Photovoltaic cleaning robot

Abstract

The utility model relates to a photovoltaic cleaning robot which comprises a robot body, a walking mechanism, a cleaning assembly, an image acquisition module, a positioning module, an anti-falling module and a controller, and the controller is electrically connected with a walking motor in the walking mechanism, a roller brush motor in the cleaning assembly, the image acquisition module, the positioning module and the anti-falling module. The controller is used for sending a control signal to the walking motor when the anti-falling module detects that the front of the photovoltaic cleaning robot is the edge of a photovoltaic panel area, and the control signal is used for controlling the walking motor to stop advancing. By means of the scheme, when it is detected that the robot body has the falling risk, the controller can control the walking motor to stop advancing at the first time, and therefore the robot is prevented from falling from the high altitude. And then the robot can be controlled to steer at the current position and then move to the safe area to continue working, and therefore the working safety of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the photovoltaic field, in particular to a photovoltaic cleaning robot. Background Art

[0002] Distributed photovoltaic power stations are generally built on commercial and industrial roofs, industrial areas or suburbs. These areas are usually dusty and require regular cleaning and maintenance of photovoltaic panels to avoid affecting the power generation efficiency of photovoltaic power stations. If manual cleaning is used, it is not only labor-intensive but also inefficient and cannot meet actual needs. Therefore, it is a general trend to use robots to complete the cleaning of large-area photovoltaic panels.

[0003] Before the robot starts cleaning, it needs to build a map of the cleaning area in advance. Currently, there are two main ways to build a map of the cleaning area:

[0004] One is to manually collect positioning points, which requires professional engineers to hold RTK positioning equipment and place it at each corner of the photovoltaic string so that they can read the positioning information of the equipment, and then manually enter it into the back-end to generate an electronic map. Since the work is usually done at high altitudes, this mapping method poses a safety hazard to the work of engineers, and if the area to be cleaned has multiple areas or polygonal component areas, it will result in a large manual workload.

[0005] Another way is to remotely control the cleaning robot to walk along the edge of the PV panel cleaning area, move to the edge corner of the PV string, record the cleaning area, and generate an electronic map. This mapping method requires manual control of the direction, which is very likely to cause the robot to fall due to manual misoperation or visual errors, and the mapping accuracy is low. Utility Model Content

[0006] In view of the above problems, the present application provides a photovoltaic cleaning robot, which is used to solve the problem that the existing photovoltaic cleaning robots are prone to falling due to human error during mapping.

[0007] To achieve the above purpose, the utility model provides a photovoltaic cleaning robot, comprising:

[0008] Body;

[0009] A walking mechanism, comprising a crawler device and a walking motor, the machine body is arranged on the crawler device, and the walking motor is used to drive the crawler device to rotate so as to drive the machine body to walk;

[0010] A cleaning assembly is arranged at the front side of the machine body, and comprises a roller brush assembly and a roller brush motor, wherein the roller brush motor is used to drive the roller brush assembly to move so as to clean the photovoltaic panel;

[0011] An image acquisition module is arranged at the front side of the body, and the shooting direction of the image acquisition module is arranged obliquely downward for photographing the photovoltaic panel;

[0012] A positioning module, arranged on the body, for locating the position information of the body in real time;

[0013] An anti-fall module, arranged on the body, for detecting whether the front of the photovoltaic cleaning robot is the edge of the photovoltaic panel area;

[0014] The controller is electrically connected to the walking motor, roller brush motor, image acquisition module, positioning module and anti-drop module respectively. The controller is used to send a control signal to the walking motor when the anti-drop module detects that the front of the photovoltaic cleaning robot is the edge of the photovoltaic panel area. The control signal is used to control the walking motor to stop moving.

[0015] Furthermore, the roller brush assembly comprises:

[0016] The roller brush arm comprises a first roller brush arm and a second roller brush arm, wherein the first roller brush arm and the second roller brush arm are arranged opposite to each other and are hinged to the front side of the machine body, and the first roller brush arm and the second roller brush arm can be lifted or lowered under the drive of the roller brush motor;

[0017] A roller shaft, arranged between the first roller brush arm and the second roller brush arm, the roller shaft being capable of rotating under the drive of the roller brush motor;

[0018] The roller brush 31 is sleeved on the roller shaft and is drivingly connected to the roller shaft.

[0019] Furthermore, the first roller brush arm and the second roller brush arm may extend outward in a direction away from the machine body or retract inward in a direction close to the machine body.

