaning zone, the cleaning module is raised according to the inter-layer lifting distance. When the remaining distance between the cleaning module and the upper boundary of the remaining uncleaned area is less than the inter-layer lifting distance, the cleaning module is raised according to the remaining distance.

[0044] Only after receiving the assembly positioning signal will a transfer instruction be generated that allows the drone to lift the assembly.

[0045] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. This invention configures a photovoltaic cleaning robot as a detachable and connectable mobile module and a cleaning module, enabling the two to switch between an integrated state and a separate state. In the integrated state, the two modules form a combined unit and are hoisted by a drone to achieve transfer between different photovoltaic arrays; in the separate state, the cleaning module separates from the mobile module and performs photovoltaic panel cleaning, thus allowing the drone to only undertake the delivery and transfer tasks without continuously suspending the cleaning module during the cleaning process.

[0046] 2. This invention connects the cleaning module to the mobile module via a retraction mechanism and a traction rope. Two coaxially arranged rope reels synchronously retract and extend the traction ropes connected to both sides of the cleaning module, ensuring that the cleaning module maintains a traction connection with the mobile module during lowering, layer-by-layer lifting, and retrieval. This reduces the possibility of the cleaning module slipping, deflecting, or becoming uncontrollably detached on the inclined photovoltaic panel. The combined load-bearing component can also support and limit the retrieval of the cleaning module, restoring the two modules to a combined structure suitable for drone lifting.

[0047] 3. Based on the edge distance information of the cleaning module, the relative position information between the two modules, and the combination state information, this invention controls the cleaning module to stop lowering, adjust the walking speed of the two modules, and stop retraction, and raises the cleaning module layer by layer according to the effective cleaning bandwidth and preset overlap width of the cleaning brush. This enables the cleaning module to clean each cleaning zone sequentially from the bottom of the photovoltaic array upwards, and compensates for the remaining uncleaned areas, reducing module position deviation and cleaning omissions between adjacent cleaning zones. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall structure of the drone-mounted split photovoltaic cleaning robot in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the overall movement module in Embodiment 1 of this application; Figure 3 This is a side view of the moving module in Embodiment 1 of this application; Figure 4 This is a top view of the drone-mounted split photovoltaic cleaning robot in Embodiment 1 of this application; Figure 5 This is a front view of the drone-mounted split photovoltaic cleaning robot in Embodiment 1 of this application; Figure 6 This is a top view of the cleaning module in Embodiment 1 of this application; Figure 7 This is a schematic diagram of the working state of the robot in Embodiment 2 of this application; Figure 8 This is a system block diagram from Embodiment 2 of this application; Figure 9 This is a schematic diagram of the cleaning route in Embodiment 3 of this application; Figure 10 This is a flowchart of the method in Embodiment 3 of this application; The components include: 1. Moving module; 101. First frame; 102. Track; 1031. Overhang support; 1032. Suspended walking unit; 1041. Guide limit plate; 1042. Entrance limit; 1043. End stop; 1051. Retraction and extension shaft; 1052. Rope reel; 1053. Retraction and extension drive; 1054. Traction rope; 2. Cleaning module; 201. Second frame; 2021. Tracked walking unit; 2022. Connecting seat; 2023. Walking drive; 203. Cleaning rod; 204. Cleaning brush. ; 205. Cleaning drive component; 206. Attitude adjustment drive component; 2071. Suspension arm; 2072. Suspension wheel; 2073. Suspension drive component; 208. Lifting connection part; 209. Guide slot; 3. UAV; 301. UAV lifting structure; 4. Photovoltaic panel; 5. Relative position detection unit; 501. First positioning unit; 502. Second positioning unit; 6. Edge distance detection unit; 7. Combined positioning detection unit; 8. Travel detection unit; 9. Processor; 901. First controller; 902. Second controller. Detailed Implementation

[0049] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that the following embodiments are used to illustrate the technical solutions of the present invention, and not to limit the scope of protection of the present invention. Equivalent substitutions made by those skilled in the art to the shape of components, connection methods, driving forms, detection methods, and control parameters without departing from the overall inventive concept of the present invention can all be used to implement the present invention.

[0050] In the description of this invention, the directional terms such as "up," "down," "left," "right," "front," "back," "lateral," and "tilting direction" are used with reference to the robot's usage state after being placed behind the photovoltaic array and the direction shown in the accompanying drawings, and do not constitute a limitation on the actual installation orientation of the robot. "Large" refers to a direction approximately parallel to the upper edge of the photovoltaic array, and "tilting direction" refers to a direction extending from the upper edge of the photovoltaic array towards the lower edge.

[0051] In the description of this invention, "connection," "communication connection," "signal connection," and "detachable connection" should be interpreted broadly. A connection can be a direct connection or an indirect connection formed through connectors, transmission components, terminals, plugs, or other intermediate components; a communication connection can be wired or wireless communication; a detachable connection refers to a situation where the moving module and the cleaning module remain relatively stable in their overall state and can be switched to a separate state under control or the action of the traction rope.

[0052] Example 1 Reference Figures 1 to 7 This embodiment provides a drone-mounted, split-type photovoltaic cleaning robot, including a detachable and connectable mobile module 1 and a cleaning module 2. The cleaning module 2 is provided with a hoisting connection part 208 for connecting to the hoisting structure of the drone 3, and the mobile module 1 is provided with a take-up and retraction mechanism, which is connected to the cleaning module 2 via a traction rope 1054.

[0053] The mobile module 1 and cleaning module 2 have both an integrated state and a separate state. In the integrated state, the cleaning module 2 enters the combined support area formed by the mobile module 1. After the lifting structure of the UAV 3 connects with the lifting connection part 208 on the cleaning module 2, the lifting force acting on the lifting connection part 208 is transmitted to the mobile module 1 through the cleaning module 2, causing both modules to leave the support surface together. In the separate state, the cleaning module 2 leaves the combined support area and is suspended below the mobile module 1 or located on the lower side of the inclined direction of the mobile module 1 by the traction rope 1054. The cleaning module 2 can move along the surface of the photovoltaic panel 4 and perform cleaning by the cleaning brush 204.

[0054] Reference Figure 2 and Figure 3 The mobile module 1 includes a first frame 101, a board walking assembly, an upper edge suspension assembly, a combined load-bearing assembly, a retraction mechanism, a first controller 901, and a main power supply assembly. The first frame 101 is used to install and support the various components in the mobile module 1, and it can be a lightweight structure formed by a profile frame, a plate frame, or a combination of profiles and plates.

[0055] The panel walking assembly is located on the side of the first frame 101 facing the photovoltaic panel 4. The panel walking assembly may include at least two sets of track 102 walking units. Each track 102 walking unit includes a drive wheel, a driven wheel, a track 102 sleeved on the drive wheel and driven wheel, and a driving component 2023 that drives the drive wheel to rotate. The track 102 contacts the surface of the photovoltaic panel 4. The driving component 2023 drives the track 102 to circulate through the drive wheel, thereby causing the moving module 1 to move laterally along the photovoltaic array. A flexible anti-slip layer may be provided on the surface of the track 102 to increase friction with the photovoltaic panel 4 and reduce scratches on the surface of the photovoltaic panel 4.

