CN113037205A - State detection method and controller for photovoltaic cleaning device and photovoltaic cleaning device - Google Patents
State detection method and controller for photovoltaic cleaning device and photovoltaic cleaning device Download PDFInfo
- Publication number
- CN113037205A CN113037205A CN202110332686.4A CN202110332686A CN113037205A CN 113037205 A CN113037205 A CN 113037205A CN 202110332686 A CN202110332686 A CN 202110332686A CN 113037205 A CN113037205 A CN 113037205A
- Authority
- CN
- China
- Prior art keywords
- target
- cleaning device
- photovoltaic cleaning
- distance
- photovoltaic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 300
- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 239000000725 suspension Substances 0.000 claims abstract description 67
- 238000000034 method Methods 0.000 claims description 72
- 230000008569 process Effects 0.000 claims description 44
- 238000010408 sweeping Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 12
- 238000005299 abrasion Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 208000036829 Device dislocation Diseases 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a state detection method of a photovoltaic cleaning device, a controller and the photovoltaic cleaning device, wherein a driving wheel is arranged on the photovoltaic cleaning device through a movable suspension part and can move in a preset range, the photovoltaic cleaning device comprises at least two distance measurement sensors, two of the distance measurement sensors are fixedly arranged on the same side of the photovoltaic cleaning device, the initial linear distance between the self position measured by a target distance measurement sensor and the initial position of a target driving wheel and the target linear distance between the self position and the current moving position of the target driving wheel are obtained, and when the target linear distance is not equal to the initial linear distance, the photovoltaic cleaning device is determined to incline or encounter an obstacle. Therefore, whether the photovoltaic cleaning device inclines or meets an obstacle can be determined by determining whether the target running wheel deviates, and the distance measuring sensor is not influenced by the inclination angle of the photovoltaic cell panel, so that the accuracy of the state detection result can be improved.
Description
Technical Field
The invention relates to the technical field of photovoltaic power generation, in particular to a state detection method of a photovoltaic cleaning device, a controller and the photovoltaic cleaning device.
Background
With the development of the photovoltaic industry, the scale of a photovoltaic power station is larger and larger, and photovoltaic power generation becomes a clean energy with a very wide prospect. However, because the air quality in China is poor, the dust in the air seriously affects the power generation efficiency of the photovoltaic cell panel, and therefore the cleaning of the photovoltaic cell panel becomes an important content for the maintenance of the photovoltaic power station. At present, for the generating efficiency who improves photovoltaic cell board, span a photovoltaic cleaning device in photovoltaic cell board's upper and lower both ends usually, this photovoltaic cleaning device cleans dust etc. on photovoltaic cell board through removing on photovoltaic cell board. In the prior art, most of running wheels of the photovoltaic cleaning device are fixed on the photovoltaic cleaning device through rigid suspension parts, so that when the photovoltaic cleaning device encounters obstacles, gaps among photovoltaic cell plates, vertical misalignment of the photovoltaic cell plates and the like in the cleaning process, the photovoltaic cleaning device is easy to incline, the trafficability is limited, and the abrasion to tires is increased to a certain extent.
For whether the photovoltaic cleaning device is inclined or meets an obstacle to be detected, the main scheme adopted by the prior art is as follows: the gravity sensor is arranged on the photovoltaic cleaning device, and whether the photovoltaic cleaning device is inclined or meets an obstacle is judged in a mode that the gravity sensor measures the inclination angle of the whole photovoltaic cleaning device and the like, so that whether the photovoltaic cleaning device is blocked by the obstacle or whether the traveling wheel is abnormal is determined.
However, in research, the inventor of the present invention finds that the photovoltaic cell panel is usually placed obliquely to collect the solar illumination intensity, and meanwhile, in a photovoltaic power station with uneven terrain, the photovoltaic string also has fluctuation, so that a certain deviation exists in the inclination angle collected by the gravity sensor in the process of cleaning the photovoltaic cell panel by the photovoltaic cleaning device, and a large error exists in the state detection result of the photovoltaic cleaning device.