[0020] Furthermore, the image acquisition module is a depth camera.

[0021] Furthermore, the positioning module includes:

[0022] An RTK module is electrically connected to the controller and is used to locate the position information of the body in real time;

[0023] The IMU module is electrically connected to the controller and is used to measure the acceleration and angular velocity of the body in real time during walking.

[0024] Furthermore, a first column and a second column are provided on the body, and the first column and the second column are respectively provided at the front and rear ends of the body, and the RTK module includes a first RTK module and a second RTK module, the first RTK module is provided on the first column, and the second RTK module is provided on the second column.

[0025] Furthermore, the anti-fall module is an ultrasonic module or a visual perception module.

[0026] Furthermore, a light module is also provided on the machine body, and the light module is electrically connected to the controller.

[0027] Furthermore, a power module is also provided on the machine body, and the power module is electrically connected to the travel motor, roller brush motor, image acquisition module, positioning module, anti-drop module and controller respectively, and the power module is used to convert light energy into electrical energy.

[0028] Furthermore, the controller is an MCU.

[0029] Different from the prior art, the photovoltaic cleaning robot provided by the above technical solution includes a body, a walking mechanism, a cleaning component, an image acquisition module, a positioning module, an anti-drop module and a controller. The controller is electrically connected to the walking motor in the walking mechanism, the roller brush motor in the cleaning component, the image acquisition module, the positioning module and the anti-drop module respectively. The controller is used to send a control signal to the walking motor when the anti-drop module detects that the front of the photovoltaic cleaning robot is the edge of the photovoltaic panel area. The control signal is used to control the walking motor to stop moving. Through the above solution, when it is detected that the body has a risk of falling, the controller can control the walking motor to stop moving at the first time, thereby preventing the robot from falling from a high altitude. Then the robot can be controlled to turn at the current position and move to a safe area to continue working, thereby improving the safety of the robot's operation.

[0030] The above-mentioned records related to the content of the utility model are only an overview of the technical solution of the present application. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present application, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purpose and other purposes, features and advantages of the present application easier to understand, the following is an explanation in combination with the specific implementation method and drawings of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of the present application and other related contents, and shall not be considered as limitations of the present application.

[0032] In the drawings of the specification:

[0033] Figure 1 This is a schematic diagram of the structure of a photovoltaic cleaning robot according to an embodiment of the present application;

[0034] Figure 2 This is a schematic diagram of a module of a photovoltaic cleaning robot according to an embodiment of the present application;

[0035] Figure 3 A top view of the structure of a photovoltaic cleaning robot according to an embodiment of the present application;

[0036] Figure 4 A roadmap for autonomous exploration and mapping of a photovoltaic cleaning robot according to an embodiment of the present application;

[0037] Figure 5 A cleaning route map of a photovoltaic cleaning robot according to an embodiment of the present application;

[0038] Figure 6 A logical flow chart of the autonomous exploration and mapping process of a photovoltaic cleaning robot according to an embodiment of the present application;

[0039] Figure 7 A logical flow chart of mobile path planning of a photovoltaic cleaning robot according to an embodiment of the present application;

[0040] The reference numerals in the above drawings are described as follows:

[0041] 1. Body;

[0042] 2. Traveling mechanism; 21. Track device; 22. Traveling motor;

[0043] 3. Cleaning assembly; 31. Roller brush; 32. Roller brush assembly; 33. Roller brush motor;

[0044] 4. Image acquisition module;

[0045] 5. Positioning module; 51. RTK module; 52. IMU module;

[0046] 6. Controller;

[0047] 7. The first column; 71. The first RTK module;

[0048] 8. The second column; 72. The second RTK module;

[0049] 9. Anti-fall module;

[0050] 10. Memory. DETAILED DESCRIPTION

[0051] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0052] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0053] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0054] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0055] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0056] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0057] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0058] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0059] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0060] like Figure 1 , Figure 2 and Figure 3 As shown, the present application provides a photovoltaic cleaning robot, comprising:

[0061] Body 1;

[0062] The walking mechanism 2 includes a crawler device 21 and a walking motor 22. The machine body 1 is arranged on the crawler device 21. The walking motor 22 is used to drive the crawler device 21 to rotate, so as to drive the machine body 1 to walk;

[0063] A cleaning assembly 3 is disposed on the front side of the machine body 1, and includes a roller brush assembly 32 and a roller brush motor 33, wherein the roller brush motor 33 is used to drive the roller brush assembly 32 to move so as to clean the photovoltaic panel;

