Photovoltaic cleaning robot capable of continuously cleaning through maintenance channel

Abstract

The utility model relates to a photovoltaic cleaning robot capable of continuously cleaning through a maintenance channel, which comprises a robot body, a first cleaning component and a second cleaning component are respectively arranged at the front end and the rear end of the robot body, and track driving components are respectively arranged on two sides of the robot body. The photovoltaic cleaning robot is driven by the track driving assembly to walk, and photovoltaic assemblies in a photovoltaic array are cleaned through the first cleaning assembly and the second cleaning assembly. A maintenance channel is arranged between every two adjacent photovoltaic arrays, a connecting assembly is arranged in each maintenance channel, and the connecting assemblies are used for connecting the two connected photovoltaic arrays. The photovoltaic cleaning robot walks to the other photovoltaic array from one of the two adjacent photovoltaic arrays through the connecting assembly to conduct cleaning work. The cleaning device has the advantages of being simple in structure, safe, reliable and high in cleaning efficiency.

Description

Technical Field

[0001] The utility model relates to a photovoltaic cleaning robot which continuously cleans through an inspection channel. Background Art

[0002] Solar photovoltaics, a renewable and clean energy source, has become a vital force in today's global energy transformation. Dirt, dust, and other debris easily accumulate on the surface of solar panels. Without timely, scientific, and professional cleaning and monitoring, this can lead to a 40%-60% drop in panel power generation and a 20%-30% decrease in power generation. Therefore, the concept of improving power generation and efficiency of power plants through proper and scientific cleaning and maintenance of solar panels and meticulous maintenance of components has gained industry recognition.

[0003] Currently, the main method used in the market relies on adding specific sensors or fixtures to the photovoltaic array to achieve positioning, maintaining the machine's movement, cleaning, or monitoring operations over the PV array. This approach not only increases equipment cost but is also susceptible to limitations in the size and shape of the PV array, making it difficult to install additional devices. Installing specific sensors, such as rails or signal base stations, restricts the equipment to the specific area and prevents its use in other, unmodified power plants, severely impacting operational efficiency and profitability.

[0004] Currently, photovoltaic cleaning robots on the market that rely on visual SLAM (simultaneous localization and mapping) are mainly used in distributed power stations. Distributed power stations operate many maintenance channels, which affects path planning and visual positioning, resulting in low work efficiency. Utility Model Content

[0005] In view of the above problems existing in the prior art, the main purpose of the present invention is to provide a photovoltaic cleaning robot that continuously cleans through an inspection channel.

[0006] The technical solution of the present utility model is as follows:

[0007] A photovoltaic cleaning robot for continuous cleaning through an inspection channel, the photovoltaic cleaning robot comprising a body, a first cleaning assembly and a second cleaning assembly being respectively provided at the front and rear ends of the body, and crawler drive assemblies being respectively provided on both sides of the body, the photovoltaic cleaning robot moving under the drive of the crawler drive assemblies, and performing cleaning operations on photovoltaic components in a photovoltaic array using the first cleaning assembly and the second cleaning assembly;

[0008] The crawler drive assembly is provided with a wheel encoder, which is used to obtain the rotation speed of the crawler drive assembly and obtain a wheel odometer. The crawler drive assembly is also provided with an inertial measurement unit, which is used to measure the posture information of the fuselage. The wheel odometer and the posture information are then coupled as the basic positioning of the photovoltaic cleaning robot;

[0009] A first visual sensor is fixedly provided at the front end of the bottom of the fuselage, the first visual sensor faces the ground, and the first visual sensor is used to detect the photovoltaic components at the bottom of the fuselage; a second visual sensor is fixedly provided at the top end of the front of the fuselage, the second visual sensor faces the front of the fuselage, and the second visual sensor is used to detect the photovoltaic components in front of the fuselage, and the visual positioning of the photovoltaic cleaning robot is formed by the first visual sensor and the second visual sensor;

[0010] A first anti-fall sensor and a second anti-fall sensor are fixedly provided on the left and right walls of the fuselage, respectively. The first anti-fall sensor is used to detect the edge of the fuselage below the left side of the photovoltaic array to prevent falling. The second anti-fall sensor is used to detect the edge of the fuselage below the right side of the photovoltaic array to prevent falling.