[0056] The upper edge suspension assembly is located at one end of the first frame 101 near the upper edge of the photovoltaic array. The upper edge suspension assembly includes an over-edge support portion 1031 extending from the first frame 101 outward from the upper edge of the photovoltaic array and bending towards the back side of the photovoltaic array, and a suspension travel unit 1032 disposed on the over-edge support portion 1031. Thus, the upper edge suspension assembly as a whole can form a generally L-shaped support structure, capable of crossing the upper edge of the photovoltaic array and cooperating with the upper frame, back side bracket, or other load-bearing positions.

[0057] The suspended walking unit 1032 can employ either a suspended track 102 or a suspended wheel 2072. When using a suspended track 102, the drive wheel of the suspended track 102 is connected to the suspended drive component 2073, and the suspended track 102 abuts against the upper frame, back support, or edge bearing portion of the photovoltaic array. The panel walking assembly and the suspended walking unit 1032 jointly drive the moving module 1 to move laterally. When there is misalignment between the photovoltaic module frames or inconsistent heights between adjacent modules, the suspended track 102 and the panel track 102 provide driving force from the edge position and the panel position, respectively, which helps the moving module 1 to cross local seams or installation deviations.

[0058] The upper edge suspension assembly also forms a fall-prevention support path for the moving module 1. When the moving module 1 is subjected to a downward component of gravity along the tilt direction of the photovoltaic array, the upper edge support 1031 bears the component of gravity through the upper edge or back support position of the photovoltaic array, so that the moving module 1 does not rely entirely on the friction between the panel walking assembly and the photovoltaic panel 4 to maintain its position.

[0059] The combined support assembly is located on the upper part of the first frame 101 or on the side opposite to the photovoltaic panel 4. The combined support assembly includes two guide limiting plates 1041 arranged opposite each other, forming a combined support space between the two guide limiting plates 1041 for the cleaning module 2 to enter. The two guide limiting plates 1041 extend along the retrieval direction of the cleaning module 2 to laterally guide the cleaning module 2 as it approaches the moving module 1.

[0060] In one embodiment, each guide limiting plate 1041 has an entrance limiting part 1042 at one end near the entrance of the combined carrying space and an end stop part 1043 at the end away from the entrance. The entrance limiting part 1042 is used to reduce the exit of the cleaning module 2 from the combined carrying space in the overall state, and the end stop part 1043 is used to restrict the cleaning module 2 from continuing to enter. The entrance limiting part 1042 may form a downwardly extending limiting arm, and the end stop part 1043 may form a stop arm located at the end of the guide limiting plate 1041. The second frame 201 of the cleaning module 2 is provided with a guide slot 209 that cooperates with the guide limiting plate 1041. After the cleaning module 2 enters the combined carrying space, the guide slot 209 covers or spans the guide limiting plate 1041 to restrict the cleaning module 2 from moving left and right relative to the moving module 1.

[0061] The assembly positioning detection unit 7 is located at the end of the terminal stop 1043, the guide limit plate 1041, or the end position of the assembly bearing space. When the cleaning module 2 moves to the preset assembly position, the cleaning module 2 triggers the assembly positioning detection unit 7, and the assembly positioning detection unit 7 outputs an assembly positioning signal. The assembly positioning detection unit 7 can be a limit switch, proximity switch, photoelectric switch, infrared sensor, or other switch quantity detection element capable of detecting that the cleaning module 2 has entered the assembly position.

[0062] The take-up and release mechanism includes a take-up and release shaft 1051 rotatably mounted on the first frame 101, two rope winding pulleys 1052 coaxially mounted at both ends of the take-up and release shaft 1051, and a take-up and release drive unit 1053 that is drively connected to the take-up and release shaft 1051. Two traction ropes 1054 are respectively wound around the two rope winding pulleys 1052, and their free ends are respectively connected to both sides of the cleaning module 2. When the take-up and release drive unit 1053 drives the take-up and release shaft 1051 to rotate, the two rope winding pulleys 1052 simultaneously release or retract the traction ropes 1054, so that the traction length on both sides of the cleaning module 2 remains approximately the same. The take-up and release drive unit 1053 can be a drive structure formed by a combination of a motor and a reducer.

[0063] The main power supply assembly is located on the first frame 101 and supplies power to the first controller 901, the board walking assembly, the suspended walking unit 1032, and the retraction drive unit 1053 of the mobile module 1. The mobile module 1 is also provided with a charging output interface connected to the main power supply assembly. The charging output interface may be a flexible contact, a plug terminal, or an electrical connector with a guide structure, and is located in the combined support space at a position corresponding to the cleaning module 2.

[0064] Reference Figure 4 , Figure 5 and Figure 6The cleaning module 2 includes a second frame 201, rocker arm walking assemblies disposed on both sides of the second frame 201, a cleaning rod 203, a cleaning brush 204, a posture adjustment drive 206, an auxiliary anti-detachment assembly, a second controller 902, and an independent power supply assembly. The second frame 201 is used to support the walking, cleaning, detection, and control components in the cleaning module 2.

[0065] Each side of the rocker arm traveling assembly may include two tracked traveling units 102 arranged laterally along the cleaning module 2 and a connecting seat 2022 connecting the two tracked traveling units 102. Each tracked traveling unit 102 includes a drive wheel, a driven wheel, and a track 102 sleeved on the drive wheel and the driven wheel. Drive wheels located on the same side can be driven by the same traveling drive unit 2023 via a drive shaft or synchronous transmission component, or they can be driven separately by traveling drive units 2023.

[0066] The rocker arm traveling assembly is rotatably connected to the second frame 201, and an attitude adjustment drive 206 is provided between the connecting seat 2022 and the second frame 201. The attitude adjustment drive 206 can be an electric push rod or other linear drive. When the attitude adjustment drive 206 extends or retracts, it pushes the connecting seat 2022 to swing around the rotatable connection position between the rocker arm traveling assembly and the second frame 201, causing the track 102 traveling unit and the cleaning brush 204 to move up and down relative to the second frame 201.

[0067] A cleaning rod 203 is connected between the opposing rocker arm traveling components. A cleaning brush 204 is a roller brush rotatably mounted on the cleaning rod 203. A cleaning drive component 205 is located at one end or inside the cleaning rod 203, and the cleaning drive component 205 is connected to the roller brush in a driving connection. When the roller brush rotates, it brushes away contaminants adhering to the surface of the photovoltaic panel 4. The roller brush can be a bristle brush, cotton strips, scouring pad, or other cleaning materials that will not cause abnormal wear to the surface of the photovoltaic panel 4.

[0068] The attitude adjustment drive 206 enables the cleaning brush 204 to switch between a cleaning position and a layer-changing position. In the cleaning position, the track 102 of the rocker arm traveling assembly contacts the surface of the photovoltaic panel 4, and the cleaning brush 204 acts on the surface of the photovoltaic panel 4 in a preset contact state. In the layer-changing position, the attitude adjustment drive 206 pushes the rocker arm traveling assembly to change its attitude, causing the cleaning brush 204 to leave the surface of the photovoltaic panel 4 or reduce the contact pressure with the surface of the photovoltaic panel 4, so that the retraction mechanism can lift the cleaning module 2.