[0064] An image acquisition module 4 is arranged at the front side of the body 1, and the shooting direction of the image acquisition module 4 is arranged obliquely downward for photographing the photovoltaic panel;

[0065] A positioning module 5, arranged on the body 1, for locating the position information of the body 1 in real time;

[0066] An anti-fall module 9, arranged on the body 1, is used to detect whether the front of the photovoltaic cleaning robot is the edge of the photovoltaic panel area;

[0067] The controller 6 is electrically connected to the walking motor 22, the roller brush motor 33, the image acquisition module 4, the positioning module 5 and the anti-drop module 9, respectively. The controller 6 is used to send a control signal to the walking motor 22 when the anti-drop module 9 detects that the front of the body 1 is the edge of the photovoltaic panel area. The control signal is used to control the walking motor 22 to stop moving.

[0068] In this embodiment, the anti-fall module is an ultrasonic module or a visual perception module. The visual perception module continuously fits and records the coordinates of the lateral edges of the photovoltaic panel area. The ultrasonic module is a radar system that uses ultrasonic technology for distance measurement and obstacle detection. It calculates the distance between the object and the radar by emitting ultrasonic pulses and measuring the time required for the pulses to reflect back from the object. Ultrasonic modules usually have high accuracy and resolution in short-range ranging and close-range obstacle detection, and are suitable for robot navigation, intelligent vehicles, drone obstacle avoidance, industrial automation and other fields. Through the real-time feedback of the ultrasonic module, it is possible to know whether the current forward direction of the body is about to move to the edge position of the photovoltaic panel area. The received ultrasonic feedback signal or the image taken by the visual perception module can be used to determine whether the body has moved to the edge position of the photovoltaic panel area, and then the walking motor is controlled, specifically to control the walking motor to stop moving, and start the next round of edge detection after the direction is reversed.

[0069] In other embodiments, the area of ​​the bottom area of ​​the machine body that is suspended can be compared with a preset ratio, and the comparison result can be used to determine whether to control the walking motor to stop moving forward. Specifically, the preset ratio can be a set ratio, such as 10% or 20% of the bottom area of ​​the machine body. When the area ratio of the bottom area suspended exceeds the preset ratio, the controller 6 will send a control signal to the walking motor 22 to stop moving forward. Further, a rotating mechanism can be set on the machine body 1, and the rotating mechanism is used to control the steering of the walking mechanism so that the suspended area at the bottom of the machine body is less than the preset ratio, and then the controller 6 can restart the walking motor and continue to detect the area to be cleaned. In this way, when the risk of falling of the machine body is detected, the walking motor can be controlled to stop moving forward by the controller at the first time, thereby preventing the robot from falling from a high altitude. Then the robot can be controlled to continue working after turning at the current position and moving to a safe area, thereby improving the safety of the robot operation. The area of ​​the bottom area of ​​the machine body that is suspended can be determined by comparing the distance between the abnormal position of the received ultrasonic feedback signal and the bottom edge to the total width of the bottom of the machine body. The preset ratio value may also be stored in the memory 10 .

[0070] In some embodiments, the image acquisition module is a depth camera. A depth camera is a camera device that can obtain distance information of objects in a scene, and can usually capture the color information and corresponding depth information of each pixel at the same time. Depth cameras achieve depth perception through different technical principles, common ones include structured light, time-of-flight and stereo vision. Depth cameras can provide distance information of objects in a single frame image, while traditional cameras can only provide color information. This makes depth cameras widely used in computer vision, virtual reality, augmented reality, robotics and other fields. Some common depth cameras include Microsoft's Kinect camera, Intel's RealSense camera, etc. The depth camera can generate RGB images and depth maps based on the collected images of the area to be cleaned, and provide perception information for path planning of the photovoltaic cleaning robot during cleaning.

[0071] In some embodiments, the positioning module 5 includes: an RTK module 51, which is electrically connected to the controller 6 and is used to locate the position information of the body 1 in real time; an IMU module 52, which is electrically connected to the controller 6 and is used to measure the acceleration and angular velocity of the body 1 during movement in real time.

