A robotic system and a photovoltaic system

Abstract

The application provides a robot system and a photovoltaic system, and relates to the technical field of robots. An inclination detection device is arranged on a running path of a robot, the running path comprises at least one photovoltaic module string, and the inclination detection device comprises a first inclination acquisition device and a first wireless communication module. The output end of the first inclination acquisition device is connected with the input end of the first wireless communication module, so that the first wireless communication module can acquire the inclination of the photovoltaic module string. A second wireless communication module is arranged on the robot, so that the second wireless communication module can acquire the inclination of the photovoltaic module string through wireless communication with the first wireless communication module. Since the first inclination acquisition device acquires the inclination of the photovoltaic module string and wireless communication is not affected by factors such as illumination and dust, the accuracy of the robot in acquiring the inclination of the photovoltaic module string is improved, and the risk of the robot falling or colliding is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot system and a photovoltaic system. Background Technology

[0002] In the photovoltaic field, the power generation efficiency of photovoltaic strings is maximized by controlling the tilt angle of the photovoltaic string to change with the position of the sun.

[0003] The gaps between photovoltaic strings are connected by a bridging device, allowing the robot to move from the current photovoltaic string to an adjacent string to perform inspection, cleaning, and other tasks. If there is an angle difference between two adjacent photovoltaic strings, the bridging device will adjust its extension and rotation according to the photovoltaic strings on both sides. If the angle difference between two adjacent photovoltaic strings exceeds a certain value, the cleaning robot is prone to falling or colliding when passing through the bridging device.

[0004] One solution is to install a camera on the robot and use image detection to identify the tilt angle of the photovoltaic strings, calculate the angle difference between adjacent photovoltaic strings, and then control whether the robot passes through the bridging device based on this angle difference. However, image detection is easily affected by factors such as lighting and dust, resulting in low accuracy in identifying the tilt angle of the photovoltaic strings. Utility Model Content

[0005] In view of this, the present invention provides a robot system and a photovoltaic system, which improves the accuracy of the robot in obtaining the tilt angle of the photovoltaic string, thereby reducing the risk of the robot falling or colliding.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] This application provides a robot system, including: a robot and a tilt angle detection device;

[0008] The tilt detection device is installed on the robot's running path, and the running path includes at least one photovoltaic string;

[0009] The tilt angle detection device includes: a first tilt angle acquisition device and a first wireless communication module;

[0010] The signal output terminal of the first tilt angle acquisition device is connected to the signal input terminal of the first wireless communication module, and the data output by the signal output terminal of the first tilt angle acquisition device includes the tilt angle.

[0011] The robot includes a second wireless communication module, which communicates wirelessly with the first wireless communication module.

[0012] In one possible implementation, the robot further includes a second tilt angle acquisition device;

[0013] The signal output terminal of the second tilt angle acquisition device is connected to the signal input terminal of the robot;

[0014] The data output from the signal output terminal of the second tilt angle acquisition device includes the tilt angle of the robot.

[0015] In one possible implementation, the tilt detection device is positioned at a first tilt acquisition location on the robot's running path;

[0016] The first tilt angle acquisition position is the position where the tilt angle of the photovoltaic string can be acquired.

[0017] In one possible implementation, the tilt detection device is positioned at a first tilt acquisition position and a second tilt acquisition position along the robot's running path;

[0018] The first tilt angle acquisition position is a position where the tilt angle of the photovoltaic string can be acquired;

[0019] The second tilt angle acquisition position is the position where the tilt angle of the stopping structure can be acquired, and the stopping structure is the structure on which the robot is parked.

[0020] In one possible implementation, the first tilt angle acquisition position includes at least one of the following: the photovoltaic string, a position in the photovoltaic support that rotates synchronously with the photovoltaic string, and a position in the bridging device connected to the photovoltaic string that is consistent with the rotation direction and rotation angle of the photovoltaic string.

[0021] In one possible implementation, the first wireless communication module is a radio frequency identification (RFID) tag, and the second wireless communication module is an RFID tag reader / writer.

