Anti-falling base for photovoltaic panel

Abstract

The utility model belongs to the technical field of photovoltaic equipment cleaning, and particularly provides an anti-falling base for a photovoltaic panel, which comprises a bottom plate, a moving unit and a distance measuring sensor are arranged on the bottom plate, the moving unit controls the bottom plate to move, the distance measuring sensor is arranged around the moving unit, and the distance measuring sensor is arranged on the bottom plate. And whether the position exceeds the edge of the photovoltaic panel can be sensed. In the utility model, the distance measuring sensor always monitors whether the distance measuring sensor exceeds the edge of the photovoltaic panel, and when the distance measuring sensor responds, the edge of the bottom plate exceeds the photovoltaic panel, the falling risk exists, and the moving unit stops acting. In addition, due to the fact that the distance measuring sensors are arranged on the edges of the bottom plate, the actions of angle finding and falling prevention or advancing and falling prevention can be conducted according to the monitoring conditions of the other distance measuring sensors, and it is guaranteed that the cleaning robot arranged on the base does not fall off from the photovoltaic panel due to the stroke.

Description

TECHNICAL FIELD

[0001] The utility model belongs to photovoltaic equipment cleaning technical field, specifically provides a kind of anti-falling base for photovoltaic panel. BACKGROUND

[0002] With the increasing global energy demand and the increasingly prominent environmental problems, the development and utilization of clean energy become the common concern of governments and enterprises. Solar energy is inexhaustible renewable resource, under the form of increasingly serious energy crisis, solar power generation is more and more concerned by people, photovoltaic power station is connected with power grid and sends power to power grid photovoltaic power generation system, photovoltaic power station receives sunlight through photovoltaic panel. In order to improve the sunlight receiving effect, photovoltaic panel usually needs to be installed in outdoor environment, at present, large-scale photovoltaic power station is generally deployed in arid northwest region, under the condition of not being cleaned for a long time, a large amount of dust in the air will accumulate on the surface of photovoltaic panel of photovoltaic module with time, if not cleaning the dirt on the surface of photovoltaic panel in time, it will cause the power attenuation of photovoltaic panel, and seriously it will produce hot spot effect and damage photovoltaic panel. Therefore, photovoltaic panel needs to be cleaned regularly.

[0003] And in the prior art, manual cleaning is time-consuming and laborious, the degree of automation is low, and the cleaning effect is not obvious, and there is also a safety hazard. While using automatic robot cleaning, the robot is adsorbed on the photovoltaic panel by the adsorption device, and cleans along the set program and route, but in the initial cleaning task stage, the position of photovoltaic cleaning robot is not fixed, and the robot may approach or exceed the edge of photovoltaic panel when rotating to find the inclination angle of photovoltaic module and the initial position, or in the cleaning process, there is a risk of falling. Falling not only causes damage to the cleaning robot, but also may damage the photovoltaic panel and affect its normal use. Therefore, a device is needed to avoid the photovoltaic cleaning robot from moving beyond the edge of photovoltaic panel and falling. UTILITY MODEL CONTENTS

[0004] The utility model provides a kind of anti-falling base for photovoltaic cleaning robot, solve the problem that photovoltaic robot is moved on photovoltaic panel and easily exceeds panel edge and falls.

[0005] The technical scheme of the utility model is as follows:

[0006] A kind of anti-falling base for photovoltaic panel, including bottom plate, mobile unit and range sensor are arranged on the bottom plate, the mobile unit controls the bottom plate to move, the range sensor is arranged around the mobile unit, and whether the position is beyond the edge of photovoltaic panel can be sensed.

[0007] In this scheme, since the position and posture of the cleaning robot are not fixed when it is initially placed on the photovoltaic panel, it needs to be rotated to find the angle to achieve preliminary positioning. When the base drives the robot to work, the distance measuring sensor always monitors whether it exceeds the edge of the photovoltaic panel. When the distance measuring sensor responds, it indicates that the edge of the base plate exceeds the photovoltaic panel, which has a risk of falling, and the movement unit is stopped by the processing unit with a chip. Moreover, since the edge of the base plate is provided with distance measuring sensors, the processing unit can make "angle-falling prevention" or "traveling-falling prevention" actions according to the monitoring of the remaining distance measuring sensors, so as to ensure that the cleaning robot on the base will not fall off the photovoltaic panel due to travel.