[0069] The edge distance detection unit 6 is located at the end of the cleaning rod 203, on the lower side of the second frame 201 in the inclined direction, or at another position that allows it to detect the lower edge of the photovoltaic array. As a direct ranging implementation, the ranging axis is approximately parallel to the photovoltaic array plane and points towards the lower frame. The edge distance detection unit 6 outputs the distance along the detection direction between its installation reference point and the lower frame or a preset reflector. After installation offset calculation, the distance db from the reference point of the cleaning module 2 to the lower edge is obtained. As an edge abrupt change detection implementation, the detection axis faces the surface of the photovoltaic panel 4. When the detection area crosses the lower edge, the reflection distance or the number of effective point clouds changes abruptly. The processor 9 converts this abrupt change state into edge proximity information according to the calibration relationship. The edge distance detection unit 6 can employ an ultrasonic ranging sensor, a laser ranging sensor, or a lidar.

[0070] An auxiliary anti-detachment component is installed at one end of the second frame 201 near the upper edge of the photovoltaic array. The auxiliary anti-detachment component includes a suspension arm 2071 rotatably connected to the second frame 201, a suspension wheel 2072 disposed on the suspension arm 2071, and a suspension drive component 2073 for driving the suspension arm 2071 to rotate. The suspension drive component 2073 may be an electric push rod.

[0071] When the cleaning module 2 and the moving module 1 are in an integrated state and jointly cleaning the uppermost cleaning strip, the suspension drive component 2073 drives the suspension arm 2071 to unfold, allowing the suspension wheel 2072 to engage with the upper edge, side, or back support position of the photovoltaic array, providing auxiliary anti-detachment and lateral movement support for the cleaning module 2. When the cleaning module 2 needs to leave the moving module 1 and enter a separate state, the suspension drive component 2073 drives the suspension arm 2071 to retract, causing the suspension wheel 2072 to rotate to a clearance position, preventing interference between the auxiliary anti-detachment component and the combined load-bearing component.

[0072] The hoisting connection 208 is located on the side of the second frame 201 away from the photovoltaic panel 4, and can be a vertical hook, a lifting ring, or a connection structure that can be detachably connected to the hook of the drone 3. Guide slots 209 that mate with the combined load-bearing components are provided at the four corners or on both sides of the second frame 201. The free ends of the traction ropes 1054 are connected to both sides of the second frame 201, and the traction connection positions are preferably symmetrically arranged about the center of gravity of the cleaning module 2 to reduce deflection during lowering and lifting.

[0073] An independent power supply unit is located on the second frame 201, used to supply power to the second controller 902, cleaning drive unit 205, rocker arm walking assembly, attitude adjustment drive unit 206, auxiliary anti-detachment assembly, and detection unit in the split state. The cleaning module 2 is equipped with a charging receiving interface connected to the independent power supply unit. After the cleaning module 2 enters the combined carrying space, the charging receiving interface connects to the charging output interface on the moving module 1, enabling the main power supply unit to charge the independent power supply unit.

[0074] The charging circuit can be equipped with a charging management module, a reverse polarity protection circuit, and an overcurrent protection circuit. The first controller 901 enables charging output after the combined positioning signal is valid and the charging interface voltage is normal, and shuts off the charging output before the combined positioning signal fails or the robot enters the lifting state. The above-mentioned charging management and protection circuits can be implemented using existing battery management technology. The improvement focus of this application is not on the specific charging protocol, but on establishing an electrical connection between the two modules using the overall state and disconnecting the follower power supply cable in the separate state.

[0075] This embodiment sets the combined load-bearing relationship required for overall transportation and the traction relationship required for separate cleaning in the same robot, so that the drone 3 does not need to continuously suspend the cleaning module 2 throughout the cleaning process, and the cleaning module 2 is still connected to the mobile module 1 held on the upper part of the photovoltaic array when working on the tilted photovoltaic panel 4.

[0076] Example 2 Reference Figure 7 and Figure 8 This embodiment provides a drone-mounted split photovoltaic cleaning system, including a drone 3, the robot described in Embodiment 1, an edge distance detection unit 6, a relative position detection unit 5, a combined positioning detection unit 7, a travel detection unit 8, and at least one processor 9. The at least one processor 9 can be jointly composed of a first controller 901 disposed in the moving module 1 and a second controller 902 disposed in the cleaning module 2, or one controller can be used as the main processor 9 and the other controller as the slave controller.

[0077] The first controller 901 is connected by signal or electrical connections to the walking drive component 2023 of the board walking assembly, the suspension drive component 2073 of the upper edge suspension assembly, the retraction drive component 1053, the combined positioning detection unit 7, and the power management module of the main power supply assembly of the moving module 1. The second controller 902 is connected by signal or electrical connections to the rocker arm walking assembly, the cleaning drive component 205, the attitude adjustment drive component 206, the auxiliary anti-detachment assembly, the edge distance detection unit 6, the stroke detection unit 8, and the independent power supply assembly of the cleaning module 2. A communication connection is established between the first controller 901 and the second controller 902 for exchanging working status, relative position information, speed commands, retraction commands, and abnormal status information. To correspond with the names in the claims, the first walking mechanism includes the board walking assembly and the suspension walking unit 1032 in the upper edge suspension assembly, and the second walking mechanism is composed of the rocker arm walking assemblies on both sides of the cleaning module 2.

[0078] The first controller 901 and the second controller 902 can communicate via CAN bus, RS485 bus, industrial Ethernet, or wireless communication. The processor 9 receives distance signals, position signals, travel signals, and switching signals from the sensors at its input terminals, and outputs control signals to the walking drive unit 2023, the retraction drive unit 1053, the cleaning drive unit 205, and the attitude adjustment drive unit 206. The relative position detection unit 5 may include a first positioning unit 501 disposed in the moving module 1 and a second positioning unit 502 disposed in the cleaning module 2. The processor 9 can directly obtain the relative position based on the outputs of the two positioning units, or first determine the positions of the two modules separately and then calculate their difference.

[0079] To facilitate the explanation of the control logic, a local coordinate system is established within the plane containing the photovoltaic array. The x-axis extends laterally along the photovoltaic array, and the y-axis extends along the inclined direction of the photovoltaic array from the top edge to the bottom edge. All coordinate quantities are in length units. The reference point position vector of the moving module 1 is denoted as pm, and the reference point position vector of the cleaning module 2 is denoted as pc. The reference point can be taken from the installation positions of the first positioning unit 501 and the second positioning unit 502, or it can be taken from the geometric center of the module after installation offset calculation. Before using data from different positioning units, the processor 9 first converts it to the aforementioned local coordinate system.

[0080] The relative position detection unit 5 can employ a UWB positioning component, an RTK positioning component, an IMU component, or a combination of at least two of these. Different detection methods can be selected based on the photovoltaic power station environment, array size, and positioning accuracy requirements.

[0081] When using UWB positioning components, UWB base stations or anchor points can be set on the mobile module 1, and UWB tags can be set on the cleaning module 2. If the UWB component has the ability to measure the angle of arrival, or if multiple UWB anchor points are set at intervals on the mobile module 1, the processor 9 can obtain the projected distance rp and the projected azimuth angle θ of the line connecting the two reference points in the photovoltaic array plane, and determine the relative lateral displacement and relative tilt displacement of the two modules in the local coordinate system. If the UWB component directly outputs the spatial distance, the projection conversion can be performed based on the difference in installation height between the two positioning units relative to the photovoltaic array surface, or the correspondence between the UWB output and the relative displacement in the array plane can be directly established through on-site calibration.