[0022] In one possible implementation, the first wireless communication module is a passive radio frequency identification tag;

[0023] The first wireless communication module is activated when it is located within the electromagnetic induction area of ​​the second wireless communication module, and sends the stored tilt angle to the second wireless communication module.

[0024] In one possible implementation, the first wireless communication module is a Bluetooth beacon, and the second wireless communication module is a Bluetooth module.

[0025] In one possible implementation, the robot includes a cleaning component.

[0026] This application provides a photovoltaic system in two aspects, including: the robot system described in the first aspect, at least one photovoltaic string and a power conversion device;

[0027] The photovoltaic strings are mounted on a photovoltaic support structure that can change the tilt angle;

[0028] The adjacent photovoltaic strings are connected by a bridging device.

[0029] As can be seen from the above technical solution, the robot system and photovoltaic system provided by this utility model include a tilt angle detection device installed on the robot's running path. The running path includes at least one photovoltaic string. The tilt angle detection device includes a first tilt angle acquisition device and a first wireless communication module. The output end of the first tilt angle acquisition device is connected to the input end of the first wireless communication module, enabling the first wireless communication module to acquire the tilt angle of the photovoltaic string. By installing a second wireless communication module on the robot, the second wireless communication module acquires the tilt angle of the photovoltaic string through wireless communication with the first wireless communication module. Since the tilt angle acquisition of the photovoltaic string by the first tilt angle acquisition device and the wireless communication are not affected by factors such as light and dust, the accuracy of the robot in acquiring the tilt angle of the photovoltaic string is improved, and the risk of the robot falling or colliding is reduced. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 A schematic diagram of the structure of a robot system provided in an embodiment of this application;

[0032] Figure 2 This is a schematic diagram of another robot system provided in an embodiment of this application;

[0033] Figure 3 This application provides a schematic diagram of a robot exiting a warehouse, as illustrated in an embodiment of the present application.

[0034] Figure 4 This application provides a schematic diagram of a scenario where a robot passes through adjacent strings, as illustrated in an embodiment of the present application.

[0035] Figure 5 This is a schematic diagram illustrating another scenario of robot delivery from the warehouse, provided in an embodiment of this application.

[0036] Figure 6 This is a schematic diagram illustrating another scenario of a robot passing through adjacent strings, provided as an embodiment of this application. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0038] In this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] With the development of robotics technology, many photovoltaic power plants are using robots to perform inspections and cleaning on photovoltaic strings to reduce labor costs. However, when the angle difference between two adjacent photovoltaic strings exceeds a certain value, the cleaning robot is prone to falling or colliding when passing through the bridging devices between the photovoltaic strings.

[0040] In the application of single-axis brackets in photovoltaic power plants, robots determine whether they are ready to leave the enclosure and whether the bridging devices between adjacent strings are ready to pass by reading the angle data of the single-axis bracket in the SCADA (Supervisory Control and Data Acquisition) system. Due to errors and data delays in the SCADA system data of the single-axis bracket, there is a risk of the robot falling or colliding.

[0041] One solution is to install a camera on the robot and use image detection to identify the tilt angle of the photovoltaic strings, calculate the angle difference between adjacent photovoltaic strings, and then control whether the robot passes through the bridging device based on this angle difference. However, image detection is not only computationally complex and requires high computing power, but it is also easily affected by factors such as lighting and dust, resulting in low accuracy in identifying the tilt angle of the photovoltaic strings.

[0042] This application provides a robot system; please refer to [link / reference]. Figure 1 The diagram shows the structure of the robot system, which includes a tilt detection device 10 and a robot 20.

[0043] The tilt detection device 10 is installed on the running path of the robot 20, and the running path includes at least one photovoltaic string 30. The gaps between the photovoltaic strings 30 are connected by a bridging device 40, which can be a flexible bridge. The structure of the bridging device 40 can be any existing bridging device structure, which will not be described in detail here. The photovoltaic string 30 is composed of multiple photovoltaic modules 31 connected together. The connection method between any two photovoltaic modules 31 can be a series connection or a parallel connection, which is not specifically limited here and can be determined according to the specific situation.

