Control system of photovoltaic cleaning robot and photovoltaic cleaning robot

Abstract

The utility model relates to a control system of a photovoltaic cleaning robot and the photovoltaic cleaning robot. The control system of the photovoltaic cleaning robot comprises a power supply module; the single-chip microcomputer is connected with the power supply module. The relay is connected with the power supply module, the single-chip microcomputer, the sensor module, the 485 communication module, the ultrasonic module and a driving system of the photovoltaic cleaning robot, and the 485 communication module is connected with the sensor module and the ultrasonic module. The power supply module controls the on-off state of the relay through the single-chip microcomputer to supply power to the sensor module, the 485 communication module, the ultrasonic module and a driving system of the photovoltaic cleaning robot. Through the photovoltaic cleaning robot, the technical problem that the power generation efficiency of the photovoltaic panel of the photovoltaic cleaning robot is reduced and the stored electric energy is insufficient in rainy days or poor illumination conditions is solved, and the technical effects that the standby power consumption of the photovoltaic cleaning robot is remarkably reduced, and the effective working time of the photovoltaic cleaning robot in severe weather is prolonged are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly to a control system for a photovoltaic cleaning robot and a photovoltaic cleaning robot. Background Art

[0002] With the increasing development of the photovoltaic industry, the power generation loss caused by the surface fouling of photovoltaic modules has also been taken seriously. Photovoltaic robots perform cleaning operations according to the programs set by the program or the upper computer and at regular intervals.

[0003] Currently, the mainstream photovoltaic panel cleaning robots all use built-in photovoltaic panels and batteries to obtain and store electric energy, and this electric energy is used to drive the robots to perform cleaning operations and standby consumption. When the lighting conditions are poor or continuous rainy days prevent the acquisition of electric energy, the excessive standby power consumption of the photovoltaic robots will affect the execution of normal cleaning tasks.

[0004] There are generally two solutions for the existing robots on the market to address the problems of the reduced power generation efficiency of the built-in photovoltaic panels of the robots and insufficient stored electric energy in rainy days or under poor lighting conditions. The first is to use the upper computer instruction or mechanical button method to make the robot not leave the warehouse for work, so as to achieve the effect of saving electric energy. The second is to save power by modifying the cleaning plan, reducing the number of cleanings or lengthening the cleaning interval.

[0005] Although the above two methods can also achieve the method of saving power, there will be the following two problems. First, after shutting down the robot, it needs to be manually restarted. Considering that photovoltaic sites are generally in unmanned areas or on rooftops, this method is not easy to implement. At the same time, during the shutdown period of the robot, it is in an offline state, and the status of the robot itself cannot be viewed online, which causes trouble to on-site maintenance personnel. In addition, when the cleaning frequency of the photovoltaic cleaning robot is reduced after modifying the cleaning plan, the cleaning effect of the photovoltaic cleaning robot on the photovoltaic modules may decline, which will affect the power generation efficiency and power generation amount of the photovoltaic panels. In severe cases, it may even cause the photovoltaic panels to burn due to long-term dust accumulation.

[0006] In response to the above problems, no effective solutions have been proposed yet. Utility Model Content

[0007] Embodiments of the present application provide a control system for a photovoltaic cleaning robot and a photovoltaic cleaning robot, so as to at least solve the technical problem that the power generation efficiency of the built-in photovoltaic panel of the photovoltaic cleaning robot decreases and the stored electric energy is insufficient in rainy days or under poor lighting conditions.

[0008] According to one aspect of the embodiments of the present application, a control system for a photovoltaic cleaning robot is provided, including: a power supply module, a single-chip microcomputer, a relay, a sensor module, a 485 communication module, and a ultrasonic module; wherein: the power supply module is used to convert the voltage input to the control system of the photovoltaic cleaning robot into the voltages required by the control system and the drive system of the photovoltaic cleaning robot; the single-chip microcomputer is connected to the power supply module; wherein, the power supply module directly supplies power to the single-chip microcomputer; the relay is respectively connected to the power supply module, the single-chip microcomputer, the sensor module, the 485 communication module, the ultrasonic module, and the drive system of the photovoltaic cleaning robot, and the 485 communication module is respectively connected to the sensor module and the ultrasonic module; wherein, the power supply module controls the on-off state of the relay through the single-chip microcomputer to supply power to the sensor module, the 485 communication module, the ultrasonic module, and the drive system of the photovoltaic cleaning robot.

[0009] Optionally, it further includes: a 4G module, connected to the power supply module; wherein, the power supply module directly supplies power to the 4G module.

[0010] Optionally, the single-chip microcomputer is respectively connected to the 4G module, the 485 communication module, and the drive system of the photovoltaic cleaning robot, and is used to receive upper computer instructions, manage low-power mode switching, process sensor data, and drive control signals.

[0011] Optionally, it further includes: an upper computer, connected to the 4G module, and is used to issue upper computer instructions and receive sensor data.

[0012] Optionally, it further includes: a current detection module, connected to the relay; wherein, the power supply module controls the on-off state of the relay through the single-chip microcomputer to supply power to the current detection module.

