Cross-seam base for photovoltaic panel
By combining multiple sensors and employing a negative pressure adsorption structure, the problem of difficult identification of gaps and edges in photovoltaic panel arrays by cleaning robots has been solved, enabling safe, efficient, and stable movement across gaps.
Patent Information
- Application Number
- CN202423311462.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2034-12-31
AI Technical Summary
Existing cleaning robots have difficulty recognizing gaps and edges in photovoltaic panel arrays, and are prone to falling off the edges of photovoltaic panels, making it impossible to perform actions across gaps.
The design employs a multi-sensor combination, including a first sensor and a second sensor. Sensor components are arranged around the moving unit, and the sensor signals are processed by a processor to determine the edges or gaps of the photovoltaic array. Combined with a negative pressure adsorption structure, stable movement is ensured.
It enables cleaning robots to safely and efficiently cross gaps on photovoltaic panels, improves their perception capabilities in complex environments, avoids falls, and ensures operational stability.
Smart Images
Figure CN223729698U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to photovoltaic cleaning equipment technical field, specifically provides a kind of for the cross seam base of photovoltaic panel. BACKGROUND
[0002] At present, large-scale photovoltaic power station is generally deployed in the northwest region of arid and little rain, in the case of not being washed for a long time, a large amount of dust in the air can be accumulated on the surface of photovoltaic module with time and significantly affect the energy conversion of photovoltaic power station, and then affect the power generation efficiency and economic benefit of the entire photovoltaic system. Therefore, it is necessary to clean the photovoltaic panel regularly.
[0003] Since the photovoltaic panels of photovoltaic power station are almost arranged in array, there is generally an array gap of 2-20mm between photovoltaic panels. At present, a self-moving cleaning robot has been developed to automatically clean photovoltaic panels, but this cleaning robot needs to position its initial position on the photovoltaic panel and clean in a fixed line. When the initial position of the cleaning robot is not accurate, the cleaning robot is prone to fall from the edge of the photovoltaic array. By setting a traditional sensor on the cleaning robot to identify the panel edge and correct the robot posture, it is impossible to distinguish the array gap and the array edge, which causes the cleaning robot to be unable to realize array cross-seam action. Therefore, there is an urgent need for a device that enables the cleaning robot to realize cross-seam action without falling from the edge. SUMMARY
[0004] The utility model provides a kind of for the cross seam base of photovoltaic panel, and the edge and gap are judged by multiple sensor combination, solve the problem that existing robot cannot cross seam and is easy to fall from the edge of photovoltaic panel.
[0005] The technical scheme of the utility model is as follows:
[0006] A cross seam base for photovoltaic panel, comprising a bottom plate, a moving unit and a sensor assembly are provided on the bottom plate, the moving unit is used to support and control the movement of the bottom plate, the sensor assembly is arranged around the moving unit, and is triggered when the sensor assembly exceeds the edge of the photovoltaic panel, the sensor assembly comprises a processor, a first sensor and a second sensor, and the first sensor and the second sensor are arranged at intervals in the moving direction of the bottom plate.
[0007] In this scheme, since the inductor assembly is arranged around the moving unit, the inductor assembly can move to the edge of the photovoltaic panel and trigger before the moving unit, and the electrical signal triggered by the inductor assembly can be processed by the processor and input to the moving unit to give action signal, so that the moving unit continues to run, stops or retreats according to the actual situation; and since there is a gap between the first sensor and the second sensor, when the base moves on the photovoltaic panel, the advancing direction of the base can be judged according to the triggering sequence and triggering condition of the first sensor and the second sensor whether it is the edge of the photovoltaic array or the gap between the photovoltaic panels, and when it is a gap in the advancing direction, the action state of the moving unit remains unchanged, and when it is the edge of the array in the advancing direction, the processor controls the moving unit to stop. So that the base will not fall off the photovoltaic panel. It can also realize the action of crossing the gap, and the multi-sensor fusion design can improve the sensing ability of the assembled finished robot in complex environment, and ensure its safe and efficient operation.