[0044] The tilt angle detection device 10 includes a first tilt angle acquisition device and a first wireless communication module. The first tilt angle acquisition device and its signal output terminal are connected to the signal input terminal of the first wireless communication module. The data output by the signal output terminal of the first tilt angle acquisition device includes the tilt angle, which represents the angle between the plane where the first tilt angle acquisition device is located and the horizontal plane. When the first tilt angle acquisition device is located on the plane where the photovoltaic string is located, this tilt angle represents the angle between the surface of the photovoltaic string and the horizontal plane.

[0045] The tilt detection device 10 can detect the tilt angle accurately in real time. The tilt detection device 10 can be implemented in various ways, and the connection between the first tilt acquisition device and the first wireless communication module is different for different implementation methods.

[0046] For example, when the first wireless communication module is a passive RFID tag or an active RFID tag, the first tilt angle acquisition device includes: a tilt angle sensor, a microcontroller, and an RFID tag reader / writer. The microcontroller, acting as an intermediate device, is connected to both the tilt angle sensor and the RFID tag reader / writer. Specifically, the signal output terminal of the tilt angle sensor is connected to the signal input terminal of the microcontroller, and the signal output terminal of the microcontroller is connected to the signal input terminal of the RFID tag reader / writer. The microcontroller writes the tilt angle acquired by the tilt angle sensor into the passive or active RFID tag via the RFID tag reader / writer.

[0047] For example, when the first wireless communication module is a Bluetooth beacon, the first tilt angle acquisition device includes: a tilt angle sensor and a microcontroller supporting Bluetooth functionality; or the first tilt angle acquisition device includes: a tilt angle sensor, a microcontroller, and a Bluetooth module. If the first tilt angle acquisition device includes a tilt angle sensor and a microcontroller supporting Bluetooth functionality, the signal output terminal of the tilt angle sensor is connected to the signal input terminal of the microcontroller supporting Bluetooth functionality. If the first tilt angle acquisition device includes a tilt angle sensor, a microcontroller, and a Bluetooth module, the signal output terminal of the tilt angle sensor is connected to the signal input terminal of the microcontroller, and the signal output terminal of the microcontroller is connected to the signal input terminal of the Bluetooth module. The microcontroller writes the tilt angle acquired by the tilt angle sensor into the Bluetooth beacon via the Bluetooth module.

[0048] The robot 20 includes a second wireless communication module 21, which communicates wirelessly with the first wireless communication module. The second wireless communication module 21 can be an internal or external component of the robot 20; no specific limitation is made here. The second wireless communication module 21 varies depending on the implementation of the tilt detection device 10.

[0049] When the first wireless communication module in the tilt detection device 10 is a passive RFID tag or an active RFID tag, the second wireless communication module 21 is an RFID tag reader / writer; when the first wireless communication module in the tilt detection device 10 is a Bluetooth beacon, the second wireless communication module 21 is a Bluetooth module.

[0050] The above implementation of the tilt angle detection device 10 and the second wireless communication module 21 is merely an example, and this application is not limited thereto.

[0051] The robot system disclosed in this embodiment is equipped with a tilt angle detection device along the robot's running path. The running path includes at least one photovoltaic string. The tilt angle detection device includes a first tilt angle acquisition device and a first wireless communication module. The output terminal of the first tilt angle acquisition device is connected to the input terminal of the first wireless communication module, enabling the first wireless communication module to acquire the tilt angle of the photovoltaic string. By setting a second wireless communication module on the robot, the second wireless communication module acquires the tilt angle of the photovoltaic string through wireless communication with the first wireless communication module. Since the tilt angle acquisition of the photovoltaic string by the first tilt angle acquisition device and the wireless communication are not affected by factors such as light and dust, the accuracy of the robot in acquiring the tilt angle of the photovoltaic string is improved, and the risk of the robot falling or colliding is reduced.