[0013] Optionally, the current detection module is respectively connected to the power supply module and the single-chip microcomputer, and is used to detect the current input to the control system of the photovoltaic cleaning robot and transmit the detected current data to the single-chip microcomputer.

[0014] According to another aspect of the embodiments of the present application, a photovoltaic cleaning robot is provided, including a power supply system, a control system, and a drive system. The control system is respectively connected to the power supply system and the drive system, and the control system includes the control system of the photovoltaic cleaning robot described above.

[0015] Optionally, the power supply system includes: one or more photovoltaic panels, mounted on the body of the photovoltaic cleaning robot, for collecting and converting sunlight into electrical energy; a charging controller, connected to the photovoltaic panels, for stabilizing and converting the electrical energy generated by the photovoltaic panels, and outputting it to the control system.

[0016] Optionally, the power supply system also includes: a battery, connected to the charging controller, for storing excess electrical energy when there is sufficient light, and discharging to the charging controller when there is insufficient light, and outputting to the control system through the charging controller.

[0017] Optionally, the driving system comprises: a driver and a motor; wherein the driver is used to control the motor to rotate through a driving control signal output by the control system.

[0018] In the embodiment of the present application, the control system of the photovoltaic cleaning robot controls the on-off state of the relay through a single-chip microcomputer to power the sensor module, 485 communication module, ultrasonic module and the driving system of the photovoltaic cleaning robot. The robot can automatically enter a low-power mode when there is insufficient light or in rainy weather, and only start the cleaning task when necessary, thereby solving the technical problem that the photovoltaic panels of the photovoltaic cleaning robot have reduced power generation efficiency and insufficient stored electricity on rainy days or in poor lighting conditions, thereby achieving the technical effect of significantly reducing the standby power consumption of the photovoltaic cleaning robot and extending its effective working time in bad weather. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic diagram of a control system of a photovoltaic cleaning robot provided in the first embodiment of the present application;

[0021] Figure 2 A schematic diagram of a control system of a photovoltaic cleaning robot provided in a second embodiment of the present application;

[0022] Figure 3 A schematic diagram of a control system of a photovoltaic cleaning robot provided in a third embodiment of the present application;

[0023] Figure 4 A schematic diagram of a control system of a photovoltaic cleaning robot provided in a fourth embodiment of the present application;

[0024] Figure 5 Schematic diagram of the photovoltaic cleaning robot provided for the fifth embodiment of the present application. Detailed implementation manners

[0025] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the embodiments of the present application can be implemented in various forms and should not be construed as limited to the embodiments described herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the embodiments of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not used to limit the protection scope of the present application.

[0026] Embodiment 1:

[0027] According to one aspect of the embodiments of the present application, a control system of a photovoltaic cleaning robot is provided. Figure 1 Schematic diagram of the control system of the photovoltaic cleaning robot provided for the first embodiment of the present application, as Figure 1 shown, the control system 10 includes: a power supply module 11, a single-chip microcomputer 12, a relay 13, a sensor module 14, a 485 communication module 15, and an ultrasonic module 16; wherein:

[0028] The power supply module 11 is configured to convert the voltage input to the control system of the photovoltaic cleaning robot into the voltages required by the control system 10 and the drive system 30 of the photovoltaic cleaning robot.

[0029] The single-chip microcomputer 12 is connected to the power supply module 11; wherein, the power supply module 11 directly supplies power to the single-chip microcomputer 12.

[0030] The relay 13 is respectively connected to the power supply module 11, the single-chip microcomputer 12, the sensor module 14, the 485 communication module 15, the ultrasonic module 16, and the drive system 30 of the photovoltaic cleaning robot, and the 485 communication module 15 is respectively connected to the sensor module 14 and the ultrasonic module 16; wherein, the power supply module 11 controls the on / off state of the relay 13 through the single-chip microcomputer 12 to supply power to the sensor module 14, the 485 communication module 15, the ultrasonic module 16, and the drive system 30 of the photovoltaic cleaning robot.

[0031] The power supply module 11 is one of the core components of the entire control system. Its main responsibility is to convert the voltage generated by an external power source (such as a solar panel) into a voltage level suitable for use by the control system and the drive system. It usually involves voltage regulation, filtering, and voltage conversion, etc., to ensure the stability and applicability of the output voltage. Through efficient voltage conversion, the power supply module 11 can ensure that all electronic components work at a stable voltage, avoid damage caused by overvoltage or undervoltage, and at the same time improve energy utilization efficiency and reduce energy waste.

[0032] The single-chip microcomputer 12, as the brain of the control system, is responsible for receiving and processing information from various sensors, executing preset control algorithms, and sending instructions to the drive system. In addition, it controls the state of the relay 13, determining which modules or systems should receive power supply. The introduction of the single-chip microcomputer 12 enables intelligent control, allowing the PV cleaning robot to automatically adjust its working state according to environmental changes and task requirements, such as entering the low-power mode or starting the cleaning operation, greatly improving the autonomy and working efficiency of the device.