[0082] , In the formula, k represents the discrete sampling time; The projection distance of the line connecting the two reference points onto the photovoltaic array plane is expressed in the dimension of length. The azimuth angle of the projected line relative to the x-axis of the local coordinate system is expressed in radians; and These represent the lateral relative displacement and the tilt relative displacement, respectively, both measured in units of length. Ordinary single-anchor UWB ranging components typically only provide distance directly. Therefore, when obtaining the azimuth angle is required, a multi-antenna component with angle of arrival measurement capabilities, multiple anchor points, or a combination of traction rope length and other attitude information should be used to determine the relative azimuth.

[0083] When using RTK positioning components, the moving module and the cleaning module are each equipped with RTK positioning terminals. The processor obtains the latitude φ and longitude λ of the two positioning terminals and first converts them into eastward displacement ΔE and northward displacement ΔN within a local tangent plane near the target photovoltaic array. For short-distance positioning between the two modules, the following approximate relationship can be used: , In the formula, R is the average radius of the Earth, and its dimension is length; and These are the latitudes of the moving module and the cleaning module, respectively. and Longitude and average latitude of the mobile module and cleaning module, respectively. It is the average of two latitudes; both latitude and longitude are expressed in radians. Therefore, the dimensions of ΔE and ΔN are both length.

[0084] Let ψ be the rotation angle of the x-axis of the local coordinate system of the photovoltaic array relative to the eastward axis. Then, by rotating the eastward and northward displacements to the local coordinate system of the photovoltaic array, the lateral relative displacement and tilting relative displacement of the RTK can be determined by the following formula.

[0085] , In the formula, ψ is calibrated according to the installation direction of the target photovoltaic array, and the positive direction of the rotated y-axis is aligned with the direction of the photovoltaic array from the top edge to the bottom edge. After rotation using this coordinate system, the position values ​​obtained by RTK, UWB, and encoder can be compared in the same local coordinate system.

[0086] When using IMU components, both the motion module and the cleaning module are equipped with nine-axis inertial measurement units. The IMU outputs three-axis acceleration, three-axis angular velocity, and three-axis magnetic field information, and obtains pitch, roll, and yaw angles based on attitude fusion. By integrating the acceleration after removing the gravity component, short-term velocity and displacement changes can be obtained. Since acceleration integration accumulates zero-bias errors, the IMU is preferred for short-term motion trend judgment and attitude assistance, and is not suitable for long-term relative position measurement alone in the absence of absolute positioning correction.

[0087] When the system uses both positioning information and IMU information, UWB or RTK position can be used to correct IMU integral drift. As one possible implementation, the processor first obtains the current position prediction based on the position and velocity at the previous sampling time, as well as the array plane acceleration after attitude transformation and removal of the gravity component.

[0088] In the formula, and These are the position prediction vector and the velocity prediction vector, respectively. The acceleration vector projected onto the photovoltaic array plane and with the gravitational component removed; The sampling period is given. The dimensions of the position, velocity, and acceleration mentioned above are length, length divided by time, and length divided by the square of time, respectively.

[0089] Subsequently, the processor uses a complementary weighting method to fuse the localized location and the IMU predicted location.

[0090] In the formula, The position vector converted from UWB or RTK to the same local coordinate system; Predict the location vector for the IMU; These are dimensionless fusion weights, ranging from 0 to 1. They are increased when the positioning signal quality is high. When the positioning signal fluctuates for a short time, α(k) decreases. If the positioning unit cannot directly output the speed, the current speed estimation can be made using... If the positioning unit can output velocity, the positioning velocity and predicted velocity can be fused using the same complementary weighting method as the position. This fusion can be applied separately to the movement module and the cleaning module, and the relative position can be obtained by subtracting the positions of the two. Alternatively, the relative position and relative velocity can be fused directly. Kalman filtering can also be used to achieve similar fusion, but it should be ensured that the position vectors involved in the fusion use the same coordinate system and length unit.

[0091] When the cleaning module and the moving module jointly perform lateral cleaning, the processor periodically acquires the lateral coordinates of both modules. The target lateral offset of the moving module's reference point relative to the cleaning module's reference point is denoted as... The target lateral offset can be zero, or it can be pre-calibrated based on the installation positions of the two positioning units and the robot's structural dimensions. The lateral alignment deviation in the fixed coordinate system is determined by the following formula.

[0092] In the formula, and , respectively, are the horizontal coordinates of the moving module and the cleaning module at the k-th sampling time, both in length. The target's lateral offset under normal alignment is measured in length. This refers to the lateral alignment deviation. The lateral alignment deviation is used for lowering verification, stop protection, and alignment judgment independent of the direction of travel.

[0093] Since adjacent cleaning zones can adopt a reciprocating direction, in order to ensure that the speed correction has a consistent physical meaning when cleaning from left to right and from right to left, the current lateral travel direction coefficient s(k) is defined. When traveling along the positive x-axis of the local coordinate system, s(k) is 1, and when traveling along the negative x-axis, s(k) is -1, and the travel direction tracking deviation is determined by the following formula.

[0094] when When positive, it indicates that the cleaning module lags behind the moving module along the current direction of travel; when... When negative, it indicates that the cleaning module is ahead of the moving module in the current direction of travel. This definition avoids the robot directly using the fixed coordinate error sign when cleaning in reverse, which would cause the speed correction direction to be reversed.

[0095] The processor generates a speed amplitude correction amount based on the tracking deviation in the direction of travel. Speed ​​correction can be achieved using proportional control, proportional-integral control, or proportional-integral-derivative control. When using discrete proportional-integral-derivative control, the speed amplitude correction amount is determined by the following formula.

[0096] In the formula, Δu(k) is the velocity amplitude correction amount, with the dimension of length divided by time; , and These are the proportional coefficient, integral coefficient, and differential coefficient, respectively. The sampling period is [value]. If the positional deviation is expressed in units of length and the velocity is expressed in units of length divided by time, then [then...]. Its dimension is the reciprocal of time. Its dimension is the reciprocal of the square of time. It is dimensionless. In engineering implementation, the integral term can be limited, and the integral term can be cleared or recalculated when the cleaning direction is switched or when entering a stop state, in order to avoid integral saturation.

[0097] Taking adjusting the walking speed of the cleaning module as an example, first determine the speed amplitude command of the second walking mechanism, and then determine the speed command with a sign according to the current direction of travel.

[0098] In the formula, This is the speed amplitude command for the cleaning module; Speed ​​commands with direction; This is the current reference speed amplitude of the cleaning belt; and These are the minimum and maximum permissible speed amplitudes, respectively, and both satisfy 0 < or < 0. and Less than `sat` is the limiting function. When the cleaning module lags, its speed amplitude is increased; when the cleaning module leads, its speed amplitude is decreased.