[0052] In one possible implementation, please refer to Figure 2The schematic diagram of the robot system shown illustrates that robot 20 also includes a second tilt angle acquisition device 22. The second tilt angle acquisition device 22 can be an internal or external component of robot 20. The data output from the signal output terminal of the second tilt angle acquisition device 22 includes the tilt angle of robot 20. This tilt angle is understood to be the tilt angle of the plane on which robot 20 is located. If robot 20 is on a photovoltaic string, the second tilt angle acquisition device 22 acquires the tilt angle of the photovoltaic string on which robot 20 is located; if robot 20 is on a stopping structure, the second tilt angle acquisition device 22 acquires the tilt angle of the stopping structure on which robot 20 is located.

[0053] The signal output terminal of the second tilt angle acquisition device 22 is connected to the signal input terminal of the robot. For example, the signal output terminal of the second tilt angle acquisition device 22 is connected to the signal input terminal of the controller in the robot 20. The controller in the robot 20 determines whether to use the bridging device based on the tilt angle of the plane where the robot 20 is located and the tilt angle of the adjacent photovoltaic strings.

[0054] The tilt detection device 10 is set at the first tilt acquisition position on the robot's running path. The first tilt acquisition position is the position where the tilt angle of the photovoltaic string can be acquired.

[0055] Since the second tilt angle acquisition device 22 on the robot 20 can acquire the tilt angle of the plane where the robot is located, when the robot 20 is on the stopping structure, the second tilt angle acquisition device 22 acquires the tilt angle of the stopping structure. Therefore, the tilt angle detection device 10 does not need to be set on the stopping structure, but of course, the tilt angle detection device 10 can also be set.

[0056] When the robot 20 includes the second tilt angle acquisition device 22, the robot system has at least the following two application scenarios.

[0057] Scene 1:

[0058] Please see Figure 3The diagram illustrates a robot exiting a storage area. In the initial state, robot 20 is positioned on a parking structure 50, which can be a shuttle vehicle, parking space, or similar structure. No tilt detection device 10 is installed on the parking structure 50, but tilt detection devices 10(a) and 10(b) are installed on the photovoltaic string 30(a) and 30(b), respectively. A second tilt acquisition device 22 on robot 20 acquires the tilt angle of the parking structure 50, and the tilt detection device 10(a) on photovoltaic string 30(a) acquires its tilt angle. A second wireless communication module 21 on robot 20 obtains the tilt angle of photovoltaic string 30(a) through wireless communication with the tilt detection device 10(a). If the angle difference between the tilt angle of the shutdown structure 50 and the tilt angle of the photovoltaic string 30(a) is less than the threshold, the robot 20 will exit the warehouse normally and run sequentially to the bridging device 40 and the photovoltaic string 30(a). If the angle difference between the tilt angle of the shutdown structure 50 and the tilt angle of the photovoltaic string 30(a) is not less than the threshold, the robot 20 will stop exiting the warehouse.

[0059] Scene 2:

[0060] Please see Figure 4 The diagram illustrates a scenario where the robot operates through adjacent photovoltaic (PV) strings. When robot 20 reaches PV string 30(a), it acquires the tilt angle of PV string 30(a) via the second tilt angle acquisition device 22, or via wireless communication with tilt angle detection device 10(a) through the second wireless communication module 21. Robot 20 also wirelessly communicates with tilt angle detection device 10(b) through the second wireless communication module 21 to acquire the tilt angle of PV string 30(b). If the angle difference between the tilt angles of PV string 30(a) and PV string 30(b) is less than a threshold, robot 20 continues operating, sequentially reaching bridging device 40 and PV string 30(b). If the angle difference between the tilt angles of PV string 30(a) and PV string 30(b) is not less than the threshold, robot 20 stops operating or returns along its original path.