[0033] The relay 13 acts as a switch in the control system, and its on / off state is controlled by the single-chip microcomputer 12. When it is necessary to activate specific modules (such as the sensor module, 485 communication module, ultrasonic module, or drive system), the single-chip microcomputer 13 will drive the relay 13 to close, thus powering on these modules. Through the precise control of the relay 13, the system can cut off the power supply of some modules when they are not in use, effectively reducing the standby power consumption, extending the battery life, while reducing unnecessary energy loss and improving the overall energy efficiency ratio.

[0034] The sensor module 14 includes various types of sensors, such as light sensors, temperature sensors, position sensors, etc., which are used to collect environmental information and the status data of the robot itself. This information is transmitted to the single-chip microcomputer 12 through the 485 communication module 15 for processing. The application of the sensor module 14 enables the robot to have the ability to sense the environment and make responses according to changes in external conditions. For example, it can automatically enter the low-power mode when the light weakens, or adjust the cleaning path when encountering obstacles, thus improving the flexibility and safety of the operation.

[0035] The 485 communication module 15 is responsible for establishing a data transmission channel between the sensor module 14, the ultrasonic module 16, and the single-chip microcomputer 12, supporting multi-point communication to ensure the rapid and accurate transmission of information. Adopting the 485 communication standard not only ensures the stability of data transmission but also supports long-distance communication, which is suitable for the vast areas that the PV cleaning robot may cover, enabling the device to maintain good communication quality in complex environments.

[0036] The ultrasonic module 16 is mainly used for distance measurement. By emitting ultrasonic waves and receiving the reflected signals, it calculates the distance to the obstacle, helping the robot avoid obstacles and plan the cleaning path. The integration of the ultrasonic module endows the robot with the ability to avoid obstacles and path planning functions, ensuring safe and efficient operation in complex terrains, while reducing the risk of collision and damage.

[0037] In the embodiment of the present application, the control system of the photovoltaic cleaning robot controls the on-off state of the relay through a single-chip microcomputer to power the sensor module, 485 communication module, ultrasonic module and the driving system of the photovoltaic cleaning robot. The robot can automatically enter a low-power mode when there is insufficient light or in rainy weather, and only start the cleaning task when necessary, thereby solving the technical problem that the photovoltaic panels of the photovoltaic cleaning robot have reduced power generation efficiency and insufficient stored electricity on rainy days or in poor lighting conditions, thereby achieving the technical effect of significantly reducing the standby power consumption of the photovoltaic cleaning robot and extending its effective working time in bad weather.

[0038] Embodiment 2:

[0039] Figure 2 A schematic diagram of a control system of a photovoltaic cleaning robot provided in the second embodiment of the present application is shown in FIG. Figure 2 As shown, the control system 10 also includes: a 4G module 17 connected to the power supply module 11; wherein the power supply module 11 directly supplies power to the 4G module 17.

[0040] The 4G module 17 is a key component in the control system for remote communication, which allows the photovoltaic cleaning robot to exchange data wirelessly with a remote server or other equipment. The 4G module is connected via a cellular network, providing faster data transmission speed and wider coverage than traditional 2G or 3G networks, ensuring real-time and stability of data transmission.

[0041] In this embodiment, the 4G module 17 is directly connected to the power supply module 11, and can obtain power from the power supply module without the need for additional power lines or complex power management mechanisms, thereby simplifying the hardware design and reducing costs and complexity.

[0042] The addition of the 4G module enables the PV cleaning robot to upload its working status, location information, sensor data, etc. in real time, while receiving remote commands such as cleaning instructions, route planning updates, etc. This greatly enhances the manageability and responsiveness of the robot, and enables efficient monitoring and remote control even in remote or difficult-to-reach PV power stations.

[0043] The high-speed nature of 4G networks ensures the rapid transmission of large amounts of data, such as high-definition images, video streams, or large amounts of sensor data, which is critical for fault diagnosis, performance analysis, and optimization of cleaning strategies.

[0044] Compared with previous wireless communication technologies, 4G networks provide more reliable connections and wider coverage, reducing the possibility of communication interruptions, especially in the vast areas of photovoltaic power plants, ensuring continuous communication between the robot and the control center.

[0045] Since the 4G module can directly obtain power from the power supply module, this simplifies the system architecture and reduces the maintenance difficulty. In actual deployment, this means a reduced need for on-site technical support and an improved ability of the device to operate independently.

[0046] As an alternative embodiment, the microcontroller 12 is respectively connected to the 4G module 17, the 485 communication module 15 and the drive system of the photovoltaic cleaning robot, and is used to receive commands from the upper computer, manage the low-power mode switching, process sensor data and drive control signals.

[0047] The microcontroller 12 is connected to the 4G module 17 through a serial communication interface (such as UART, SPI or I2C). This connection method allows the microcontroller to send instructions and data to the 4G module and at the same time receive feedback information from the 4G module. Through the 4G module, the microcontroller can communicate with a remote upper computer, receive instructions from the upper computer, such as the scheduling of cleaning tasks, the change of system settings, etc. This connection method enables the photovoltaic cleaning robot to respond to remote control in real time, enhancing the robot's remote operability and management efficiency. The upper computer can monitor the status of the robot at any time and adjust its working mode to ensure the efficient and orderly progress of the cleaning operation.