[0099] In other embodiments, the speed of the cleaning module can be kept constant while the speed of the moving module is adjusted, or the speeds of both modules can be adjusted simultaneously according to a preset ratio. Regardless of the adjustment method used, the lateral alignment deviation should be brought back to the preset allowable deviation range.

[0100] The processor sets a preset correction range and a preset stop range. When the lateral alignment deviation is within the preset correction range, the system maintains coordinated walking through speed correction; when the lateral alignment deviation exceeds the preset stop range, the processor stops the first and second walking mechanisms and generates a position correction command to avoid excessive lateral tension on the traction rope or significant deflection of the cleaning module.

[0101] As the cleaning module is lowered from the moving module to the bottom of the photovoltaic array, the edge distance detection unit periodically acquires the edge distance between the cleaning module and the bottom edge of the photovoltaic array. Preset bottom edge stopping conditions can include edge distance being less than or equal to the stop distance. Furthermore, the ranging data remains valid across multiple consecutive sampling periods.

[0102] To prevent the cleaning module from entering the lateral cleaning process when it is significantly laterally offset, this embodiment uses both the edge distance condition and the relative position condition as validity verification conditions for the lowering process.

[0103] In the formula, This is a Boolean condition for the validity of the decentralization. and These are the current edge distance and the preset stop distance, respectively, both of which are measured in units of length. This represents the permissible value for lateral alignment deviation, measured in length. When When the system is set up, the processor controls the release mechanism to stop releasing the rope and controls the cleaning module to switch to the lateral cleaning state. When the edge distance meets the stopping condition but the lateral alignment deviation exceeds the allowable range, the processor stops releasing the rope and generates a position correction command. The lateral cleaning is then resumed after the deviation is corrected.

[0104] The preset stop distance can be obtained through calibration based on the position of the edge distance detection unit relative to the cleaning brush, the effective cleaning range of the cleaning brush, and the dimensions of the photovoltaic array frame. The preset allowable deviation can be determined based on the traction rope spacing, the width of the cleaning module, and the allowable lateral misalignment of the cleaning brush. All of the above parameters can be obtained through prototype calibration or on-site debugging, and do not need to be limited to specific values.

[0105] The stroke detection unit is used to acquire the lateral movement stroke of the cleaning module within the current cleaning belt. The stroke detection unit can be an encoder mounted on the drive wheel, driven wheel, or output shaft of the drive motor, or it can be an RTK, UWB, visual positioning, or other detection methods capable of acquiring lateral displacement.

[0106] When using an encoder mounted on the output shaft of the walking drive motor, the lateral net travel within the current cleaning belt can be calculated based on the equivalent diameter of the drive wheel, the transmission ratio, and the cumulative number of pulses.

[0107] In the formula, Sampling time from the start of the current cleaning zone The net lateral travel up to the k-th sampling time, with the dimension of length; The equivalent diameter of the drive wheel or track drive wheel; It is the ratio of the rotational speed of the drive motor to the rotational speed of the drive wheels, and is dimensionless. This represents the number of valid pulses output by the encoder during one revolution of the motor. This represents the encoder pulse increment with direction during the j-th sampling period. The absolute value is used to ensure that the travel distance during cleaning from left to right and from right to left is non-negative. If the encoder is mounted on the drive wheel shaft, then... Take 1. When considering track slippage, the encoder travel can be corrected using the lateral displacement obtained from RTK, UWB, or visual positioning. The processor records the encoder net travel or the lateral net displacement corrected by positioning information as... It is used to determine the completion conditions of the current cleaning belt.

[0108] The current conditions for the cleaning belt to complete include the lateral movement reaching the preset cleaning stroke, and the lateral alignment deviation between the two modules being within the preset allowable deviation range.

[0109] In the formula, The current cleaning zone completion condition is defined as Boolean type; and These are the current net lateral travel of the cleaning belt and the preset cleaning travel, respectively, both measured in units of length. Upon setup, the current cleaning zone is recorded as a completed cleaning zone, and the interlayer lifting process begins. If the lateral net travel distance does not reach the preset cleaning travel distance, lateral cleaning continues. If the travel distance is reached but the lateral alignment deviation exceeds the allowable range, the movement stops and position correction is performed. After correction, cleaning can continue or the current cleaning zone can be supplemented with additional cleaning.

[0110] The cleaning brush forms an effective cleaning bandwidth in the tilt direction of the photovoltaic array. To avoid uncovered gaps between adjacent cleaning zones, a preset overlap width is set between them. and satisfying 0 less than or equal to and Less than The standard inter-story lifting distance is determined by the following formula.

[0111] In the formula, This refers to the standard inter-floor elevation distance; The effective cleaning bandwidth formed by the cleaning brush along the tilt direction of the photovoltaic array; The preset overlap width for adjacent cleaning zones is given, and all the quantities mentioned above are in the dimension of length. The effective cleaning zone width should be determined based on the actual effective contact area formed by the bristles or cleaning material in the cleaning position, rather than simply being equivalent to the axial length, outer diameter, or other single external dimensions of the roller brush.

[0112] To avoid confusion between the number of cleaning strips and the number of lifting operations, the calculation is performed using the tilt direction coordinates of the cleaning module reference point. Let the coordinates of the cleaning module reference point be [coordinates missing] when the first separate cleaning strip at the bottom of the photovoltaic array is completed. When maintaining a preset overlap width with the uppermost cleaned area, the termination reference coordinate that the cleaning module should reach is: Since the y-axis is positive from top to bottom, it is usually... Greater than or equal to The total lifting displacement to be completed is .

[0113] , In the formula, The total lifting displacement from the first split cleaning belt at the bottom to the final reference position is measured in length. Let $\frac{ ... When the value is zero, no inter-layer lifting is required. The first separate cleaning belt at the bottom is not included in the lifting count, so this expression does not double-count the number of cleaning belts and the number of lifting.

[0114] Before the i-th inter-layer lift, let the current reference coordinates of the cleaning module be... Then the remaining lift distance to the final reference coordinate. And the actual lifting distance Determine them according to the following formulas respectively.

[0115] , In the formula, and All dimensions are length; when the cleaning module has reached or crossed the termination reference coordinate, Set the height to zero and stop lifting. When the remaining lifting distance is greater than or equal to the standard inter-layer lifting distance, lift according to the standard inter-layer lifting distance; when the remaining lifting distance is less than the standard inter-layer lifting distance, lift according to the remaining lifting distance until the cleaning brush reaches the stop position that maintains a preset overlap with the uppermost cleaned area.

[0116] The deployment and retraction mechanism actually controls the change in the length of the traction rope. Let the distance from the i-th module lifting position be... The corresponding single traction rope recovery length is If the rope exit point of the moving module, the traction connection point of the cleaning module, and the effective section of the traction rope are arranged to extend approximately along the tilt direction of the photovoltaic array, then it can be approximated as... equal ; The retraction mechanism actually controls the length of the traction rope that is retracted or extended. Let the distance from the i-th module lifting point be... The corresponding single traction rope recovery length is When the effective section of the traction rope extends along the lifting direction of the cleaning module... and Equal; when the traction rope changes its extension direction after passing the guide wheel, the distance is determined based on the geometric relationship between the length of the traction rope and the lifting displacement of the cleaning module. .