[0061] In another possible implementation, the robot 20 is not equipped with a tilt angle acquisition device. Instead, the tilt angle detection device is set at a first tilt angle acquisition position and a second tilt angle acquisition position on the robot's running path. The first tilt angle acquisition position is the position where the tilt angle of the photovoltaic string can be acquired, and the second tilt angle acquisition position is the position where the tilt angle of the shutdown structure can be acquired.

[0062] Without tilt angle acquisition devices, the robot system has at least the following two application scenarios.

[0063] Scene 3:

[0064] Please see Figure 5 The diagram illustrates a robot exiting a storage area. In the initial state, robot 20 is positioned on a parking structure 50. A tilt angle detection device 10(c) is installed on the parking structure 50 to collect its tilt angle. Similarly, a tilt angle detection device 10(a) is installed on each photovoltaic string 30(a) to collect its tilt angle. A tilt angle detection device 10(b) is installed on each photovoltaic string 30(b) to collect its tilt angle. The second wireless communication module 21 on robot 20 obtains the tilt angle of the parking structure 50 by communicating wirelessly with the tilt angle detection device 10(c), and obtains the tilt angle of the photovoltaic string 30(a) by communicating wirelessly with the tilt angle detection device 10(a). If the angle difference between the tilt angle of the shutdown structure 50 and the tilt angle of the photovoltaic string 30(a) is less than the threshold, the robot 20 will exit the warehouse normally and run sequentially to the bridging device 40 and the photovoltaic string 30(a). If the angle difference between the tilt angle of the shutdown structure 50 and the tilt angle of the photovoltaic string 30(a) is not less than the threshold, the robot 20 will stop exiting the warehouse.

[0065] Scene 4:

[0066] Please see Figure 6 The diagram illustrates a scenario where the robot operates through adjacent photovoltaic strings. When robot 20 reaches photovoltaic string 30(a), it communicates wirelessly with tilt detection device 10(a) via the second wireless communication module 21 to obtain the tilt angle of photovoltaic string 30(a). Robot 20 also communicates wirelessly with tilt detection device 10(b) via the second wireless communication module 21 to obtain the tilt angle of photovoltaic string 30(b). If the angle difference between the tilt angles of photovoltaic string 30(a) and photovoltaic string 30(b) is less than a threshold, robot 20 continues operating, sequentially reaching bridging device 40 and photovoltaic string 30(b). If the angle difference between the tilt angles of photovoltaic string 30(a) and photovoltaic string 30(b) is not less than the threshold, robot 20 stops operating or returns along its original path.

[0067] In the above embodiments, the position at which the tilt angle of the photovoltaic string can be collected, i.e., the first tilt angle collection position, includes at least one of the following: the photovoltaic string, the position in the photovoltaic support that rotates synchronously with the photovoltaic string, and the position in the bridging device connected to the photovoltaic string that is consistent with the rotation direction and rotation angle of the photovoltaic string.

[0068] In a specific example, a tilt detection device 10 is installed on the photovoltaic string. In practical applications, the tilt detection device 10 needs to be reasonably arranged on the photovoltaic string according to the type of wireless communication between the first wireless communication module and the second wireless communication module, so that the robot can obtain the tilt angle stored by the first wireless communication module in a timely manner, thereby further reducing the risk of the robot falling or colliding during the process of passing through the bridging device. Typically, the tilt detection device 10 is centrally located on the edge of the photovoltaic string, such as... Figures 1 to 6 As shown.