[0048] The microcontroller 12 is also connected to the 485 communication module 15 through a serial communication interface. The 485 communication module is used for data transmission between various modules inside the robot, such as the collection and transmission of sensor data. The microcontroller collects information from the sensors through this module and can use it for decision-making, such as adjusting the cleaning path, identifying obstacles, etc. Through the 485 communication module, the microcontroller can effectively integrate and analyze sensor data to achieve intelligent control of the robot. The real-time processing of sensor data helps to improve the robot's environmental adaptability and task completion accuracy.

[0049] The microcontroller 12 is connected to the drive system by outputting control signals. These signals can be PWM (pulse width modulation) signals for controlling the speed and direction of the motor, or digital signals for switching devices such as solenoid valves and relays to achieve the physical actions of the robot. This connection method enables the microcontroller to precisely control the movement of the robot, including forward, backward, turning, etc., so as to complete the cleaning task. At the same time, the microcontroller can also adjust the output of the drive system according to sensor feedback to achieve a more flexible and efficient cleaning strategy.

[0050] The single-chip microcomputer 12 manages the low-power mode of the robot by controlling relays or other switching devices in the control circuit. When the robot is in an idle state, the single-chip microcomputer can cut off the power supply of non-essential modules, only retaining necessary communication and monitoring functions to save energy. The implementation of the low-power mode significantly reduces the energy consumption of the robot in the non-working state, extends the battery life, reduces the maintenance cost, and at the same time improves the overall energy efficiency ratio of the robot, conforming to the concept of using green energy.

[0051] Embodiment Three:

[0052] Figure 3 A schematic diagram of the control system of the photovoltaic cleaning robot provided for the third embodiment of this application is shown as Figure 3 shown. The control system 10 further includes: a host computer 18, which is connected to the 4G module 17 and is used for sending host computer instructions and receiving sensor data.

[0053] The host computer 18 establishes a communication connection with the 4G module 17 of the photovoltaic cleaning robot through a wireless network, especially the 4G network. This connection method allows the host computer to send instructions and receive data without physical contact or wired connection, providing great flexibility and convenience.

[0054] The host computer sends instruction packets in a specific format to the 4G module. These instruction packets contain information such as control commands and configuration parameters. After receiving the instructions, the 4G module forwards the data to the single-chip microcomputer 12 through a serial communication interface, and the single-chip microcomputer parses the instructions and performs corresponding operations, such as adjusting the cleaning mode, starting or stopping the cleaning task, etc.

[0055] The host computer 18 is not limited to sending control instructions. It also undertakes the roles of data collection, analysis, and storage. Through the 4G module 17, the host computer can receive sensor data uploaded by the photovoltaic cleaning robot, including but not limited to position information, ambient light intensity, temperature, humidity, cleaning progress, etc. These data are crucial for monitoring the robot status, evaluating the cleaning effect, optimizing the path planning, and maintenance plan.

[0056] The existence of the host computer 18 makes it possible to remotely operate the photovoltaic cleaning robot. Managers or operators can issue commands, adjust parameters, and monitor the status without having to be on-site, greatly improving work efficiency and response speed. The sensor data collected can be deeply analyzed through the host computer to identify bottlenecks, potential fault points, or inefficient links in the cleaning operation, and then optimize the cleaning strategy, adjust the cleaning path, and even predict maintenance requirements to reduce unplanned downtime. The host computer can store all past sensor data and operation records for easy backtracking, fault troubleshooting, and performance evaluation. Based on these data, the host computer can also automatically generate detailed cleaning reports to provide a decision-making basis for management. The host computer is usually equipped with an intuitive graphical user interface, and operators can control the robot, view the real-time status through simple click and drag operations, without having to understand the underlying technical details in depth, reducing the operation threshold and improving the user experience.

[0057] Embodiment 4:

[0058] Figure 4 A schematic diagram of the control system of the photovoltaic cleaning robot provided for the fourth embodiment of this application is shown in Figure 4 As shown, the control system 10 further includes: a current detection module 19, which is connected to the relay 13; wherein, the power supply module 11 supplies power to the current detection module 19 by controlling the on / off state of the relay 13 through the single-chip microcomputer 12.

[0059] The current detection module 19 is used to monitor the current intensity flowing through the circuit of the control system of the photovoltaic cleaning robot. Usually, a current sensor, such as a Hall effect sensor or a shunt resistor, is used to measure the actual current value flowing through the circuit.

[0060] The relay 13 switches the power supply state of the current detection module 19 according to the instruction issued by the single-chip microcomputer 12, that is, decides whether to supply power to the current detection module.

[0061] The power supply module 11 is responsible for supplying power to the entire control system, and the single-chip microcomputer 12 is the control center. It controls the working states of each module according to the preset program logic or external instructions. In this embodiment, the single-chip microcomputer 12 indirectly controls the power supply of the current detection module 19 by controlling the state of the relay 13.