Disclosure of Invention
In view of this, the invention discloses a state detection method of a photovoltaic cleaning device, a controller and the photovoltaic cleaning device, so as to solve the problem that a certain deviation exists in an inclination angle acquired by a gravity sensor in the process of cleaning a photovoltaic cell panel by the photovoltaic cleaning device due to the inclined arrangement of the photovoltaic cell panel, so that a large error exists in a state detection result of the photovoltaic cleaning device.
A state detection method of a photovoltaic cleaning device is characterized in that each driving wheel of the photovoltaic cleaning device is installed on the photovoltaic cleaning device through a movable suspension part and can freely move in a preset range relative to the photovoltaic cleaning device through the movable suspension part, the photovoltaic cleaning device comprises at least two distance measuring sensors, and the two distance measuring sensors are fixedly installed on the same side of the photovoltaic cleaning device; the method comprises the following steps:
acquiring an initial linear distance between the position of the target ranging sensor and the initial position of a target running wheel;
acquiring a target linear distance between the position of the photovoltaic cleaning device measured by the target distance measuring sensor and the current moving position of the target driving wheel in the moving process of the photovoltaic cleaning device on a photovoltaic cell panel;
when the target straight-line distance is not equal to the initial straight-line distance, determining that the photovoltaic sweeping device is inclined or meets an obstacle.
Optionally, after determining that the photovoltaic cleaning apparatus is inclined or encounters an obstacle when the target straight-line distance is not equal to the initial straight-line distance, the method further includes:
and calculating the offset distance of the target running wheel based on the normal position.
Optionally, when the target distance measuring sensor is fixedly installed at a position where a distance between the target distance measuring sensor and the target movable suspension member of the target traveling wheel is a preset distance, calculating an offset distance of the target traveling wheel based on a normal position specifically includes:
calculating the offset distance of the target running wheel based on a normal position based on the target straight-line distance and the initial straight-line distance.
Optionally, when the target distance measuring sensor is fixedly mounted on the target movable suspension member of the target traveling wheel, the calculating of the offset distance of the target traveling wheel based on the normal position specifically includes:
acquiring a first linear distance between the initial position of the target movable suspension part measured by the target distance measuring sensor and a preset fixed part on the photovoltaic cleaning device;
acquiring a second linear distance between the current self moving position of the target movable suspension part and the preset fixed part, which is measured by the target distance measuring sensor, in the moving process of the photovoltaic cleaning device on the photovoltaic cell panel;
indirectly calculating the offset distance of the target running wheel based on a normal position based on the first straight-line distance and the second straight-line distance.
Optionally, the method further includes:
determining that the tire of the target running wheel has fallen off when the offset distance is not less than a preset threshold value.
Optionally, the method further includes:
and in the moving process of the photovoltaic cleaning device, when the time that the target running wheel deviates from the normal position exceeds the preset time, or when the photovoltaic cleaning device stops and the target running wheel deviates from the normal position, determining that the tire of the target running wheel is worn or falls off.
Optionally, the method further includes:
and when the target driving wheel meets an obstacle in the driving process, subtracting the target linear distance from the initial linear distance, and calculating to obtain the size of the obstacle.
Optionally, the method further includes:
acquiring the running speed and the running time of the photovoltaic cleaning device;
calculating the position of the obstacle in the string of photovoltaic panels based on the operating rate and the operated time.
Optionally, the method further includes:
when the photovoltaic cleaning device meets an obstacle in the running process, the torque of the running wheel on one side of the obstacle is increased, and the photovoltaic cleaning device is enabled to cross the obstacle.
Optionally, the method further includes:
when the photovoltaic cleaning device does not encounter an obstacle in the running process, the rotating speeds of the upper end running wheel and the lower end running wheel of the photovoltaic cleaning device are adjusted, so that the running posture of the photovoltaic cleaning device is recovered to the normal posture from the inclined posture.