[0069] In another specific example, a tilt angle detection device 10 is installed at a position within the photovoltaic support that rotates synchronously with the photovoltaic string. In practical applications, the tilt angle detection device 10 needs to be reasonably arranged at the position within the photovoltaic support that rotates synchronously with the photovoltaic string, taking into account the type of wireless communication between the first and second wireless communication modules. This allows the robot to promptly acquire the tilt angle stored by the first wireless communication module, thereby further reducing the risk of the robot falling or colliding during its passage through the bridging device. For example, the tilt angle detection device 10 can be installed at a position within the photovoltaic support, such as the horizontal axis or support structure, that rotates synchronously with the photovoltaic string. The support structure includes purlins, beams, etc., and is used to connect the horizontal axis and the photovoltaic modules. The support structure is fixedly connected to the horizontal axis, and when the horizontal axis rotates, the support structure also rotates synchronously, causing the photovoltaic modules to rotate together. Therefore, if the tilt angle detection device 10 is installed at a position within the photovoltaic support, such as the horizontal axis or support structure, that rotates synchronously with the photovoltaic string, the tilt angle it acquires will be consistent with the tilt angle of the photovoltaic string.

[0070] In another specific example, a tilt angle detection device 10 is installed at a position in the bridging device connecting the photovoltaic strings, where the tilt angle is consistent with the rotation direction and angle of the photovoltaic strings. It should be noted that the tilt angle collected by the tilt angle detection device 10 at this position is consistent with the tilt angle of the photovoltaic strings. In practical applications, the tilt angle detection device 10 needs to be installed on the non-rotating part of the bridging device connecting the photovoltaic strings, depending on the type of wireless communication between the first and second wireless communication modules. This allows the robot to promptly obtain the tilt angle stored by the first wireless communication module, further reducing the risk of the robot falling or colliding during its passage through the bridging device. For example, the position in the bridging device consistent with the rotation direction and angle of the photovoltaic strings could be the base of the bridging device, etc., and this application does not specifically limit this. The base of the bridging device is mounted on a single-axis via purlins and rotates synchronously with the single-axis. Therefore, if the tilt angle detection device 10 is installed on the base of the bridging device, the tilt angle it collects will be consistent with the tilt angle of the photovoltaic strings.

[0071] The above three examples only illustrate three implementations of the setting position of the tilt detection device 10. In practical applications, including but not limited to these, any position that enables the tilt detection device 10 to complete the detection of the tilt angle of the photovoltaic string is within the protection scope of this application. No specific limitation is made here, and it can be determined according to the specific situation.

[0072] Furthermore, the tilt angle collected by the tilt angle detection device 10 may not be the tilt angle of the photovoltaic string, but rather a tilt angle that has a conversion relationship with the tilt angle of the photovoltaic string. The robot can convert the tilt angle collected by the tilt angle detection device 10 into the tilt angle of the photovoltaic string based on this conversion relationship. In other words, the robot can obtain the tilt angle of the photovoltaic string by directly acquiring it or indirectly calculating it.

[0073] It should be noted that when the robot system includes multiple tilt detection devices 10, the position of each tilt detection device 10 can be set in the manner described in the above embodiments. However, the setting methods of each tilt detection device 10 can be the same or different. No specific limitation is made here. It can be determined according to the specific situation, and all are within the protection scope of this application.

[0074] In the above embodiments, the first wireless communication module in the tilt detection device 10 can be a radio frequency identification (RFID) tag, and correspondingly, the second wireless communication module of the robot 20 is an RFID tag reader / writer. The RFID tag can be a passive RFID tag or an active RFID tag. In practical applications, it includes, but is not limited to, these, and are not specifically limited here. The choice depends on the specific circumstances and is within the scope of protection of this application. Typically, passive RFID tags do not require battery replacement but have a short recognition distance, while active RFID tags require periodic battery replacement but have a long recognition distance. These are only two differences between the two; in practical applications, there are other differences, but these are already very common in the prior art and will not be elaborated here. The choice can be made according to the specific circumstances.

[0075] When the first wireless communication module is a passive RFID tag, as the robot 20 moves, when the first wireless communication module is located within the sensing area of ​​the second wireless communication module of the robot 20, that is, when the passive RFID tag is located within the electromagnetic sensing area of ​​the RFID tag reader of the robot 20, the passive RFID tag is activated and sends the stored tilt angle to the RFID tag reader, that is, the RFID tag reader reads the tilt angle stored in the passive RFID tag.