[0008] Preferably, the distance measuring sensor comprises a first sensor arranged on the edge of the base plate. Since the base plate is almost rectangular in structure, by arranging the first sensor on the four corners of the base plate, at least one first sensor will be identified when the base plate exceeds the edge of the photovoltaic panel, and when only one first sensor is monitored and identified, it indicates that one corner of the base exceeds the edge of the photovoltaic panel during rotation, and the movement unit needs to control the base plate to rotate in the opposite direction; when two first sensors are monitored and identified, it indicates that the base exceeds the edge of the photovoltaic panel during movement, and the movement unit needs to stop immediately to ensure that the base will not fall off the photovoltaic panel.

[0009] Preferably, the first sensor is a laser distance measuring instrument. The laser distance measuring instrument can provide high-precision measurement results to improve the corresponding speed of the cleaning robot moving to the edge of the photovoltaic panel and avoid falling.

[0010] Preferably, the distance measuring sensor further comprises a second sensor arranged at the front end and / or rear end of the base plate.

[0011] In this scheme, when the first sensor may fail or cannot provide accurate data in a specific scenario, the second sensor can continue to function, at least to ensure that the robot will not fall off the photovoltaic panel. By additionally arranging the second sensor in the moving direction of the base plate, the reliability and safety of the system are greatly improved, and the potential risk caused by the failure of a single sensor is avoided. This multi-sensor fusion design can improve the perception ability of the robot in complex environments and ensure its safe and efficient operation.

[0012] Preferably, the second sensor is an infrared sensor. Although the infrared sensor has low precision, it can be applied to various environments, and the cost is also lower than that of the laser distance measuring instrument, and it is also easier to maintain. On the basis of ensuring the sensing ability of the base, the cost of the distance measuring sensor is reduced.

[0013] Preferably, the moving unit comprises a left wheel group and a right wheel group controlled by two motors respectively.

[0014] Preferably, the bottom plate is further provided with an adsorption unit, and the base can be attached to and moved on the photovoltaic panel with a certain inclination through the adsorption unit.

[0015] Preferably, the adsorption unit comprises a plurality of negative pressure adsorption assemblies arranged at intervals along the advancing direction of the bottom plate.

[0016] Preferably, the bottom plate comprises three small plates connected movably, and each small plate is provided with a negative pressure adsorption assembly.

[0017] Preferably, the bottom plate is further provided with a mobile power supply with a power supply monitoring module and a positioning communication module.

[0018] The cleaning robot of the utility model has the advantages that:

[0019] The cleaning robot of the utility model is not fixed in position and posture when placed on the photovoltaic panel for the first time, needs to be rotated to find the angle to realize preliminary positioning, the ranging sensor always monitors whether the base exceeds the edge of the photovoltaic panel when the base drives the robot to work, the ranging sensor responds when the base edge exceeds the photovoltaic panel, which indicates that there is a risk of falling, and the moving unit stops moving by relying on the processing chip or other data processing unit; and since the base edge is provided with the ranging sensor, the processing unit can make the "fall-preventing rotation" or "fall-preventing movement" action according to the monitoring condition of the remaining ranging sensors, so that the cleaning robot arranged on the base cannot fall from the photovoltaic panel due to the travel. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.

[0021] Figure 1 It is a top view of the base of the utility model;

[0022] Figure 2 It is a side view of the base of the utility model.

[0023] In the above drawings, the corresponding reference signs are as follows:

[0024] 1 - moving unit, 11 - motor, 2 - distance measuring sensor, 21 - first sensor, 22 - second sensor, 3 - bottom plate, 4 - adsorption unit, 5 - processing unit. DETAILED DESCRIPTION

[0025] The technical scheme of the present application is clearly and completely explained by the specific implementation mode of the embodiments of the present application in combination with the drawings.