[0008] Preferably, the moving unit can only brake or retreat when both the first sensor and the second sensor are triggered. In this scheme, since there is a gap between the first sensor and the second sensor, the first sensor and the second sensor will not be triggered at the same time. When the base moves, first one kind of sensor is triggered, which means that the base has moved to the edge of a single photovoltaic panel. When one kind of sensor is triggered, the other kind of sensor is also triggered, which means that the sensor behind also triggers. Only when both kinds of sensors are triggered, it means that there is a large gap or no photovoltaic panel in front of the base, and the base wants to continue to move, then it will fall off; if the front sensor is triggered and the rear sensor is triggered before the front sensor cancels the trigger, it means that the front is a photovoltaic panel gap, and the action of crossing the gap is needed, and the moving state of the base remains unchanged, and in other cases, the moving unit needs to stop moving immediately.
[0009] Preferably, the first sensor is arranged along the edge of the base, and the second sensor protrudes from the edge of the base. By arranging the first sensor on the edge of the base, as soon as the base exceeds the edge of the photovoltaic panel, the first sensor can be triggered by induction, and the enclosing distance of the inductor assembly enclosing the moving unit is sufficient, so that the moving unit can be arranged closer to the edge of the base, so that the center of gravity of the base is more stable.
[0010] Preferably, the first sensor is arranged at the four corners of the base. Since the shape of the base is generally a rectangular plate, by arranging the first sensor at the four corners of the base, the position and number of the first sensor are limited to ensure the cost and weight, and at the same time, it also ensures that no matter where the base exceeds the edge of the photovoltaic panel, at least one first sensor is triggered, so that the moving unit can react in time, and thus ensure that the base will not fall off the photovoltaic panel.
[0011] Preferably, the second sensor is located at the front end and the rear end of the moving direction of the bottom plate, so that the second sensor is always in front of the bottom plate and passes through the edge of the photovoltaic panel first, ensuring that the second sensor triggers before the first sensor, so that the sensor assembly can distinguish between the array gap and the array edge.
[0012] Preferably, the gap distance between the first sensor and the second sensor is greater than the gap width between the photovoltaic panels in the photovoltaic array, so that the sensor assembly can fully identify the array gap.
[0013] Preferably, the first sensor uses a laser sensor, and the second sensor uses an infrared sensor. In this scheme, the laser sensor can bring more sensitive and accurate sensing effect to the first sensor, improve the reaction speed of the base to the photovoltaic panel edge judgment, and the infrared sensor has strong anti-interference ability and can work stably in various environments. Even if the first sensor fails, the base will not fall due to travel problems.
[0014] Preferably, the bottom plate is further provided with an adsorption unit. The adsorption unit can make the base move on the photovoltaic panel with a certain inclination, so that the base has higher adaptability.
[0015] Preferably, the adsorption unit is a negative pressure adsorption structure. The negative pressure adsorption only needs to create an adsorption cavity and set a suction impeller to realize negative pressure adsorption, which is simple to set and low in component cost.
[0016] Preferably, the negative pressure adsorption structure is spaced apart along the moving direction of the bottom plate. When the bottom plate moves, even if it encounters a gap in the photovoltaic panel, the negative pressure adsorption device can pass through one by one, ensuring that the other negative pressure adsorption devices can also play an adsorption role when passing through the gap, so that the base will not fall due to adsorption failure when passing through the gap.
[0017] The beneficial effects of the utility model are as follows:
[0018] When the cleaning robot of the utility model moves on the photovoltaic panel, it can distinguish whether it moves to the edge of the photovoltaic panel through the first sensor, improve the perception ability of the robot in complex environment through the multi-sensor fusion design, and ensure its safe and efficient operation. The first sensor and the second sensor can also be used to quickly judge whether the base encounters the gap of the photovoltaic array or the edge of the photovoltaic array when moving in the direction of the bottom plate, so that the front sensor can pass through the gap of the photovoltaic array first and sense the next photovoltaic panel, so that the robot arranged on the base can accurately perform the cross-gap action and the array edge stopping action. BRIEF DESCRIPTION OF DRAWINGS
[0019] In order to more clearly illustrate the technical solutions of the present application, the drawings required to be used in the following description of the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.