[0076] In the above embodiments, the first wireless communication module in the tilt angle detection device 10 can be a Bluetooth beacon, and correspondingly, the second wireless communication module of the robot 20 is a Bluetooth module. A Bluetooth beacon (BLE Beacon) is a wireless device based on the Bluetooth Low Energy (BLE) broadcast protocol that periodically broadcasts data containing its own identifier. In this embodiment, the Bluetooth beacon periodically broadcasts the tilt angle containing the photovoltaic string identifier to the Bluetooth module of the robot 20.

[0077] The two examples above are merely illustrations. In practical applications, the methods of wireless communication between the first wireless communication module and the second wireless communication module include, but are not limited to, these examples, and are not specifically limited here. The first wireless communication module, such as an RFID tag or Bluetooth beacon, has a storage function and can store the tilt angle carrying the photovoltaic string identifier or the shutdown structure identifier.

[0078] In the above embodiments, the first tilt angle acquisition device and the first wireless communication module in the tilt angle detection device 10 can be integrated into a single package. In this embodiment, since the first tilt angle acquisition device and the first wireless communication module are integrated into a single package, the structure of the tilt angle detection device 10 is simpler, thereby simplifying the installation process of the tilt angle detection device 10.

[0079] In the above embodiments, the robot 20 includes a cleaning component, meaning the robot 20 is a cleaning robot. When the cleaning robot moves on the photovoltaic strings, it cleans the photovoltaic strings, improving cleaning efficiency and reducing labor costs. The cleaning component can be a roller brush, a plate brush, a pneumatic cleaning device, a vacuum cleaner, etc., and this application does not specifically limit its application.

[0080] In one possible implementation, robot 20 also includes a robotic arm with a cleaning component disposed at the end of the robotic arm, and a controller in the robot controls the movement of the robotic arm to bring the cleaning component into contact with the photovoltaic module.

[0081] In the above embodiments, the robot 20 may also include sensor devices such as cameras and infrared thermal imagers. As an inspection robot, the robot 20 can use the above sensor devices to detect problems such as hot spot effect, damage, and dust accumulation of photovoltaic modules, thereby improving the inspection efficiency of photovoltaic strings and reducing labor costs.

[0082] It should be noted that the robot 20 in the above embodiments can also be other types of robots, and this application does not make specific limitations.

[0083] This application also provides a photovoltaic system, including the robot system disclosed in any embodiment of this application, at least one photovoltaic string, and a power conversion device.

[0084] Photovoltaic strings are mounted on photovoltaic supports that can change the tilt angle, and adjacent photovoltaic strings are connected by bridging devices.

[0085] The robotic system includes: a robot and tilt detection equipment;

[0086] The tilt detection device is set on the robot's running path, which includes at least one photovoltaic string;

[0087] The tilt detection device includes: a first tilt acquisition device and a first wireless communication module;

[0088] The signal output terminal of the first tilt angle acquisition device is connected to the signal input terminal of the first wireless communication module, and the data output by the signal output terminal of the first tilt angle acquisition device includes the tilt angle.

[0089] The robot includes a second wireless communication module, which communicates wirelessly with the first wireless communication module.

[0090] In one possible implementation, the robot also includes a second tilt angle acquisition device;

[0091] The signal output terminal of the second tilt angle acquisition device is connected to the signal input terminal of the robot;

[0092] The data output from the signal output terminal of the second tilt angle acquisition device includes the robot's tilt angle.

[0093] In one possible implementation, the tilt detection device is positioned at the first tilt acquisition point on the robot's running path;

[0094] The first tilt angle acquisition position is the position where the tilt angle of the photovoltaic string can be acquired.

[0095] In one possible implementation, the tilt detection device is set at a first tilt acquisition position and a second tilt acquisition position on the robot's running path;

[0096] The first tilt angle acquisition position is the position where the tilt angle of the photovoltaic string can be acquired;

[0097] The second tilt angle acquisition position is the position where the tilt angle of the stopping structure can be acquired. The stopping structure is the structure where the robot is parked.