[0011] An inspection channel is provided between two adjacent photovoltaic arrays, and a connecting component is provided in the inspection channel, and the connecting component is used to connect the two adjacent photovoltaic arrays. The photovoltaic cleaning robot walks from one photovoltaic array to the other photovoltaic array through the connecting component to perform cleaning operations;

[0012] The body has a line loss limiting function. By timely closing the line loss limiting function, the visual positioning blind spot is allowed, so that the photovoltaic cleaning robot continues to move in the forward direction and continues to clean through the connection components set in the maintenance channel.

[0013] The first visual sensor is a first camera component, and the parameters of the first camera component are: 720P and 80-degree lens.

[0014] The first visual sensor uses an OV7720 camera with night vision.

[0015] The second visual sensor is a second camera component, and the parameters of the second camera component are: 1080P and 140-degree lens.

[0016] The second visual sensor uses a night vision H7650 camera.

[0017] The body has a custom line loss limit function, which is turned on by default. You can directly turn off the line loss limit or set different visual positioning limit distances according to the site.

[0018] After adjusting the line loss limit, when visual positioning fails, the wheel odometer and the posture information are fused as the positioning basis to ensure a relatively accurate route through visual blind spots such as maintenance channels.

[0019] When the photovoltaic cleaning robot operates in multiple photovoltaic arrays with the maintenance channel, the line loss limit distance is closed or adjusted so that when the photovoltaic cleaning robot encounters the maintenance channel, it can directly pass through the connecting components in the maintenance channel and cross to another photovoltaic array area to continue cleaning, reducing turns and maintaining straight-line cleaning.

[0020] When the default line loss limit distance of the fuselage is 30 cm, wherein: when the width of the maintenance channel is 25 cm, the photovoltaic cleaning robot can pass normally, spanning from the photovoltaic array on one side to the photovoltaic array on the adjacent other side, realizing a complete "bow"-shaped optimal cleaning path;

[0021] When the width of the maintenance channel exceeds 40cm, which exceeds the default line loss limit distance of 30cm, the photovoltaic cleaning robot will trigger the visual positioning failure exception processing. If the line loss limit function is turned off, or the line loss limit distance is adjusted to 50cm, the photovoltaic cleaning robot can pass normally, spanning from the photovoltaic array on one side to the adjacent photovoltaic array on the other side, realizing a complete "bow"-shaped optimal cleaning path.

[0022] When the photovoltaic cleaning robot steps into the connecting assembly provided between two adjacent photovoltaic arrays, causing visual positioning to fail, the first anti-fall sensor and the second anti-fall sensor still maintain detection functions, and the photovoltaic cleaning robot maintains linear motion control and moves forward to perform cleaning operations.

[0023] The utility model has the following advantages and beneficial effects: an inspection channel is provided between two adjacent photovoltaic arrays, a connecting component is provided in the inspection channel, and the connecting component is used to connect the two adjacent photovoltaic arrays. The photovoltaic cleaning robot walks from one photovoltaic array of the two adjacent photovoltaic arrays to the other photovoltaic array through the connecting component to perform cleaning operations; by timely closing the line loss limitation function, the visual positioning blind spot is allowed, so that the equipment continues to run in the forward direction and continues to clean through the inspection channel, thereby achieving the purpose of improving the working efficiency of the photovoltaic cleaning robot, and ultimately saving manpower and reducing the maintenance cost of the power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1This is a schematic diagram of the three-dimensional structure of the photovoltaic cleaning robot provided in an embodiment of the utility model.

[0025] Figure 2 This is a schematic diagram of a photovoltaic cleaning robot provided in an embodiment of the present utility model performing cleaning operations on a photovoltaic array.