[0020] Figure 1 It is a top view of the base of the present application.
[0021] Figure 2 It is a side view of the base of the present application.
[0022] Figure 3 It is a schematic diagram of the present application when working.
[0023] In the above drawings, the corresponding reference signs are shown as follows:
[0024] 1-bottom plate, 2-moving unit, 3-sensor assembly, 31-first sensor, 32-second sensor, 4-absorption unit, 5-processor, 6-photovoltaic panel. DETAILED DESCRIPTION
[0025] The technical solutions of the present application are clearly and completely explained by the specific implementation manners of the embodiments of the present application in combination with the drawings.
[0026] Embodiment one:
[0027] As shown in Figure 1 and Figure 2 A cross-slit base for photovoltaic panel, comprising a bottom plate 1, a moving unit 2 and a sensor assembly 3 are arranged on the bottom plate 1, the moving unit 2 is used to support and control the movement of the bottom plate 1, the sensor assembly 3 is arranged around the moving unit 2, and is triggered when the sensor assembly 3 exceeds the edge of the photovoltaic panel 6, the sensor assembly 3 comprises a processor 5, a first sensor 31 and a second sensor 32, the first sensor 31 and the second sensor 32 are arranged at intervals in the moving direction of the bottom plate 1.
[0028] Specifically, the moving unit 2 can be described as a motorized wheel or pulley. The sensor assembly 3 is arranged around the moving unit 2, allowing the sensor assembly 3 to identify the edge of the photovoltaic panel 6 in advance. As long as the moving unit 2 does not exceed the edge of the photovoltaic panel 6, the entire base plate 1 will not fall. To allow a slight gap between the first sensor 31 and the second sensor 32, this embodiment provides a preferred arrangement: the first sensor 31 is placed at the four corners of the edge of the base plate 1, while the second sensor 32 is placed at the front and rear ends of the base plate 1, protruding beyond the edge of the base plate 1. The first sensor 31 is primarily used to identify the edge of the photovoltaic panel 6, while the second sensor 32 assists in identifying the edge of the photovoltaic panel 6. That is, when the base moves, the second sensor 32 is in front of the first sensor 31.
[0029] When both the first sensor 31 and the second sensor 32 are operating normally, the system determines that the base plate 1 has moved to the edge of the entire photovoltaic array only when both sensors are triggered, and then performs a braking or retraction action. Figure 3 As shown, the base moves upward, and the second sensor 32 is triggered when it moves to the edge of the photovoltaic panel 6. At this time, the second sensor 32 is not triggered, and the processor 5 does not send a command signal to the moving unit 2, so that the moving unit 2 drives the base plate 1 to move normally until the first sensor 31 also moves to the edge of the photovoltaic panel 6. When the first sensor 31 is triggered, if the second sensor 32 is not in the triggered state, it means that the second sensor 32 has crossed a gap, and the moving unit 2 continues to move, so that the base plate 1 completes the gap crossing action; if the second sensor 32 is still in the triggered state, then both the first sensor 31 and the second sensor 32 are in the triggered state, indicating that there is a huge gap in front or there is no photovoltaic panel 6. Then the processor 5 controls the moving unit 2 to stop and retract.
[0030] Meanwhile, since the first sensor 31 is located at the four corners of the base plate 1, when only one first sensor 31 is triggered, it indicates that the movement of the base plate 1 has an angular deviation, and the moving unit 2 needs to retract and turn to adjust.