[0026] Embodiment one:

[0027] As Figure 1As shown in one kind for photovoltaic panel's anti-falling base, including the bottom plate 3, mobile unit 1 and range sensor 2 are arranged on the bottom plate 3, the mobile unit 1 controls the bottom plate 3 to move, the range sensor 2 is arranged around the mobile unit 1, and can sense whether the position is beyond the edge of photovoltaic panel. Wherein the first sensor 21 is arranged at the edge position of the base, preferably arranged at the four corners of the bottom plate 3, and high-precision laser range finder is used for monitoring, it needs to be explained that, since the cleaning robot is placed on the photovoltaic panel for the first time, the position and posture are not fixed, need to be rotated to find the angle to realize preliminary positioning. And the range sensor 2 is arranged at the edge of the bottom plate 3, and the monitoring result of the range sensor 2 is converted into the corresponding action model by the processing unit 5 on the bottom plate 3 and delivered to the mobile unit 1 to control the bottom plate 3 to correct the posture. When the base drives the robot to work, the range sensor 2 always monitors whether it is beyond the edge of the photovoltaic panel, and when the range sensor 2 responds, it indicates that the edge of the bottom plate 3 is beyond the photovoltaic panel, and there is a risk of falling. Wherein the "angle-finding anti-falling" action indicates that when the cleaning robot is operated to find the angle, it rotates, and only one first sensor 21 is triggered, then the processing unit 5 leaves the mobile unit 1 to reverse rotation to avoid falling due to continuous rotation; When the angle of the cleaning robot is found, it generally moves along the direction of the photovoltaic array or perpendicular to the direction of the photovoltaic array, and the "traveling anti-falling" action indicates that in this state, two first sensors 21 are triggered, then the processing unit 5 makes the mobile unit 1 stop moving immediately, to ensure that the cleaning robot arranged on the base will not fall off the photovoltaic panel due to travel.

[0028] More specifically, the laser range finder uses TOFSense-F / F2 laser sensor, which can calculate the time difference or phase difference between light emission and reflection to convert the distance of the photographed scene, and generate accurate depth information.

[0029] Example two:

[0030] As shown in the embodiment one, as shown in Figure 1 and Figure 2 The range sensor 2 on the base has a second sensor 22 in addition to the first sensor 21, the second sensor 22 is arranged at the front end or rear end of the base, and additionally monitors whether the end of the moving direction of the base is on the photovoltaic panel, assisting the monitoring of the first sensor 21, and the second sensor 22 only needs to monitor whether there is a photovoltaic panel in front of the end of the base, without the need for particularly high precision, so a low-cost and easy-to-maintain infrared sensor is selected to assist in monitoring, which can at least ensure that the robot will not fall off the photovoltaic panel. The design of the two kinds of sensors greatly improves the reliability and safety of the system, avoiding the potential risks caused by the failure of a single sensor.

[0031] Furthermore, the infrared sensor uses the XKC-KE200 infrared ranging sensor 2, which utilizes the principle of infrared light diffuse reflection, has strong anti-interference capabilities, and can work stably in various environments.

[0032] It should be noted that in both Embodiment 1 and Embodiment 2, the monitoring direction of the ranging sensor 2, whether it is the first sensor 21 or the second sensor 22, can be parallel to the surface of the base plate 3, with the side of the photovoltaic panel protruding as the reference for ranging monitoring, or it can be perpendicular to the surface of the photovoltaic panel, with the surface of the photovoltaic panel as the reference for ranging monitoring. Preferably, the photovoltaic panel is used as the reference, and by detecting the light signal reflection of the photovoltaic panel, it can be directly determined whether the sensor is directly above the photovoltaic panel.