[0072] The RTK (Real-Time Kinematic) module is a real-time differential global positioning system (GNSS) technology that provides high-precision positioning measurements by using two or more reference stations with known positions. RTK technology can achieve centimeter-level or even millimeter-level positioning accuracy. The working principle of RTK technology is that the photovoltaic cleaning robot receives GPS or other GNSS signals from the reference station and uses the phase difference between the satellite signals received by the reference station and itself to calculate its precise position. Since the position of the reference station is known and the photovoltaic cleaning robot can measure the tiny phase changes of the satellite signal in real time, high-precision real-time positioning can be achieved. Compared with ordinary GPS positioning, the advantage of RTK technology is that it provides higher positioning accuracy and real-time performance.

[0073] An IMU module (Inertial Measurement Unit) is a device that integrates multiple inertial sensors to measure and track the acceleration, angular velocity, and sometimes magnetic field strength of a device. A typical IMU module usually includes a three-axis accelerometer, a three-axis gyroscope, and sometimes a three-axis magnetometer to obtain the device's attitude, motion state, and magnetic field information in the environment. The main sensors of the IMU module include:

[0074] 1. Accelerometer: used to measure the acceleration of the device, which can be used for posture estimation, gait analysis, motion tracking, etc.

[0075] 2. Gyroscope: used to measure the angular velocity of the device and can be used for attitude stabilization control in attitude control, navigation, aerospace and other fields.

[0076] 3. Magnetometer: used to measure the magnetic field strength of the surrounding environment, commonly used in applications such as compass, geomagnetic positioning and attitude correction.

[0077] The IMU module can calculate the device's attitude, angle, and motion state by measuring these physical quantities.

[0078] By setting the RTK module 51 and the IMU module 52, the current photovoltaic cleaning robot can be positioned in all directions, providing more comprehensive environmental information, and accurate motion and posture information.

[0079] like Figure 1As shown, the body 1 is provided with a first column 7 and a second column 8, which are respectively provided at the front and rear ends of the body 1, and the RTK module includes a first RTK module 71 and a second RTK module 72, wherein the first RTK module 71 is provided on the first column 7, and the second RTK module 72 is provided on the second column 8. By providing two columns and providing independent RTK modules on the two columns, the controller can more accurately obtain the environmental information of the current photovoltaic cleaning robot in front and behind, and provide path planning for the subsequent movement of the photovoltaic cleaning robot.

[0080] In some embodiments, the body is further provided with a light module, which is electrically connected to the controller. The light module can be turned on or off under the control of the controller. When the ambient light is poor, the light module can be turned on to provide lighting, so as to ensure that the image acquisition unit can better obtain the environmental image around the robot.

[0081] Preferably, the lighting module may include multiple lamps, which are respectively arranged in four directions of the front, back, left, and right of the body to achieve multi-angle and all-round lighting of the robot.

[0082] In some embodiments, a power module is also provided on the machine body, and the power module is electrically connected to the travel motor, roller brush motor, image acquisition module, positioning module, anti-drop module and controller respectively, and the power module is used to convert light energy into electrical energy.

[0083] Preferably, the power module is a solar cell power supply, which is a device that converts solar energy into electrical energy and is mainly composed of a solar panel, a battery storage device, and an inverter. The following are the main components and working principles of the solar cell power supply:

[0084] Solar panels are the core components of solar power systems, and their main function is to convert sunlight energy into direct current electricity. Solar panels are usually composed of multiple solar cells. When sunlight shines on the solar panels, the semiconductor materials in the solar cells will generate photoelectric voltage, that is, direct current electricity. After the solar panels convert solar energy into electricity through the photovoltaic effect, they will store the electricity in a battery energy storage device for use at night or under low light conditions. Battery energy storage devices usually use deep cycle charge and discharge batteries, such as lead-acid batteries, lithium-ion batteries, etc. The direct current generated by the solar panels needs to be converted into alternating current through an inverter for use in household appliances. The inverter converts the direct current stored in the battery into alternating current that meets the national standard power grid power supply requirements, and ensures that the voltage and frequency of the output current are stable to ensure the safe operation of the equipment. The controller 6 can also be used to monitor and control the operating status of the solar cell power system, including functions such as charging of solar panels, battery charge and discharge management, and inverter control to ensure efficient and stable operation of the system.

[0085] Since the photovoltaic cleaning robot walks on the photovoltaic surface for a long time and provides cleaning functions, by setting solar panels on the photovoltaic cleaning robot as a power source, solar energy resources can be used to generate clean and renewable electricity required for the photovoltaic cleaning robot to work, which is environmentally friendly, energy-saving and sustainable.