[0062] The single-chip microcomputer 12 determines whether it is necessary to activate the current detection module 19 for current detection according to preset conditions or external requests. For example, when the cleaning robot starts or before performing a specific operation, current detection may be triggered to ensure that the circuit is normal and there is no overload risk. Once it is determined that current detection is required, the single-chip microcomputer 12 sends a control signal to the relay 13 to make it close, thereby transmitting the power of the power supply module 11 to the current detection module 19. Conversely, when detection is not needed, the single-chip microcomputer 12 cuts off this signal, the relay opens, and the power supply is interrupted to save power and protect the circuit from unnecessary loads. After receiving the power, the current detection module 19 starts to work. It measures the current in the circuit, converts the measurement result into an electrical signal or a digital signal, and then feeds it back to the single-chip microcomputer 12. The single-chip microcomputer can make further judgments and control actions based on this, such as adjusting the motor speed, optimizing energy consumption, or triggering an alarm mechanism.

[0063] In the embodiment of the present application, through regular or on-demand current detection, abnormal conditions in the circuit, such as short circuits or overloads, can be detected in a timely manner, thereby preventing potential safety accidents. Current detection can help monitor and optimize the energy consumption of the cleaning robot, ensure that the power output of the motor and other electrical components is reasonable under different working conditions, and avoid unnecessary power waste. Combining with the intelligent control logic of the single-chip microcomputer, the current detection data can be used to dynamically adjust the operation strategy of the cleaning robot, such as automatically adjusting the cleaning intensity according to the load change, and improving the overall cleaning efficiency and quality.

[0064] As an optional embodiment, the current detection module 19 is respectively connected to the power supply module 11 and the single-chip microcomputer 12, and is used to detect the current input to the control system of the photovoltaic cleaning robot and transmit the detected current data to the single-chip microcomputer 12.

[0065] The current detection module 19 mainly consists of a current sensor, a signal conditioning circuit, and a data conversion circuit. The current sensor is responsible for detecting the actual current intensity flowing through the circuit. Common sensor types include Hall effect sensors and shunt resistors. The signal conditioning circuit is used to convert the original current signal into a voltage signal suitable for processing, and the data conversion circuit converts the analog voltage signal into a digital signal for easy processing by a microprocessor or a single-chip microcomputer.

[0066] The power supply module 11 is responsible for providing a stable power supply for the entire control system. It obtains electrical energy from a photovoltaic panel or other power sources, and after conversion and voltage stabilization, supplies power to each component. The single-chip microcomputer 12, as the "brain" of the control system, is responsible for receiving, processing data, and issuing control instructions to ensure that the entire system operates according to the predetermined logic.

[0067] The current detection module 19 monitors the current intensity input into the control system in real time. Once current is detected, the sensor within the module converts the current signal into a voltage signal, and then converts the analog signal into a digital signal through the built-in analog-to-digital converter (ADC). The converted digital signal is transmitted to the single-chip microcomputer 12 through a dedicated data interface. After receiving these data, the single-chip microcomputer decodes and processes them to determine the current status. The single-chip microcomputer 12 analyzes the received current data and checks for current abnormalities such as overload or short circuit. If an abnormality is detected, the single-chip microcomputer can immediately take measures, such as cutting off the circuit by controlling a relay to prevent equipment damage, or sending an alarm to the remote monitoring center through the 4G module.

[0068] In addition to immediate response, the current detection data can also be used for system optimization and maintenance. For example, by analyzing the current consumption pattern, the power management strategy can be optimized to reduce energy consumption. In addition, the historical record of current data helps predict the maintenance needs of the equipment, plan maintenance in advance, and reduce unplanned downtime.

[0069] Embodiment Five:

[0070] According to another aspect of the embodiments of the present application, a photovoltaic cleaning robot is provided. Figure 5 Schematic diagram of the photovoltaic cleaning robot provided for the fifth embodiment of the present application, as Figure 5 shown, the photovoltaic cleaning robot includes a power supply system 20, a control system 10, and a drive system 30. The control system 10 is respectively connected to the power supply system 20 and the drive system 30. The control system 10 includes the control system 10 of the photovoltaic cleaning robot described above.

[0071] As an optional embodiment, the power supply system 20 includes: one or more photovoltaic panels 21 mounted on the body of the photovoltaic cleaning robot for collecting and converting sunlight into electrical energy; a charge controller 22 connected to the photovoltaic panels 21 for stabilizing and converting the electrical energy generated by the photovoltaic panels 21 and outputting it to the control system 10.

[0072] The power supply system 20 is an important part of the photovoltaic cleaning robot, responsible for converting solar energy into usable electrical energy for the control system and the drive system to use.

[0073] The photovoltaic panel 21, also known as a solar panel, is composed of multiple solar cell units. These units use the photovoltaic effect to directly convert sunlight into electrical energy. On the photovoltaic cleaning robot, the photovoltaic panel is usually installed on the top or side of the robot to maximize sunlight capture. The area and efficiency of the photovoltaic panel determine the charging speed and capacity of the robot in the sun.

[0074] The charging controller 22 is an intermediate device connecting the photovoltaic panel 21 and the battery or electrical equipment. Its main function is to regulate the direct current (DC) coming from the photovoltaic panel, ensuring the safe charging of the battery, preventing overcharging or over-discharging, and extending the battery life. The charging controller is also responsible for converting the unstable DC power generated by the photovoltaic panel into stable voltage and current to meet the requirements of the control system and the drive system.