[0117] For the i-th inter-layer lift, the processor sets the target retrieval length of a single traction rope to be... And obtain the actual recovery length of the traction rope during this lifting process. The actual recovery length of the traction rope can be obtained by a rope length detector installed on the traction rope's recovery path, or by a length measuring unit configured within the recovery mechanism itself. The processor controls the operation of the recovery drive based on the difference between the target recovery length and the actual recovery length.

[0118] In the formula, Let be the remaining recovery length at time t during the i-th lift process; The target recovery length corresponding to this increase; Let t represent the length of the traction rope that has been recovered up to time t during this lifting process. All three values ​​are in the dimension of length.

[0119] When the remaining recovery length is greater than the preset rope length allowable error, the processor controls the take-up and release drive to continue recovering the traction rope; when the remaining recovery length is less than or equal to the preset rope length allowable error, the processor controls the take-up and release drive to stop. Since the take-up and release mechanism directly uses the actual take-up and release length of the traction rope as the control quantity, there is no need to convert the take-up and release distance based on the number of winding layers or the change in winding radius of the traction rope on the winding wheel.

[0120] After completing the cleaning process, the processor controls the attitude adjustment drive to move the cleaning brush into the transition position and controls the retraction mechanism to retrieve the traction ropes. The cleaning module moves towards the moving module under the traction of the two traction ropes, and its guide slot gradually engages with the guide limit plate and enters the combined carrying space.

[0121] When the cleaning module reaches the assembly position, the assembly positioning detection unit outputs an assembly positioning signal. Based on this signal, the processor stops the deployment and retraction of the drive components and switches the robot to the overall state. Only when the assembly positioning signal is received and the deployment and retraction of the drive components have stopped will the processor generate a transfer command allowing the UAV to lift the assembly.

[0122] If the assembly positioning signal is not obtained within the preset retrieval time, or if the assembly positioning signal changes repeatedly during retrieval, the processor stops the take-up and take-down mechanism and outputs an assembly error message. At this point, the preset length of traction rope can be released at low speed and the assembly can be retrieved again, or the movement module and cleaning module can be controlled to perform a small lateral position correction before re-executing the assembly retrieval.

[0123] The processor can divide the robot's operation process into four states: combined transfer, placement confirmation, top cleaning, separate lowering, lateral cleaning, inter-layer lifting, combined retrieval, and abnormal stop. Signal switching between these states is achieved through sensor information and actions.

[0124] Example 3 Reference Figure 9 and Figure 10 This embodiment is based on the system execution method of UAV 3 for split photovoltaic cleaning in Embodiment 2. The method is carried out in the following order: overall hoisting, top cleaning, split lowering, layer-by-layer cleaning from bottom to top, combined recovery, and retransport.

[0125] Step STP100: Combined inspection, hoisting and deployment Before the operation begins, the cleaning module 2 is moved into the combined carrying space of the moving module 1, and the combined positioning detection unit 7 outputs a valid combined positioning signal. The processor 9 controls the take-up and take-down mechanism to stop and maintain braking, so that the moving module 1 and the cleaning module 2 are in a unified state.

[0126] The drone 3 descends above the robot, connecting its lifting structure with the lifting connection 208 of the cleaning module 2. After connection confirmation, the drone 3 lifts the cleaning module 2, which in turn lifts the mobile module 1 via the combined load-bearing components. The drone 3 then transports the assembly to the top of the target photovoltaic array, aligning the upper edge suspension component of the mobile module 1 with the upper edge of the target photovoltaic array.

[0127] The drone 3 is slowly lowered into the assembly, allowing the walking component of the mobile module 1 to contact the surface of the photovoltaic panel 4, with the upper suspension component passing over and supporting the upper edge of the photovoltaic array. After confirming that the robot's weight is supported by the photovoltaic array, the connection between the drone 3's hoisting structure and the hoisting connection 208 is released.

[0128] Step STP200: Top cleaning and state switching preparation The moving module 1 and the cleaning module 2 remain as a whole. The auxiliary anti-detachment component of the cleaning module 2 is in the deployed position, and the suspension wheel 2072 engages with the edge of the photovoltaic array; the attitude adjustment drive 206 positions the cleaning brush 204 in the cleaning position; the cleaning drive 205 drives the roller brush to rotate.

[0129] In its overall configuration, the first traveling mechanism serves as the main driving force for the assembly, while the second traveling mechanism operates in a follow-up state. When using a shared drive, the processor 9 limits the speed difference between the two traveling mechanisms based on speed feedback to reduce the additional shear load on the combined load-bearing components. The cleaning brush 204 completes the cleaning of the uppermost cleaning belt. The processor 9 obtains the lateral movement stroke through the stroke detection unit 8 and stops the lateral movement after reaching the preset cleaning stroke of the uppermost cleaning belt.

[0130] After the uppermost cleaning belt is completed, the attitude adjustment drive 206 drives the rocker arm traveling assembly to swing, causing the cleaning brush 204 to enter the layer transfer position; the auxiliary anti-detachment assembly rotates from the extended position to the retracted position to avoid the movement path of the cleaning module 2 leaving the combined carrying space. The processor 9 releases the overall state operation lock and enters the separate lowering preparation state.

[0131] Step STP300: Split-down placement and lower edge positioning The processor 9 controls the retraction drive 1053 to rotate along the rope release direction, and the two rope reels 1052 simultaneously release the traction rope 1054. The retraction mechanism limits the rope release speed, and the cleaning module 2 moves downward along the tilt direction of the photovoltaic array under the influence of gravity, the constraint of the traction rope 1054, and the contact between the rocker arm traveling assembly and the photovoltaic panel 4. The second traveling mechanism can be in a state of no-power follow-up, or it can output auxiliary driving force in the low-speed downward direction.

[0132] During the lowering process, the edge distance detection unit 6 continuously acquires edge distance information, and the relative position detection unit 5 continuously acquires the relative position information of the two modules. The processor 9 determines the lateral alignment deviation based on the relative position. When the deviation is within the allowable range, rope lowering continues; when the deviation exceeds the allowable range, rope lowering stops, and position correction is performed by driving the first or second traveling mechanism at low speed.

[0133] When the edge distance meets the preset lower edge stopping condition and the lateral alignment deviation is within the preset allowable deviation range, the processor 9 controls the release mechanism to stop releasing the rope and maintain braking. The attitude adjustment drive 206 adjusts the rocker arm walking assembly to make the track 102 stably contact the surface of the photovoltaic panel 4 and to move the cleaning brush 204 into the cleaning position. Thus, the cleaning module 2 reaches the first split cleaning belt at the bottom of the photovoltaic array.

[0134] Step STP400: Lateral cleaning, speed calibration, and layer-by-layer lifting The processor 9 activates the cleaning drive unit 205, causing the roller brush to rotate, and controls the moving module 1 and the cleaning module 2 to move in the same lateral direction. The moving module 1 moves along the upper part of the photovoltaic array via the upper edge suspension assembly and the panel walking assembly, while the cleaning module 2 moves along the current cleaning belt via the rocker arm walking assembly.