Optionally, the method further includes:
acquiring an initial position distance D1 between a first target driving wheel and a second target driving wheel on the same side in a direction parallel to the running direction of the photovoltaic cleaning device, and a first offset distance D1 of the first target driving wheel based on a normal position and a second offset distance D2 of the second target driving wheel based on the normal position;
calculating a deflection angle A of the photovoltaic cleaning device according to the following formula;
Tan(A)＝(d1+d2)/D1；
in the formula, Tan represents a tangent function.
Optionally, the method further includes:
acquiring a target distance L between a third target driving wheel and a fourth target driving wheel on the same side in a direction perpendicular to the running direction of the photovoltaic cleaning device, and a third offset distance d3 of the third target driving wheel based on a normal position and a fourth offset distance d4 of the fourth target driving wheel based on the normal position;
calculating a deflection angle A of the photovoltaic cleaning device according to the following formula;
Cos(A)＝L/(d3+d4+L)；
in the formula, Cos represents a cosine function.
Optionally, the method further includes:
calculating a deviation distance D2 generated in a direction parallel to the running direction by the third target running wheel and the fourth target running wheel according to the following formula;
D2＝L*tan(A)。
a controller for detecting the state of a photovoltaic cleaning device is characterized in that each driving wheel of the photovoltaic cleaning device is installed on the photovoltaic cleaning device through a movable suspension part and can freely move in a preset range relative to the photovoltaic cleaning device through the movable suspension part, the photovoltaic cleaning device comprises at least two distance measuring sensors, and the two distance measuring sensors are fixedly installed on the same side of the photovoltaic cleaning device; the controller includes:
an initial straight-line distance obtaining unit for obtaining an initial straight-line distance between the self position measured by the target distance measuring sensor and the initial position of the target running wheel;
the target linear distance acquiring unit is used for acquiring a target linear distance between the position of the photovoltaic cleaning device measured by the target distance measuring sensor and the current moving position of the target driving wheel in the moving process of the photovoltaic cleaning device on the photovoltaic cell panel;
and the inclination determining unit is used for determining that the photovoltaic cleaning device inclines or meets an obstacle when the target straight-line distance is not equal to the initial straight-line distance.
Optionally, the method further includes:
and the offset distance determining unit is used for calculating the offset distance of the target driving wheel based on the normal position after the inclination determining unit determines that the photovoltaic cleaning device is inclined or meets an obstacle when the target straight-line distance is not equal to the initial straight-line distance.
A photovoltaic sweeping device comprising: a plurality of running wheels, a number of movable suspension members equal to the number of the running wheels, at least two distance measuring sensors, and the controller;
each driving wheel is installed on the photovoltaic cleaning device through one movable suspension part and can move freely in a preset range relative to the photovoltaic cleaning device through the movable suspension part, and the two distance measuring sensors are fixedly installed on the same side of the photovoltaic cleaning device.
From the above technical solutions, the present invention discloses a state detection method for a photovoltaic cleaning device, a controller and a photovoltaic cleaning device, wherein each driving wheel of the photovoltaic cleaning device is mounted on the photovoltaic cleaning device through a movable suspension member and can move freely in a preset range relative to the photovoltaic cleaning device through the movable suspension member, the photovoltaic cleaning device comprises at least two distance measuring sensors, and two distance measuring sensors are fixedly mounted on the same side of the photovoltaic cleaning device, an initial linear distance between a self position measured by a target distance measuring sensor and an initial position of a target driving wheel is obtained, a target linear distance between the self position measured by the target distance measuring sensor and a current moving position of the target driving wheel is obtained during the movement of the photovoltaic cleaning device on a photovoltaic cell panel, when the target linear distance is not equal to the initial linear distance, and determining that the photovoltaic cleaning device inclines or meets an obstacle. According to the invention, the movable suspension component is adopted to replace a rigid suspension component, so that on one hand, each running wheel can deviate on the photovoltaic cleaning device when encountering obstacles, gaps among photovoltaic cell boards, vertical misalignment of the photovoltaic cell boards and the like in the cleaning process of the photovoltaic cleaning device, and whether the target running wheel deviates or not can be determined by measuring whether the linear distance between the position of the running wheel and the position of the target running wheel is changed or not by adopting a distance measuring sensor, so that whether the photovoltaic cleaning device inclines or encounters the obstacles or not can be determined; on the other hand, each driving wheel can be set to move randomly within the preset range of the photovoltaic cleaning device, so that the trafficability of the photovoltaic cleaning device can be increased, and the abrasion to tires can be reduced; in addition, the distance measuring sensor is not influenced by the inclination angle of the photovoltaic cell panel when measuring the distance, so that the accuracy of the state detection result of the photovoltaic cleaning device is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the disclosed drawings without creative efforts.