[0026] Figure 3 A schematic structural diagram of a maintenance passage provided between two adjacent photovoltaic arrays according to an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of a photovoltaic cleaning robot provided in an embodiment of the present utility model passing through a 25 cm maintenance passage.

[0028] Figure 5 This is a schematic diagram showing that the photovoltaic cleaning robot provided in an embodiment of the present invention cannot pass through a 40 cm maintenance passage.

[0029] Figure 6 This is a schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention passing through a 40 cm maintenance passage after the line loss limiting function is turned off. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the utility model for protection, but merely represents selected embodiments of the present invention. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 6 As shown: An embodiment of the present invention provides a photovoltaic cleaning robot that continuously cleans through an inspection channel. The photovoltaic cleaning robot includes a body 100. A first cleaning component 101 and a second cleaning component 102 are respectively provided at the front and rear ends of the body 100, and crawler drive components 103 are respectively provided on both sides of the body 100. The photovoltaic cleaning robot moves under the drive of the crawler drive components 103 and cleans the photovoltaic components 201 in the photovoltaic array 200 through the first cleaning component 101 and the second cleaning component 102.

[0035] The crawler drive assembly 103 is provided with a wheel encoder (not shown in the figure), which is used to obtain the rotation speed of the crawler drive assembly and obtain a wheel odometer. The crawler drive assembly is also provided with an inertial measurement unit (not shown in the figure), which is used to measure the posture information of the fuselage. The wheel odometer and the posture information are then coupled as the basic positioning of the photovoltaic cleaning robot;

[0036] A first visual sensor 111 is fixedly provided at the front end of the bottom of the fuselage 100. The first visual sensor 111 faces the ground and is used to detect the photovoltaic components at the bottom of the fuselage 100. A second visual sensor 112 is fixedly provided at the top of the front of the fuselage 100. The second visual sensor 112 faces the front of the fuselage 100 and is used to detect the photovoltaic components in front of the fuselage 100. The visual positioning of the photovoltaic cleaning robot is formed by the first visual sensor 111 and the second visual sensor 112.

[0037] A first anti-fall sensor (not shown) and a second anti-fall sensor (not shown) are fixedly mounted on the left and right walls of the fuselage 100, respectively. The first anti-fall sensor is used to detect the edge of the fuselage below the left side of the photovoltaic array to prevent it from falling. The second anti-fall sensor is used to detect the edge of the fuselage below the right side of the photovoltaic array to prevent it from falling.

[0038] An inspection channel 300 is provided between two adjacent photovoltaic arrays. A connecting assembly (not shown in the figure) is provided in the inspection channel 300. The connecting assembly is used to connect the two adjacent photovoltaic arrays. The photovoltaic cleaning robot walks from one photovoltaic array to the other photovoltaic array through the connecting assembly to perform cleaning operations.

[0039] The body 100 has a line loss limiting function. By timely closing the line loss limiting function, the visual positioning blind spot is allowed, so that the photovoltaic cleaning robot continues to move in the forward direction and continues to clean through the connection components set in the maintenance channel.

[0040] The first visual sensor 111 is a first camera component, and the parameters of the first camera component are: 720P and 80-degree lens.

[0041] The first visual sensor 111 uses an OV7720 camera with night vision.

[0042] The second visual sensor 112 is a second camera component, and the parameters of the second camera component are: 1080P and 140-degree lens.

[0043] The second visual sensor 112 uses a night vision H7650 camera.

[0044] The body has a custom line loss limit function, which is turned on by default. You can directly turn off the line loss limit or set different visual positioning limit distances according to the site.

[0045] After adjusting the line loss limit, when visual positioning fails, the wheel odometer and the posture information are fused as the positioning basis to ensure a relatively accurate route through visual blind spots such as maintenance channels.