[0086] In some embodiments, MCU (Microcontroller Unit) is a microcomputer chip that integrates a central processing unit (CPU), memory (ROM, RAM), input and output interface (I / O), timer (Timer) and other peripheral devices. MCU is usually used to control, monitor and execute specific tasks, and is widely used in various electronic devices and systems. MCU integrates multiple functional modules, including CPU, memory, input and output interface, etc., with high integration, small size and low power consumption.

[0087] In some embodiments, the roller brush assembly 32 includes:

[0088] The roller brush arm comprises a first roller brush arm and a second roller brush arm, wherein the first roller brush arm and the second roller brush arm are arranged opposite to each other and are hinged to the front side of the machine body, and the first roller brush arm and the second roller brush arm can be lifted or lowered under the drive of the roller brush motor;

[0089] A roller shaft, arranged between the first roller brush arm and the second roller brush arm, the roller shaft being capable of rotating under the drive of the roller brush motor;

[0090] The roller brush is sleeved on the roller shaft and is drivingly connected with the roller shaft.

[0091] Preferably, the first roller brush arm and the second roller brush arm can extend outward in a direction away from the machine body or retract inward in a direction close to the machine body.

[0092] Through the arrangement of the above-mentioned roller brush assembly, the roller brush can be lifted or lowered under the transmission action of the first roller brush arm and the second roller brush arm, and can extend outward in a direction away from the machine body or retract inward in a direction close to the machine body, thereby meeting the requirements for cleaning photovoltaic panels in different positions.

[0093] In some embodiments, the photovoltaic cleaning robot involved in the present application can not only adopt corresponding emergency strategies when detecting that the front of the body is the edge of the photovoltaic panel area or the bottom is suspended in the air to prevent the photovoltaic cleaning robot from falling from a high altitude, but also can autonomously search and map the photovoltaic panel area to be cleaned. The specific working principle is as follows:

[0094] like Figure 6 and Figure 7 As shown, at the beginning of exploration and mapping, the photovoltaic cleaning robot is placed in the lower left corner or lower right corner of the photovoltaic panel area to be cleaned, and then the image information and depth information are obtained through the depth camera arranged on the front side of the photovoltaic cleaning robot body. The image information and depth information are transmitted to the perception unit inside the depth camera. The perception unit identifies the lateral edge and front edge of the photovoltaic panel area to be cleaned in combination with the image and point cloud information, and transmits the identification information (the coordinate position of the edge) to the MCU controller. The MCU controller serves as a path planning unit. According to the current position of the photovoltaic cleaning robot and the edge information of the photovoltaic panel area to be cleaned, the PID control algorithm is used to calculate in real time the speed and direction that the current photovoltaic cleaning robot should move, and the calculated speed information is used to generate a walking control command containing control parameters and then transmitted to the walking motor, so that the walking motor is adjusted according to the control parameters to ensure that the photovoltaic cleaning robot always travels in a safe position.

[0095] The PID control algorithm is a classic control algorithm used to control feedback loops in engineering systems. PID stands for Proportional, Integral, and Derivative, and these three terms represent the three main parts of a PID controller.

[0096] The proportional control part is proportional to the size of the error. The error is the difference between the actual output value and the expected output value. The proportional control part produces a control quantity that is proportional to the error. The role of the proportional control part is to reduce the steady-state error, which is the difference between the output value and the expected value when the system reaches steady state. The integral control part responds to the accumulation of error over time. When the system has a static error, the integral control part will gradually increase the control quantity to reduce the static error. The derivative control part responds to the rate of change of the error. The derivative control part can predict the future behavior of the system and reduce the overshoot and oscillation of the system.

[0097] The PID control algorithm can calculate the control amount based on the current error, the accumulation of past errors and the error change rate, and then input the control amount into the controlled object to adjust the state of the controlled object to make it as close to the desired state as possible. The PID control algorithm is suitable for various control systems, including temperature control, speed control, position control, etc. It can meet the requirements of system stability, sensitivity and fast response by adjusting the proportional coefficient, integral time and differential time.