Fig. 1 is a flowchart of a method for detecting a state of a photovoltaic cleaning apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a photovoltaic cleaning apparatus according to an embodiment of the present invention, in which the photovoltaic cleaning apparatus is not tilted in an initial position and is tilted during moving on a photovoltaic panel;
FIG. 3 is a flow chart of another method for detecting the status of a photovoltaic cleaning apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a photovoltaic cleaning device disclosed in an embodiment of the present invention tilting due to an obstacle in a moving process of a photovoltaic panel;
FIG. 5 is a schematic diagram of a driving wheel of a photovoltaic sweeping apparatus according to an embodiment of the present invention deviating;
FIG. 6 is a schematic diagram of a traveling wheel shifting in another photovoltaic sweeping apparatus according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a traveling wheel shifting in another photovoltaic sweeping apparatus according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a controller for detecting a state of a photovoltaic cleaning apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a state detection method of a photovoltaic cleaning device, a controller and the photovoltaic cleaning device.A movable suspension part is adopted to replace a rigid suspension part, so that on one hand, each driving wheel can deviate on the photovoltaic cleaning device when encountering obstacles, gaps between photovoltaic cell boards, vertical misalignment of the photovoltaic cell boards and other conditions in the cleaning process of the photovoltaic cleaning device, and a distance measuring sensor can be adopted to determine whether the target driving wheel deviates by measuring whether the linear distance between the position of the distance measuring sensor and the position of the target driving wheel is changed, thereby determining whether the photovoltaic cleaning device inclines or encounters the obstacles; on the other hand, each driving wheel can be set to move randomly within the preset range of the photovoltaic cleaning device, so that the trafficability of the photovoltaic cleaning device can be increased, and the abrasion to tires can be reduced; in addition, the distance measuring sensor is not influenced by the inclination angle of the photovoltaic cell panel when measuring the distance, so that the accuracy of the state detection result of the photovoltaic cleaning device is improved.
Referring to fig. 1, a flow chart of a method for detecting a state of a photovoltaic cleaning device according to an embodiment of the present invention is disclosed, in which each driving wheel of the photovoltaic cleaning device is mounted on the photovoltaic cleaning device through a movable suspension member, and can move freely within a preset range relative to the photovoltaic cleaning device through the movable suspension member, the photovoltaic cleaning device includes at least two distance measuring sensors, and two of the distance measuring sensors are fixedly mounted on the same side of the photovoltaic cleaning device; the method comprises the following steps:
s101, acquiring an initial straight-line distance between the position of the target ranging sensor and the initial position of a target driving wheel;
when photovoltaic cleaning device moved on photovoltaic cell board, if each driving wheel rotational speed was inconsistent, when the driving wheel appeared skidding, circumstances such as tire wearing and tearing led to photovoltaic cleaning device slope, the tire of photovoltaic cleaning device one side will deviate from normal position, through detecting whether the tire deviates from normal position, just can judge whether photovoltaic cleaning device has taken place the slope or met the barrier.