[0046] When the photovoltaic cleaning robot operates in multiple photovoltaic arrays with the maintenance channel 300, the line loss limit distance is closed or adjusted so that when the photovoltaic cleaning robot encounters the maintenance channel, it can directly pass through the connecting components in the maintenance channel and cross to another photovoltaic array area to continue cleaning, reducing turns and maintaining straight-line cleaning.

[0047] When the default line loss limit distance of the fuselage is 30 cm, wherein: when the width of the maintenance channel is 25 cm, the photovoltaic cleaning robot can pass normally, spanning from the photovoltaic array on one side to the photovoltaic array on the adjacent other side, realizing a complete "bow"-shaped optimal cleaning path;

[0048] When the width of the maintenance channel exceeds 40cm, which exceeds the default line loss limit distance of 30cm, the photovoltaic cleaning robot will trigger the visual positioning failure exception processing. If the line loss limit function is turned off, or the line loss limit distance is adjusted to 50cm, the photovoltaic cleaning robot can pass normally, spanning from the photovoltaic array on one side to the adjacent photovoltaic array on the other side, realizing a complete "bow"-shaped optimal cleaning path.

[0049] When the photovoltaic cleaning robot steps into the connecting assembly provided between two adjacent photovoltaic arrays, causing visual positioning to fail, the first anti-fall sensor and the second anti-fall sensor still maintain detection functions, and the photovoltaic cleaning robot maintains linear motion control and moves forward to perform cleaning operations.

[0050] PV cleaning robots that rely on visual SLAM (Simultaneous Localization and Mapping) typically have a visual loss distance limit. This can easily lead to visual positioning loss or use as a boundary on non-PV panel surfaces, such as maintenance access roads, affecting cleaning continuity and resulting in low equipment efficiency. A PV cleaning robot based on visual SLAM is designed to disable the loss limit at the right time, allowing visual positioning blind spots to continue moving forward and continuously cleaning through maintenance access roads. This improves the efficiency of the PV cleaning robot, ultimately saving manpower and reducing power plant maintenance costs.

[0051] The technical problem to be solved by the utility model is that when a photovoltaic robot encounters an inspection channel as a cleaning boundary during operation, the efficiency is reduced and the visual positioning fails, thereby triggering an abnormality.

[0052] An embodiment of the present utility model provides a photovoltaic cleaning robot that continuously cleans through maintenance channels, and provides a custom line loss limit function, which is turned on by default. The line loss limit can be directly turned off or different visual positioning limit distances can be set according to the site; at the same time, after adjusting the line loss limit, in the event of visual positioning failure, the fusion of the driving wheel odometer and the inertial measurement unit is used as the positioning basis to ensure a relatively accurate route through visual blind spots such as maintenance channels.

[0053] When operating within a photovoltaic array with connected structures such as maintenance tunnels, this utility model's photovoltaic cleaning robot disables or adjusts its line-dropping distance. This allows the robot to proceed directly through these connected structures, then continue cleaning in another area. This reduces turns and maintains a straight cleaning line, improving cleaning efficiency. If this requirement is not present, the default setting is restored to prioritize equipment safety.

[0054] When using a photovoltaic operation robot, if there are connecting objects such as maintenance channels between multiple adjacent photovoltaic arrays, the line loss limit function of the device can be turned off through interactive software applications such as mobile phones and web pages, or the line loss limit distance can be adjusted to be larger than the maintenance channel with the largest span on site. When the photovoltaic operation robot encounters connecting objects such as maintenance channels, even if the visual positioning fails, it will ignore the line loss situation and continue to move forward and pass through, crossing to the adjacent photovoltaic array area to continue cleaning in a straight line, reducing turns and maintaining straight cleaning, and avoiding repeated paths when cleaning across arrays, thereby improving cleaning efficiency.