[0098] In one possible implementation, the first tilt angle acquisition location includes at least one of the following: the photovoltaic string, a position in the photovoltaic support that rotates synchronously with the photovoltaic string, and a position in the bridging device connected to the photovoltaic string that is consistent with the rotation direction and rotation angle of the photovoltaic string.

[0099] In one possible implementation, the first wireless communication module is a radio frequency identification (RFID) tag, and the second wireless communication module is an RFID tag reader / writer.

[0100] In one possible implementation, the first wireless communication module is a passive radio frequency identification tag;

[0101] The first wireless communication module is activated when it is located within the electromagnetic induction area of ​​the second wireless communication module, and sends the stored tilt angle to the second wireless communication module.

[0102] In one possible implementation, the first wireless communication module is a Bluetooth beacon, and the second wireless communication module is a Bluetooth module.

[0103] In one possible implementation, the robot includes a cleaning component.

[0104] The features described above in the disclosed embodiments can be substituted or combined with each other, enabling those skilled in the art to implement or use this application. The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to preferred embodiments, it is not intended to limit the present utility model. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present utility model using the disclosed methods and techniques, or modify it into equivalent embodiments with equivalent changes, without departing from the scope of the technical solution of the present utility model. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the content of the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A robot system, characterized in that, include: Robots and tilt detection equipment; The tilt detection device is installed on the robot's running path, and the running path includes at least one photovoltaic string; The tilt angle detection device includes: a first tilt angle acquisition device and a first wireless communication module; The signal output terminal of the first tilt angle acquisition device is connected to the signal input terminal of the first wireless communication module, and the data output by the signal output terminal of the first tilt angle acquisition device includes the tilt angle. The robot includes a second wireless communication module, which communicates wirelessly with the first wireless communication module.

2. The robot system according to claim 1, characterized in that, The robot also includes a second tilt angle acquisition device; The signal output terminal of the second tilt angle acquisition device is connected to the signal input terminal of the robot; The data output from the signal output terminal of the second tilt angle acquisition device includes the tilt angle of the robot.

3. The robot system according to claim 2, characterized in that, The tilt detection device is set at the first tilt acquisition position on the robot's running path; The first tilt angle acquisition position is the position where the tilt angle of the photovoltaic string can be acquired.

4. The robot system according to claim 1, characterized in that, The tilt detection device is set at a first tilt acquisition position and a second tilt acquisition position on the robot's running path; The first tilt angle acquisition position is a position where the tilt angle of the photovoltaic string can be acquired; The second tilt angle acquisition position is the position where the tilt angle of the stopping structure can be acquired, and the stopping structure is the structure on which the robot is parked.

5. The robot system according to claim 3 or 4, characterized in that, The first tilt angle acquisition position includes at least one of the following: the photovoltaic string, the position in the photovoltaic support that rotates synchronously with the photovoltaic string, and the position in the bridging device connected to the photovoltaic string that is consistent with the rotation direction and rotation angle of the photovoltaic string.

6. The robot system according to any one of claims 1-4, characterized in that, The first wireless communication module is a radio frequency identification (RFID) tag, and the second wireless communication module is an RFID tag reader / writer.

7. The robot system according to claim 6, characterized in that, The first wireless communication module is a passive radio frequency identification tag; The first wireless communication module is activated when it is located within the electromagnetic induction area of ​​the second wireless communication module, and sends the stored tilt angle to the second wireless communication module.

8. The robot system according to any one of claims 1-4, characterized in that, The first wireless communication module is a Bluetooth beacon, and the second wireless communication module is a Bluetooth module.

9. The robot system according to any one of claims 1-4, characterized in that, The robot includes cleaning components.

10. A photovoltaic system, characterized in that, include: The robot system according to any one of claims 1-9, at least one photovoltaic string and power conversion device; The photovoltaic strings are mounted on a photovoltaic support structure that can change the tilt angle; The adjacent photovoltaic strings are connected by a bridging device.

Images