The invention uses the distance measuring sensor to replace a photoelectric sensor or a gravity sensor in the traditional scheme to detect whether the photovoltaic cleaning device inclines or meets an obstacle. In practical application, at least two distance measuring sensors are arranged on the photovoltaic cleaning device, and the two distance measuring sensors are arranged on the same side of the photovoltaic cleaning device so as to detect whether the photovoltaic cleaning device is inclined or meets an obstacle.
Step S102, acquiring a target linear distance between the position of the photovoltaic cleaning device measured by the target ranging sensor and the current moving position of the target driving wheel in the moving process of the photovoltaic cleaning device on a photovoltaic cell panel;
and S103, when the target straight-line distance is not equal to the initial straight-line distance, determining that the photovoltaic cleaning device inclines or meets an obstacle.
For example, referring to the schematic diagram of the photovoltaic cleaning device shown in fig. 2, in which the photovoltaic cleaning device is not tilted at the initial position and tilted during moving on the photovoltaic panel, as shown in the left side of fig. 2, the present invention installs a distance measuring sensor (not shown in fig. 2) near two lower running wheels of the photovoltaic cleaning device, determines the distance measuring sensor installed at the lower left end as a target distance measuring sensor, determines the lower left running wheel as a target running wheel, and measures an initial straight distance D1 between its own position and the initial position of the target running wheel through the target distance measuring sensor; similarly, the distance measuring sensor mounted at the lower right end is determined as the target distance measuring sensor, the lower right end running wheel is determined as the target running wheel, and the initial straight distance D2 between the position of the distance measuring sensor and the initial position of the target running wheel is measured by the target distance measuring sensor, and D1 is D2. In particular, in practical applications, when the difference between D1 and D2 is smaller than the difference threshold, the difference threshold is very small and is approximately 0, and D1 may be considered to be D2.
When the photovoltaic cleaning device is inclined or meets an obstacle, the two lower driving wheels can deviate from the normal position, as shown in the right side of fig. 2, the distance between the self position measured by the ranging sensor at the lower left end and the left lower driving wheel is D1 ', the distance between the self position measured by the ranging sensor at the lower right end and the right lower driving wheel is D2', and obviously, D1 'is not equal to D2'.
In summary, the invention discloses a state detection method of a photovoltaic cleaning device, each driving wheel of the photovoltaic cleaning device is arranged on the photovoltaic cleaning device through a movable suspension component, and can freely move in a preset range relative to the photovoltaic cleaning device through the movable suspension part, the photovoltaic cleaning device comprises at least two distance measuring sensors, and two distance measuring sensors are fixedly arranged on the same side of the photovoltaic cleaning device, the initial linear distance between the self position measured by the target distance measuring sensor and the initial position of the target running wheel is obtained, the movement process of the photovoltaic cleaning device on the photovoltaic cell panel is obtained, the target linear distance between the self position measured by the target distance measuring sensor and the current moving position of the target running wheel, and when the target straight-line distance is not equal to the initial straight-line distance, determining that the photovoltaic sweeping device is inclined or meets an obstacle. According to the invention, the movable suspension component is adopted to replace a rigid suspension component, so that on one hand, each running wheel can deviate on the photovoltaic cleaning device when encountering obstacles, gaps among photovoltaic cell boards, vertical misalignment of the photovoltaic cell boards and the like in the cleaning process of the photovoltaic cleaning device, and whether the target running wheel deviates or not can be determined by measuring whether the linear distance between the position of the running wheel and the position of the target running wheel is changed or not by adopting a distance measuring sensor, so that whether the photovoltaic cleaning device inclines or encounters the obstacles or not can be determined; on the other hand, each driving wheel can be set to move randomly within the preset range of the photovoltaic cleaning device, so that the trafficability of the photovoltaic cleaning device can be increased, and the abrasion to tires can be reduced; in addition, the distance measuring sensor is not influenced by the inclination angle of the photovoltaic cell panel when measuring the distance, so that the accuracy of the state detection result of the photovoltaic cleaning device is improved.