[0135] During the lateral cleaning process, the relative position detection unit 5 periodically obtains the relative positions of the two modules, and the processor 9 calculates the lateral alignment deviation and generates a speed correction. When the cleaning module 2 lags behind, the speed of the second traveling mechanism is increased or the speed of the first traveling mechanism is decreased; when the cleaning module 2 is ahead, the speed of the second traveling mechanism is decreased or the speed of the first traveling mechanism is increased.

[0136] Simultaneously, processor 9 calculates the lateral movement stroke of the current cleaning belt based on the output of stroke detection unit 8. When the lateral movement stroke reaches the preset cleaning stroke and the lateral alignment deviation is within the preset allowable deviation range, the current cleaning belt is recorded as a completed cleaning belt. If the lateral movement stroke is insufficient, cleaning continues; if the lateral alignment deviation exceeds the limit, both traveling mechanisms are stopped, position correction is performed, and cleaning continues, or supplementary cleaning is performed on the unfinished area from the current interrupted position.

[0137] After completing the current cleaning zone, the cleaning drive 205 stops, and the attitude adjustment drive 206 moves the cleaning brush 204 into the layer transition position, where the buffer contact makes flexible contact with the photovoltaic panel 4. The processor 9 determines the actual lifting distance based on the standard inter-layer lifting distance and the current remaining distance, and controls the take-up and release mechanism to retract the corresponding length of the traction rope 1054, causing the cleaning module 2 to move upwards towards the photovoltaic array to the next cleaning zone.

[0138] After the cleaning module 2 reaches the next cleaning belt, the attitude adjustment drive 206 restores the track 102 and cleaning brush 204 to the cleaning position, and performs lateral cleaning again. Adjacent cleaning belts can adopt a reciprocating direction, that is, one cleaning belt cleans from left to right, and the next cleaning belt cleans from right to left, in order to reduce the no-load return stroke.

[0139] When the width of the remaining unwashed area in the inclined direction is less than the standard interlayer lifting distance, the processor 9 lifts the cleaning module 2 according to the remaining distance, so that the cleaning brush 204 corresponds to the last section of the unwashed area, and completes the last cleaning strip. This avoids the situation where the final remaining area is not covered because the lifting distance is fixed to the length of the cleaning brush 204 each time.

[0140] Step STP500: Combined Recovery and Drone Transfer After all the cleaning belts are cleaned, the processor 9 stops the cleaning drive 205, allowing the cleaning brush 204 to enter the transfer position, and controls the retraction mechanism to continuously retract the traction rope 1054. The cleaning module 2 moves closer to the moving module 1 under the traction of the two traction ropes 1054, and the guide slot 209 cooperates with the guide limit plate 1041 and gradually enters the combined bearing space.

[0141] Once the assembly positioning detection unit 7 detects that the cleaning module 2 has reached the assembly position, the processor 9 stops the take-up and take-down mechanism and maintains braking, switching the robot state to the overall state. When the charging output interface and the charging receiving interface are reconnected, the moving module 1 can supply power or charge the cleaning module 2.

[0142] Processor 9 generates a transfer command that allows UAV 3 to lift the assembly only when the assembly positioning signal is valid, the deployment and take-off mechanism stops, and the robot is in its overall state. UAV 3 then reconnects the lifting structure to the lifting connection 208 and lifts the assembly away from the current photovoltaic array, transferring it to the next target photovoltaic array or the recovery location.

[0143] The preset lower edge stopping condition, preset allowable deviation range, preset stopping range, preset cleaning stroke, effective cleaning bandwidth, preset overlap width, and speed control parameters can be calibrated through trial runs based on the specific photovoltaic array size, tilt angle, robot structural dimensions, and drive performance. The calibration process includes recording sensor outputs at a known position, driving the robot to complete a known stroke, and comparing the actual coverage area of ​​cleaning brush 204, thereby establishing the correspondence between detected values, control quantities, and actual positions.

[0144] It should be understood that the above formulas are used to disclose a specific implementation of the control logic of this application, and do not limit the processor to adopt the exact same mathematical expression. As long as it is possible to control the stopping of descent based on edge distance information, correct the cooperative movement of the two modules based on relative position information, determine the inter-layer lifting distance based on effective cleaning bandwidth and overlap width, and form a transfer safety interlock based on combined state information, the control objectives of this application can be achieved.

[0145] The above description is merely a preferred embodiment of the present invention. Those skilled in the art can make adjustments or equivalent substitutions to the above structure, detection method, and control steps without departing from the technical concept of the present invention, and such adjustments or substitutions should all fall within the protection scope defined by the claims of the present invention.

[0146] In this embodiment, a computer-readable storage medium is used to store a computer program executable by a processor. The computer-readable storage medium may be a read-only memory, random access memory, flash memory, hard disk, memory card, or other medium capable of storing a computer program. This invention is not limited to the optional embodiments described above; any person can derive various other forms of products based on the teachings of this invention. The specific embodiments described above should not be construed as limiting the scope of protection of this invention. The scope of protection of this invention should be determined by the claims, and the specification can be used to interpret the claims.

Claims

1. A drone-mounted, split-type photovoltaic cleaning robot, characterized in that: It includes a detachable mobile module (1) and a cleaning module (2). The cleaning module (2) is equipped with a cleaning brush (204) and a hoisting connection part (208) for connecting the hoisting structure of the drone (3). The mobile module (1) is equipped with a take-up and take-down mechanism, which is connected to the cleaning module (2) by a traction rope (1054). The moving module (1) and the cleaning module (2) have an overall state that forms a combination that can be hoisted by the drone (3) as a whole, and a split state that is separated from each other and connected by the traction rope (1054). The cleaning module (2) is used to clean the photovoltaic panel (4) by the cleaning brush (204) in the split state.

2. The drone-mounted split-type photovoltaic cleaning robot according to claim 1, characterized in that: The mobile module (1) includes a first frame (101), a panel walking assembly disposed on the side of the first frame (101) facing the photovoltaic panel (4), an upper edge suspension assembly disposed at one end of the first frame (101), and a combined bearing assembly disposed on the first frame (101). The upper edge suspension assembly is used to support the upper edge of the photovoltaic array. The panel walking assembly and the upper edge suspension assembly are used to jointly drive the moving module (1) to move along the photovoltaic array. The combined bearing assembly is used to support the cleaning module (2) in the overall state.

3. The drone-mounted split-type photovoltaic cleaning robot according to claim 1, characterized in that: The cleaning module (2) includes a second frame (201) and rocker arm walking components disposed on both sides of the second frame (201). A cleaning rod (203) is connected between the oppositely disposed rocker arm walking components. The cleaning brush (204) is a roller brush rotatably disposed on the cleaning rod (203). An attitude adjustment drive (206) is provided between the rocker arm walking assembly and the second frame (201), and the attitude adjustment drive (206) is used to drive the rocker arm walking assembly to swing up and down. The second frame (201) has an auxiliary anti-detachment component that can be deployed or retracted at one end near the upper edge of the photovoltaic array.