[0075] The photovoltaic panel 21 converts sunlight into direct current through the photovoltaic effect. When sunlight shines on the solar cell units on the photovoltaic panel, photons excite electrons to generate current. The output voltage and current of the photovoltaic panel depend on the light intensity, the size and efficiency of the photovoltaic panel. The charging controller 22 receives the DC power generated by the photovoltaic panel 21 and, through its internal circuit design, converts the unstable and light-intensity-variable electrical energy into stable electrical energy that meets the system requirements. It usually includes the maximum power point tracking (MPPT) function, which can automatically adjust the output of the photovoltaic panel according to the light conditions to obtain the maximum power. In addition, the charging controller also has a charging management function to ensure that the battery is not overcharged or over-discharged during the charging process, extending the battery service life. The charging controller 22 outputs the regulated and converted electrical energy to the control system 10 and the drive system to provide power for the operation of the robot. In the case of sufficient light, the excess electrical energy is stored in the battery for use at night or on cloudy days.

[0076] In the embodiment of this application, the combination of the photovoltaic panel 21 and the charging controller 22 enables the photovoltaic cleaning robot to utilize the infinite and clean energy of solar energy, reducing the dependence on external power sources, lowering the operating costs, and reducing carbon emissions at the same time. The voltage regulation and conversion functions of the charging controller 22 ensure the effective utilization of electrical energy and avoid waste caused by electrical energy fluctuations. At the same time, the charging management mechanism protects the battery and extends the service life of the entire power supply system. Powered by solar energy, the photovoltaic cleaning robot can operate independently in places far from the power grid, without geographical restrictions, improving the flexibility and coverage of the operation. Combined with the control system, the power supply system can intelligently adjust the collection, conversion, and distribution of electrical energy according to the light conditions and the actual needs of the robot, realizing the intelligent management of energy and enhancing the efficiency and reliability of the overall system.

[0077] As an optional embodiment, the power supply system 20 further includes: a battery 23, connected to the charging controller 22, for storing the excess electrical energy when the light is sufficient and discharging to the charging controller 22 when the light is insufficient, and outputting through the charging controller 22 to the control system 10.

[0078] The battery 23 is the energy storage unit in the power supply system of the photovoltaic cleaning robot. It is responsible for storing excess electrical energy when the light is sufficient, and releasing the stored electrical energy when the light is insufficient or at night, ensuring that the robot can operate continuously. The selection of the battery is usually based on factors such as its capacity, charging efficiency, cycle life, and safety.

[0079] The connection between the charge controller 22 and the battery 23 is a crucial link in the power supply system. The charge controller not only regulates the electrical energy output by the photovoltaic panel 21 to ensure that the battery 23 is charged within a safe range, preventing overcharging or over-discharging, but also stabilizes the output voltage when the battery discharges to ensure a stable and reliable power supply for the control system and the drive system.

[0080] When the light is sufficient, the part of the electrical energy generated by the photovoltaic panel 21 that exceeds the immediate consumption of the robot will be guided by the charge controller 22 to the battery 23 for storage. The charge controller adopts advanced charging algorithms such as constant current charging, constant voltage charging, and floating charging to charge the battery in an optimal way and extend the battery life.

[0081] When the light is insufficient or the robot is in the night operation mode, the battery 23 releases the stored electrical energy to the control system and the drive system through the charge controller 22. The charge controller ensures that the output voltage and current are stable to meet the operation requirements of the robot.

[0082] The charge controller 22 integrates an intelligent power management system that can dynamically adjust the charging and discharging strategies according to the battery state and the robot working state. For example, when it detects that the battery is approaching full charge, the controller will slow down the charging rate to avoid overcharging; when the battery power is low, the controller will give priority to ensuring the power supply of key systems to extend the operation time of the robot.

[0083] In the embodiment of the present application, the introduction of the battery 23 enables the photovoltaic cleaning robot to continue operating under insufficient light conditions, significantly extending the all-weather working ability of the robot, improving the operation efficiency and coverage rate. Through the voltage stabilization function of the charge controller 22, even during the battery discharge process, the control system and the drive system can obtain a stable power supply, ensuring the smoothness and safety of the robot operation. The intelligent power management strategy can maximize the utilization of solar energy resources, reduce power waste, protect the battery, extend its service life, and reduce the maintenance cost. The coordinated work of the battery 23 and the charge controller 22 constructs a reliable power supply system that can ensure the normal operation of the photovoltaic cleaning robot even under complex and changeable light conditions, improving the overall reliability and stability of the system.

[0084] As an alternative embodiment, the drive system 30 includes: a driver 31 and a motor 32; wherein, the driver 31 is used to control the motor 32 to rotate through the drive control signal output by the control system 10.

[0085] The drive system 30 is a key part for the photovoltaic cleaning robot to achieve physical movement, responsible for converting the instructions of the control system 10 into actual mechanical actions, such as moving, turning, etc. The core components of the drive system include a driver 31 and a motor 32.