[0098] At the same time, the photovoltaic cleaning robot will continuously fit the coordinates of the lateral edges of the photovoltaic panel area (global coordinates) during driving and record them. When the ultrasonic module finds a cliff in front, it sends a corresponding signal to the controller so that the controller controls the walking motor to stop moving. Then the photovoltaic cleaning robot rotates a certain angle in situ according to the current position of the cliff and the frame, enters the next edge recognition, continues to move forward, and repeats the previous steps until the photovoltaic cleaning robot returns to the original starting point. Finally, according to the previously saved edges, the intersection points of the straight lines, that is, the coordinates of each corner point, are calculated, and electronic map information is generated. The electronic map information is saved in the robot's internal memory for future cleaning path planning calls. At this point, the exploration mission is completed.

[0099] At the beginning of the cleaning task, the photovoltaic cleaning robot will call the established electronic map information to plan the cleaning path, and then the photovoltaic cleaning robot will perform a full-coverage cleaning task along the planned path.

[0100] In some embodiments, the photovoltaic cleaning robot autonomously explores and builds a roadmap such as Figure 4 As shown in the figure, the cleaning route map of the photovoltaic cleaning robot is as follows Figure 5 shown.

[0101] The cleaning robot that can autonomously explore and build maps involved in this application can intelligently and safely complete the drawing of electronic map information without manual control, saving labor costs and improving the safety of operation and maintenance. Autonomous exploration and mapping can also realize autonomous exploration of polygons and multiple areas, establish complex electronic map information, further improve cleaning efficiency, and is suitable for application scenarios such as industrial and commercial roofs, BIPV, sun rooms and other photovoltaic power stations.

[0102] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A photovoltaic cleaning robot, characterized in that: include: Body; A walking mechanism, comprising a crawler device and a walking motor, the machine body is arranged on the crawler device, and the walking motor is used to drive the crawler device to rotate so as to drive the machine body to walk; A cleaning assembly is arranged at the front side of the machine body, and comprises a roller brush assembly and a roller brush motor, wherein the roller brush motor is used to drive the roller brush assembly to move so as to clean the photovoltaic panel; An image acquisition module is arranged at the front side of the body, and the shooting direction of the image acquisition module is arranged obliquely downward for photographing the photovoltaic panel; A positioning module, arranged on the body, for locating the position information of the body in real time; An anti-fall module, arranged on the body, for detecting whether the front of the photovoltaic cleaning robot is the edge of the photovoltaic panel area; The controller is electrically connected to the walking motor, roller brush motor, image acquisition module, positioning module and anti-drop module respectively. The controller is used to send a control signal to the walking motor when the anti-drop module detects that the front of the photovoltaic cleaning robot is the edge of the photovoltaic panel area. The control signal is used to control the walking motor to stop moving.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The roller brush assembly comprises: The roller brush arm comprises a first roller brush arm and a second roller brush arm, wherein the first roller brush arm and the second roller brush arm are arranged opposite to each other and are hinged to the front side of the machine body, and the first roller brush arm and the second roller brush arm can be lifted or lowered under the drive of the roller brush motor; A roller shaft, arranged between the first roller brush arm and the second roller brush arm, the roller shaft being capable of rotating under the drive of the roller brush motor; The roller brush is sleeved on the roller shaft and is drivingly connected with the roller shaft.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The first roller brush arm and the second roller brush arm may extend outwardly in a direction away from the machine body or retract inwardly in a direction close to the machine body.

4. The photovoltaic cleaning robot according to claim 1, characterized in that: The image acquisition module is a depth camera.

5. The photovoltaic cleaning robot according to claim 1, characterized in that: The positioning module comprises: An RTK module is electrically connected to the controller and is used to locate the position information of the body in real time; The IMU module is electrically connected to the controller and is used to measure the acceleration and angular velocity of the body in real time during walking.

6. The photovoltaic cleaning robot according to claim 5, characterized in that: The body is provided with a first column and a second column, and the first column and the second column are respectively arranged at the front and rear ends of the body. The RTK module includes a first RTK module and a second RTK module, the first RTK module is arranged on the first column, and the second RTK module is arranged on the second column.

7. The photovoltaic cleaning robot according to claim 1, characterized in that: The anti-fall module is an ultrasonic module or a visual perception module.

8. The photovoltaic cleaning robot according to claim 1, characterized in that: The machine body is also provided with a light module, and the light module is electrically connected to the controller.

9. The photovoltaic cleaning robot according to claim 1, characterized in that: The machine body is also provided with a power module, which is electrically connected to the travel motor, roller brush motor, image acquisition module, positioning module, anti-drop module and controller respectively, and is used to convert light energy into electrical energy.

10. The photovoltaic cleaning robot according to any one of claims 1 to 9, characterized in that: The controller is MCU.

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