[0031] Furthermore, the first sensor 31 uses a laser sensor, preferably the existing TOFSense-F / F2 laser sensor. This sensor can calculate the distance of the photographed object by calculating the time difference or phase difference of light emission and reflection, thus generating accurate depth information. The second sensor 32 uses an infrared sensor, preferably the XKC-KE200 infrared rangefinder sensor. This sensor utilizes the principle of infrared light diffuse reflection, has strong anti-interference capabilities, and can work stably in various environments.
[0032] Example 2:
[0033] On the basis of the embodiment one, in order to have better light effect, the photovoltaic panel 6 of the photovoltaic array generally has a certain degree of inclination on the panel surface, in order to make the base can be attached to the photovoltaic panel 6 move, such as Figure 1 As shown in the figure, the bottom plate 1 is provided with adsorption units 4 at intervals.
[0034] Specifically, the adsorption unit 4 adopts a negative pressure adsorption structure. A negative pressure power source is composed of an existing brushless motor and an impeller, and adsorption is performed through the negative pressure adsorption cavity arranged at the bottom of the bottom plate 1.
[0035] And setting multiple negative pressure adsorption structures can ensure that when the bottom plate 1 moves, even if there are gaps in the photovoltaic panel 6, the negative pressure adsorption device can pass through one by one, ensuring that when the negative pressure adsorption device passes through the gap, the other negative pressure adsorption devices can also play an adsorption role, and the situation that the adsorption fails and falls when the base passes through the gap will not occur.
[0036] The above shows and describes the basic principle, main features and advantages of the utility model. The skilled person in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principle of the utility model, and various changes and improvements can be made without departing from the spirit and scope of the utility model. The utility model also falls within the scope of the utility model.
Claims
1. A cross-junction base for a photovoltaic panel, characterized by: The application relates to a photovoltaic array cleaning device, which comprises a bottom plate (1), a moving unit (2) and a sensor assembly (3) arranged on the bottom plate (1), the moving unit (2) is used for supporting and controlling the bottom plate (1) to move, the sensor assembly (3) is arranged around the moving unit (2), the sensor assembly (3) is triggered when the sensor assembly (3) exceeds the edge of a photovoltaic panel (6), the sensor assembly (3) comprises a first sensor (31) and a second sensor (32), and the first sensor (31) and the second sensor (32) are arranged at intervals in the moving direction of the bottom plate (1).
2. A cross-ridge base for a photovoltaic panel according to claim 1, characterized in that: The moving unit (2) can only brake and / or retreat when both the first sensor (31) and the second sensor (32) are triggered.
3. A cross-ridge base for a photovoltaic panel according to claim 2, characterized in that: The first sensor (31) is arranged along the edge of the bottom plate (1), and the second sensor (32) protrudes from the edge of the bottom plate (1).
4. A cross-ridge footer for a photovoltaic panel according to claim 3, characterized in that: The first sensor (31) is arranged at four corners of the bottom plate (1).
5. A cross-ridge base for a photovoltaic panel according to claim 4, characterized in that: The second sensor (32) is located at the front end and the rear end in the moving direction of the bottom plate (1).
6. A cross-ridge base for a photovoltaic panel according to claim 5, characterized in that: The gap distance between the first sensor (31) and the second sensor (32) is greater than the gap width between the photovoltaic panels (6) in the photovoltaic array.
7. A cross-ridge footer for a photovoltaic panel according to claim 1, wherein: The first sensor (31) uses a laser sensor, and the second sensor (32) uses an infrared sensor.
8. A cross-ridge base for a photovoltaic panel according to any one of claims 1 to 7, characterized in that: The bottom plate (1) is further provided with a suction unit (4).
9. A cross-ridge base for a photovoltaic panel according to claim 8, characterized in that: The suction unit (4) is a negative pressure suction structure.
10. A cross-ridge base for a photovoltaic panel according to claim 9, characterized in that: The negative pressure suction structure is arranged at intervals in the moving direction of the bottom plate (1).