[0055] Assume that the default line loss (continuous visual positioning failure) distance limit is 30cm, such as Figure 4 As shown, the maintenance channel is 25cm wide, and the photovoltaic cleaning robot can pass through normally, spanning from the left array to the right array, realizing a complete "bow"-shaped optimal cleaning path. Figure 5 As shown in the figure, the maintenance channel is 40cm, which exceeds the default line loss limit distance of 30cm. The photovoltaic cleaning robot will trigger the visual positioning failure exception processing. If the line loss limit function is turned off, or the line loss limit distance is adjusted to 50cm, then the Figure 6 As shown, Figure 4 Just go through the maintenance channel normally, spanning from the left array to the right array, to achieve a complete "bow"-shaped optimal cleaning path.

[0056] In the event that visual positioning fails due to stepping into a connected object such as an inspection tunnel, the wheel encoder is commonly used to obtain the drive unit speed, and the wheel mileage is converted based on the mechanical structure. This is then tightly coupled with the posture information measured by the inertial measurement unit (IMU) as the basic positioning. The anti-drop sensor still maintains detection and maintains linear motion control forward cleaning. If this requirement is not met, the default settings are restored to ensure equipment safety first, and an exception handling is set to trigger when the default blind zone is exceeded.

[0057] Finally, it should be noted that the embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A photovoltaic cleaning robot that continuously cleans through an inspection channel, characterized by: The photovoltaic cleaning robot includes a body, a first cleaning assembly and a second cleaning assembly are respectively provided at the front and rear ends of the body, and crawler drive assemblies are respectively provided on both sides of the body. The photovoltaic cleaning robot moves under the drive of the crawler drive assemblies and cleans the photovoltaic components in the photovoltaic array through the first cleaning assembly and the second cleaning assembly; The crawler drive assembly is provided with a wheel encoder, which is used to obtain the rotation speed of the crawler drive assembly and obtain a wheel odometer. The crawler drive assembly is also provided with an inertial measurement unit, which is used to measure the posture information of the fuselage. The wheel odometer and the posture information are then coupled as the basic positioning of the photovoltaic cleaning robot; A first visual sensor is fixedly provided at the front end of the bottom of the fuselage, the first visual sensor faces the ground, and the first visual sensor is used to detect the photovoltaic components at the bottom of the fuselage; a second visual sensor is fixedly provided at the top end of the front of the fuselage, the second visual sensor faces the front of the fuselage, and the second visual sensor is used to detect the photovoltaic components in front of the fuselage, and the visual positioning of the photovoltaic cleaning robot is formed by the first visual sensor and the second visual sensor; An inspection channel is provided between two adjacent photovoltaic arrays, and a connecting component is provided in the inspection channel. The connecting component is used to connect the two adjacent photovoltaic arrays. The photovoltaic cleaning robot walks from one of the two adjacent photovoltaic arrays to the other photovoltaic array through the connecting component to perform cleaning operations.

2. The photovoltaic cleaning robot for continuous cleaning through the maintenance channel according to claim 1, characterized in that: The first visual sensor is a first camera component, and the parameters of the first camera component are: 720P and 80-degree lens.

3. The photovoltaic cleaning robot for continuous cleaning through the maintenance channel according to claim 2, characterized in that: The first visual sensor uses an OV7720 camera with night vision.

4. The photovoltaic cleaning robot for continuous cleaning through an inspection channel according to claim 1, characterized in that: The second visual sensor is a second camera component, and the parameters of the second camera component are: 1080P and 140-degree lens.

5. The photovoltaic cleaning robot for continuous cleaning through the maintenance channel according to claim 4, characterized in that: The second visual sensor uses a night vision H7650 camera.

6. The photovoltaic cleaning robot for continuous cleaning through an inspection channel according to claim 1, characterized in that: The left and right walls of the fuselage are respectively fixed with a first anti-fall sensor and a second anti-fall sensor. The first anti-fall sensor is used to detect the edge of the bottom of the fuselage located on the left side of the photovoltaic array to prevent falling, and the second anti-fall sensor is used to detect the edge of the bottom of the fuselage located on the right side of the photovoltaic array to prevent falling.

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