[0033] Example 3:

[0034] Based on the above embodiments, the moving unit 1 includes a left wheel assembly and a right wheel assembly, each controlled by two motors 11. Figure 1 As shown, two sets of synchronous pulleys are set up and driven by two motors 11 respectively. When the output power of the two motors 11 is the same, the base plate 3 can move linearly. By controlling the output power of the two motors 11, the speed difference between the two synchronous pulleys can be controlled, so that the base plate 3 can achieve turning movements with different amplitudes.

[0035] It is important to note that, for better light illumination, the photovoltaic panels of a photovoltaic array typically have a certain degree of tilt. The adsorption unit 4 allows the base plate 3 to adhere to the tilted photovoltaic panel and move using the moving unit 1. Specifically, the adsorption unit 4 employs negative pressure adsorption and includes multiple negative pressure adsorption components spaced apart along the moving direction of the base plate 3. This ensures that even when the base plate 3 encounters gaps in the photovoltaic panel during movement, the negative pressure adsorption devices can pass through one by one. This ensures that while one negative pressure adsorption device passes through a gap, other negative pressure adsorption devices can also maintain their adsorption function, preventing the base plate from falling due to adsorption failure when passing through a gap.

[0036] Furthermore, the base plate 3 includes three movably connected small plates, each of which is equipped with a negative pressure adsorption component. When the base moves, the base plates 3 are lifted when they encounter a protrusion on the panel, thus forming a certain angle. Because they are movably connected to the other base plates 3 (including but not limited to hinge connections, vertical sliding column connections, and flexible connections), each base plate 3 is relatively independent. The movement of one base plate 3 will not cause the other base plates 3 to tilt, thus not affecting the effective adsorption of other adsorption units 4, ensuring that the base will not fall when crossing gaps.

[0037] It should be noted that the bottom plate 3 is also provided with a mobile power supply with a power supply monitoring module and a positioning communication module. The power supply monitoring module adopts, and the positioning communication module adopts the ATK-MO1218 positioning module. Through real-time monitoring of the system power state, the continuity and stability of the cleaning task are ensured, and the positioning communication module realizes remote, low-power monitoring of the robot working state and position information. Let the operation and maintenance personnel not need to arrive at the scene, can grasp the working state of the robot at any time, thereby carrying out efficient monitoring.

[0038] The basic principle, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application.

Claims

1. An anti-fall base for a photovoltaic panel, characterized by: The application relates to a photovoltaic panel cleaning device, which comprises a bottom plate (3), a moving unit (1) and a distance measuring sensor (2) arranged on the bottom plate (3), the moving unit (1) controls the movement of the bottom plate (3), the distance measuring sensor (2) is arranged around the moving unit (1) and can sense whether the position exceeds the edge of a photovoltaic panel; a suction unit (4) is further arranged on the bottom plate (3); the suction unit (4) comprises a plurality of negative pressure suction assemblies which are arranged at intervals along the advancing direction of the bottom plate (3); the bottom plate (3) comprises three small plates which are movably connected, and each small plate is provided with a negative pressure suction assembly.

2. An anti-fall base for a photovoltaic panel according to claim 1, characterized in that: The distance measuring sensor (2) comprises first sensors (21) arranged at four corners of the bottom plate (3).

3. An anti-fall base for a photovoltaic panel according to claim 2, characterized in that: The first sensors (21) are laser range finders.

4. An anti-fall base for a photovoltaic panel according to claim 3, characterized in that: The distance measuring sensor (2) further comprises second sensors (22) arranged at the front end and / or the rear end of the bottom plate (3).

5. An anti-fall base for a photovoltaic panel according to claim 4, characterized in that: The second sensors (22) are infrared sensors.

6. An anti-fall base for a photovoltaic panel according to claim 1, characterized in that: The moving unit (1) comprises a left wheel set and a right wheel set which are respectively controlled by two motors (11).

7. A fall-preventing base for a photovoltaic panel according to any one of claims 1 to 6, characterized in that: A mobile power supply with a power supply monitoring module and a positioning communication module are further arranged on the bottom plate (3).

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