4. The drone-mounted split-type photovoltaic cleaning robot according to claim 2, characterized in that: The combined bearing assembly includes two guide limiting plates (1041) arranged opposite to each other, and a combined bearing space is formed between the two guide limiting plates (1041) for the cleaning module (2) to enter; The take-up and release mechanism includes a take-up and release shaft (1051), two rope winding wheels (1052) coaxially arranged on the take-up and release shaft (1051), and a take-up and release drive component (1053) that is pulsatorically connected to the take-up and release shaft (1051). There are two traction ropes (1054), which are wound around the rope winding wheels (1052) and connected to the cleaning module (2). The mobile module (1) is provided with a charging output interface, and the cleaning module (2) is provided with a charging receiving interface corresponding to the charging output interface. The charging output interface and the charging receiving interface are connected to each other in the overall state.

5. A drone-mounted split photovoltaic cleaning system, characterized in that, The drone (3) as described in any one of claims 1 to 4 is a suspended split photovoltaic cleaning robot, an edge distance detection unit (6), a relative position detection unit (5), a combined positioning detection unit (7), and at least one processor (9); The edge distance detection unit (6) is disposed in the cleaning module (2) and is used to obtain the edge distance information between the cleaning module (2) and the lower edge of the photovoltaic array; The relative position detection unit (5) is used to obtain the relative position information between the moving module (1) and the cleaning module (2); The combined positioning detection unit (7) is used to obtain the combined status information between the moving module (1) and the cleaning module (2); The moving module (1) is provided with a first walking mechanism, the cleaning module (2) is provided with a second walking mechanism, and the at least one processor (9) is communicatively connected to the edge distance detection unit (6), the relative position detection unit (5), the combined positioning detection unit (7), the take-up and take-down mechanism, the first walking mechanism, and the second walking mechanism, and is configured as follows: Obtain the edge distance information, the relative position information, and the combined state information; The receiving and releasing mechanism is controlled to stop lowering the cleaning module (2) based on the edge distance information; Adjust the walking speed of the first or second walking mechanism according to the relative position information, and control the take-up and release mechanism to lift the cleaning module (2) after the current lateral cleaning stroke is completed; Based on the combined status information, the take-up and take-down mechanism is controlled to stop retrieving and a transfer instruction is generated that allows the UAV (3) to lift the combined object.

6. The UAV-mounted split photovoltaic cleaning system according to claim 5, characterized in that, Includes a stroke detection unit (8) for acquiring the lateral movement stroke of the cleaning module (2); The at least one processor (9) is also configured to perform validity checks on the current job process, specifically including: During the lowering process of the cleaning module (2), the edge distance information is compared with the preset lower edge stopping condition, and the relative position deviation corresponding to the relative position information is compared with the preset allowable deviation range; If the edge distance information satisfies the preset lower edge stop condition and the relative position deviation is within the preset allowable deviation range, then the lowering of the cleaning module (2) is stopped and the horizontal cleaning process begins; If the relative position deviation exceeds the preset allowable deviation range, the take-up and take-down mechanism is stopped and a position correction command is generated; During the lateral cleaning process, the lateral movement stroke obtained by the stroke detection unit (8) is compared with the preset cleaning stroke. If the lateral movement stroke meets the preset cleaning stroke, the current lateral cleaning stroke is confirmed to be completed; otherwise, the current lateral cleaning stroke continues to be executed.

7. The UAV-mounted split photovoltaic cleaning system according to claim 5, characterized in that, The at least one processor (9) is also configured to: The interlayer lifting distance is determined based on the effective cleaning bandwidth formed by the cleaning brush (204) along the tilt direction of the photovoltaic array and the preset overlap width between adjacent cleaning bands. After the current horizontal cleaning stroke is completed, the take-up and take-down mechanism is controlled to lift the cleaning module (2) according to the interlayer lifting distance; Obtain the remaining distance between the cleaning module (2) and the upper boundary of the remaining uncleaned area; If the remaining distance is less than the inter-layer lifting distance, then the remaining distance is determined as the lifting distance for this time; After completing the cleaning of all areas, the receiving and releasing mechanism is controlled to retrieve the cleaning module (2), and the transfer instruction is generated after obtaining the combined status information.

8. A method for cleaning a drone-mounted split photovoltaic system, implemented based on the drone-mounted split photovoltaic system described in any one of claims 5 to 7, characterized in that, Includes the following steps: Step STP100: Switch the mobile module (1) and the cleaning module (2) to the overall state, and use the drone (3) to lift the combination of the mobile module (1) and the cleaning module (2) to the target photovoltaic array, so that the mobile module (1) is kept on the upper part of the target photovoltaic array, and disconnect the connection between the drone (3) hoisting structure and the cleaning module (2). Step STP200: Control the moving module (1) and the cleaning module (2) in the overall state to move laterally along the target photovoltaic array, and clean the uppermost cleaning strip of the target photovoltaic array by cleaning brush (204); after the uppermost cleaning strip is completed, switch the cleaning module (2) to the split state; Step STP300: Control the deployment mechanism to lower the cleaning module (2) and obtain the edge distance information between the cleaning module (2) and the lower edge of the target photovoltaic array; stop the lowering when the edge distance information meets the preset lower edge stopping condition, so that the cleaning module (2) reaches the lower part of the target photovoltaic array; Step STP400: Control the moving module (1) and the cleaning module (2) to move laterally along the target photovoltaic array to clean the current cleaning zone, and obtain the relative position information between the two modules. Adjust the walking speed of at least one module according to the relative position information. After completing the current cleaning zone, lift the cleaning module (2) to the next cleaning zone through the take-up and take-down mechanism, and repeat the lateral cleaning and upward lifting until the cleaning of the target photovoltaic array is completed from bottom to top. In step STP500, the cleaning module (2) is retrieved to the mobile module (1) by the retraction mechanism. After obtaining the combined positioning signal, the two modules are switched to the overall state, and the combined body is lifted away from the target photovoltaic array by the UAV (3).

9. The UAV-mounted split photovoltaic cleaning method according to claim 8, characterized in that, Steps STP300 and STP400 further include: When the cleaning module (2) is lowered, the relative position deviation between the moving module (1) and the cleaning module (2) is determined according to the relative position information; If the edge distance information satisfies the preset lower edge stop condition, and the relative position deviation is within the preset allowable deviation range, then the lowering is stopped and step STP400 is executed; If the relative position deviation exceeds the preset allowable deviation range, the lowering is stopped and a position correction command is generated; During the transverse cleaning process, the transverse movement stroke corresponding to the current cleaning belt is obtained, and the transverse movement stroke and the relative position deviation are compared with the preset cleaning stroke and the preset allowable deviation range, respectively. If the lateral movement travel meets the preset cleaning travel and the relative position deviation is within the preset allowable deviation range, then the current cleaning belt is confirmed as a completed cleaning belt; if either condition is not met, then a position correction command or a re-cleaning command is generated.

10. The UAV-mounted split photovoltaic cleaning method according to claim 8, characterized in that: In step STP400, the interlayer lifting distance is determined based on the effective cleaning bandwidth formed by the cleaning brush (204) along the tilt direction of the photovoltaic array and the preset overlap width between adjacent cleaning bands; After the current cleaning zone is completed, the cleaning module (2) is raised according to the interlayer lifting distance; if the remaining distance between the cleaning module (2) and the upper boundary of the remaining uncleaned area is less than the interlayer lifting distance, the cleaning module (2) is raised according to the remaining distance. In step STP500, a transfer command is generated only after the assembly is acquired, allowing the UAV (3) to lift the assembly.

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