[0086] The driver 31 is used to control the operating state of the motor 32, including speed, direction, and torque. It receives the drive control signal from the control system 10 and adjusts the power supply of the motor according to the signal parameters, thereby changing the rotation speed and direction of the motor.

[0087] The motor 32 is a device that converts electrical energy into mechanical energy. It rotates according to the instructions of the driver 31 to push the robot to move. The selection of the motor is based on factors such as the load of the robot, speed requirements, and working environment. Common types include DC motors, stepper motors, and AC servo motors, etc.

[0088] The control system 10 generates drive control signals based on the cleaning task, sensor data, and user instructions. These signals contain the operating parameters of the motor, such as the target speed, direction, and duration. After receiving the drive control signal from the control system 10, the driver 31 converts it into an electrical energy form that the motor 32 can understand. For example, it may adjust the magnitude and direction of the current to control the rotation speed and direction of the motor. After receiving the electrical energy from the driver 31, the motor 32 starts to rotate according to the indication of the signal, generating a driving force to make the robot move. The response speed and accuracy of the motor directly affect the motion performance and cleaning efficiency of the robot.

[0089] In the embodiment of the present application, through the precise control of the motor 32 by the driver 31, the photovoltaic cleaning robot can achieve highly accurate movement and turning, ensuring the accuracy of the cleaning path, improving the cleaning efficiency and coverage rate. The driver 31 can dynamically adjust the power supply of the motor according to actual needs, avoiding energy waste caused by over-power supply, and at the same time ensuring that the motor operates under the most suitable working conditions, improving the energy utilization efficiency. The drive system 30 can adjust the operation strategy of the motor according to different cleaning tasks and environmental conditions, enhancing the environmental adaptability and operation flexibility of the robot. The efficient cooperation between the driver 31 and the motor 32 ensures the rapid response of the robot to the control signal, and can quickly adjust the motion state even in an emergency, improving the safety and reliability of the robot.

[0090] A detailed description of an optional embodiment of the present application will be given below.

[0091] The present application provides a low-power circuit solution for photovoltaic cleaning robot application scenarios. The internal system of the photovoltaic cleaning robot can be roughly divided into three systems: power supply system, control system and drive system. The power supply system mainly converts solar energy into electrical energy through several photovoltaic panels on the robot body, and inputs it into the charging controller for voltage stabilization and voltage conversion. When the light intensity is sufficient, the electrical energy converted by the photovoltaic panel will be charged into the battery if it is not consumed by the output end. When the light intensity is insufficient, the battery will discharge to the charging controller to ensure the voltage and normal operation of the rear system.

[0092] The control system is mainly composed of a control panel, various sensors and a host computer. The host computer sends signals and collects real-time data from the cleaning robot through the 4G network. The control panel is mainly responsible for processing and uploading the collected data and instructions, while also supplying power to the drive system and providing instructions.

[0093] The drive system is mainly composed of a driver and a motor, and the motor is driven to rotate mainly by supplying power and providing control signals to it through the control system.

[0094] The electric energy is output to the power supply module of the control board through the output end of the charging controller of the power supply system, and then supplied to other modules on the control board after voltage transformation by the power supply module.

[0095] The specific working logic of the low-power system is as follows:

[0096] First, whether to enter low power consumption mode is determined by whether the robot is running.

[0097] When the robot receives a start command from the host computer or starts with an internal timer, the MCU program changes the IO port corresponding to the low-power relay to a high level, and drives the relay coil to close through the transistor. After the coil is activated, the normally open contact is closed, and the driver module, sensor module, current detection module, ultrasonic module and linear motor control module, which are powered off in standby mode, are powered by 24V. After successful power-on, the MCU will detect the ultrasonic and 485 communication data. When the data meets the startup requirements, the MCU will set the forward control IO port connected to the driver to a low level. The driver receives the startup command to drive the motor forward, and the robot begins normal cleaning operations.

[0098] When the robot returns to the parking position after completing the cleaning task, the robot sensor senses the parking position induction piece, and the corresponding IO port becomes high level. At the same time, the IO port connected to the reverse of the driver is set to high level, the driver stops, the motor stops, and the robot stops at the parking position, and the robot cleaning operation is completed. After the ultrasonic and 485 circuit data detection is okay, the single-chip microcomputer sets the corresponding IO port of the relay to low level, the relay coil releases, and the normally open contact disconnects, and the driver module, sensor module, current detection module, ultrasonic module, and linear motor control module are powered off. At the same time, the 4G module, single-chip microcomputer module, and 24V to 5V to 3.3V voltage conversion module remain powered, ensuring that the upper computer can still read the real-time data of the robot and remotely start the robot for cleaning operations when the robot is on standby.

[0099] Secondly, it is also possible to access the data of the local micro meteorological station at the photovoltaic power station, and judge whether the robot needs to enter the low power consumption mode through the future short-term meteorological data. When it is detected that the weather conditions will be poor due to long-term rainfall or continuous rainy days in the next few days in the data of the meteorological station, the robot software will automatically judge to turn on the low power consumption mode and alarm the upper computer, which can greatly reduce the standby power consumption of the robot and avoid the disconnection and loss of connection of the robot due to power failure in rainy days.

[0100] In addition, in the low power consumption mode, since the single-chip microcomputer and the 4G module still remain online, various parameters and statuses of the robot can be viewed at any time after entering the low power consumption mode. Taking the battery power as an example, when the maintenance personnel view the power through the upper computer / small program during non-cleaning time, after receiving the query instruction through the 4G module communication single-chip microcomputer, the low power consumption state is temporarily released through the internal software, and data is received through the 485 communication with the internal control board of the battery and sent to the upper computer / small program. After the data query is completed, the software automatically resumes the low power consumption mode, which can not only keep the power consumption reduced during non-cleaning operations, but also greatly reduce the maintenance difficulty of the cleaning robot.

[0101] The following technical effects can be achieved by adopting the optional embodiments of the present application:

[0102] 1. It saves the standby power consumption of the photovoltaic cleaning robot during standby, can maintain a longer standby time when the solar energy is insufficient or the light conditions are poor, makes the robot run more stably, and reduces the occurrence of robot disconnection and loss of connection.

[0103] 2. Sensors and upper computer instructions are used to judge when to enter the low power consumption mode, without affecting the normal operation of the control system during normal cleaning operations.

[0104] 3. After using the low-power system, the standby power consumption in 24 hours without cleaning tasks is reduced from 2.904 AH to 1.248 AH, and the system power consumption drops by 57.02%. On robots of the same model with a 15 AH battery, the standby time without cleaning is greatly extended, which improves the system stability when the robot encounters long-term rainy weather or malfunctions.

[0105] In addition, the robot can also be made to work without leaving the bin by using host computer instructions or mechanical buttons, so as to achieve the effect of saving electric energy.

[0106] For the sake of description, spatial relative terms, such as "above", "over", "on the upper surface", "upper", etc., can be used here to describe the spatial position relationship between one device or feature and other devices or features as shown in the figures. It should be understood that spatial relative terms are intended to cover different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figure is inverted, the device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0107] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of this application.

[0108] The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A control system for a photovoltaic cleaning robot, characterized in that, Including: A power supply module, a single-chip microcomputer, a relay, a sensor module, a 485 communication module, and an ultrasonic module; wherein: The power supply module is used to convert the voltage input to the control system of the photovoltaic cleaning robot into the voltages required by the control system and the drive system of the photovoltaic cleaning robot; The single-chip microcomputer is connected to the power supply module; wherein, the power supply module directly supplies power to the single-chip microcomputer; The relay is respectively connected to the power supply module, the single-chip microcomputer, the sensor module, the 485 communication module, the ultrasonic module, and the drive system of the photovoltaic cleaning robot, and the 485 communication module is respectively connected to the sensor module and the ultrasonic module; wherein, the power supply module controls the on-off state of the relay through the single-chip microcomputer to supply power to the sensor module, the 485 communication module, the ultrasonic module, and the drive system of the photovoltaic cleaning robot.

2. The control system of the photovoltaic cleaning robot according to claim 1, wherein Further including: A 4G module, connected to the power supply module; wherein, the power supply module directly supplies power to the 4G module.

3. The control system of the photovoltaic cleaning robot according to claim 2, characterized in that The single-chip microcomputer is respectively connected to the 4G module, the 485 communication module, and the drive system of the photovoltaic cleaning robot, and is used to receive host computer instructions, manage low-power mode switching, process sensor data, and drive control signals.

4. The control system of the photovoltaic cleaning robot according to claim 2, wherein Further including: A host computer, connected to the 4G module, and is used to send host computer instructions and receive sensor data.

5. The control system of the photovoltaic cleaning robot according to claim 1, characterized in that Further including: A current detection module, connected to the relay; wherein, the power supply module controls the on-off state of the relay through the single-chip microcomputer to supply power to the current detection module.

6. The control system of the photovoltaic cleaning robot according to claim 5, characterized in that, The current detection module is respectively connected to the power supply module and the single-chip microcomputer, and is used to detect the current input to the control system of the photovoltaic cleaning robot and transmit the detected current data to the single-chip microcomputer.

7. A photovoltaic cleaning robot, characterized in that, Including a power supply system, a control system, and a drive system, the control system is respectively connected to the power supply system and the drive system, and the control system includes the control system of the photovoltaic cleaning robot according to any one of claims 1 to 6.

8. The photovoltaic cleaning robot according to claim 7, wherein, The power supply system includes: One or more photovoltaic panels, mounted on the body of the photovoltaic cleaning robot, and are used to collect and convert sunlight into electrical energy; A charge controller, connected to the photovoltaic panel, and is used to stabilize the voltage and convert the voltage of the electrical energy generated by the photovoltaic panel, and output it to the control system.

9. The photovoltaic cleaning robot according to claim 8, wherein, The power supply system further includes: A battery, connected to the charge controller, and is used to store excess electrical energy when the light is sufficient, and discharge to the charge controller when the light is insufficient, and output it to the control system through the charge controller.

10. The photovoltaic cleaning robot according to claim 7, characterized in that, The drive system includes: a driver and a motor; wherein, the driver is used to control the motor to rotate through the drive control signal output by the control system.

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