In order to further optimize the above embodiment, referring to fig. 3, a flowchart of a method for detecting a state of a photovoltaic cleaning apparatus according to another embodiment of the present invention may further include, after step S103:
and step S104, calculating the offset distance of the target running wheel based on the normal position.
Note that the offset distance of the target traveling wheel based on the normal position, that is, the offset distance of the photovoltaic cleaning apparatus based on the normal position.
In practical application, the offset distance of the target running wheel can be directly calculated, the position of the target running wheel can be indirectly calculated by detecting the position or the deformation quantity of a bearing and a movable suspension part of the target running wheel, and the change condition of the target running wheel can be detected.
Therefore, to further optimize the above embodiment, step S104 may specifically include:
(1) directly calculating the offset distance of the target running wheel based on the normal position;
and when the target distance measuring sensor is fixedly arranged at a position where the distance between the target distance measuring sensor and the target movable suspension part of the target running wheel is a preset distance, calculating the offset distance of the target running wheel based on the normal position based on the target linear distance and the initial linear distance.
Since the target running wheel is mounted on the photovoltaic cleaning device through the target movable suspension member, the target running wheel is movable relative to the photovoltaic cleaning device based on the target movable suspension member, and in order to detect the position and offset distance of the target running wheel, a target distance sensor may be fixed on the photovoltaic cleaning device to be close to the target running wheel or a position near the target movable suspension member, that is, a target distance measuring sensor is fixedly mounted at a position where the distance between the target running wheel and the target movable suspension member is a preset distance, and at this time, the absolute value of the difference between the target straight-line distance and the initial straight-line distance is determined as the offset distance of the target running wheel based on the normal position.
It should be noted that, since the target traveling wheel is mounted on the photovoltaic cleaning device through the target movable suspension member, in practical applications, the target traveling wheel and the corresponding target movable suspension member may be taken as a whole, and the initial linear distance and the target linear distance between the target distance measuring sensor and the target traveling wheel may also be considered as the initial linear distance and the target linear distance between the target distance measuring sensor and the target movable suspension member.
(2) Indirectly calculating the offset distance of the target driving wheel based on the normal position;
when the target ranging sensor is fixedly arranged on a target movable suspension part of a target running wheel, acquiring a first linear distance between the initial position of the target movable suspension part measured by the target ranging sensor and a preset fixed part on the photovoltaic cleaning device;
acquiring a second linear distance between the current self moving position of the target movable suspension part and the preset fixed part, which is measured by the target distance measuring sensor, in the moving process of the photovoltaic cleaning device on the photovoltaic cell panel;
indirectly calculating the offset distance of the target running wheel based on a normal position based on the first straight-line distance and the second straight-line distance.
In this embodiment, when the target distance measuring sensor is fixedly installed on the target movable suspension member of the target traveling wheel, the target distance measuring sensor moves along with the movement of the target movable suspension member, and at this time, when the offset distance of the target traveling wheel based on the normal position is determined, a preset fixed member needs to be selected as a reference on the photovoltaic cleaning device, and the offset distance of the target traveling wheel based on the normal position is indirectly determined by calculating the offset distance of the target movable suspension member relative to the normal position.
In practical applications, the position and the change condition of the target running wheel can be indirectly detected by detecting the bearing of the target running wheel, and the like, in addition to the position and the change condition of the target running wheel by detecting the position or the deformation quantity of the target movable suspension member.
To further optimize the above embodiment, after step S103, the method may further include:
when the photovoltaic cleaning device does not encounter an obstacle in the running process, the rotating speeds of the upper end running wheel and the lower end running wheel of the photovoltaic cleaning device are adjusted, so that the running posture of the photovoltaic cleaning device is recovered to the normal posture from the inclined posture.
As shown in fig. 2, the photovoltaic cleaning device does not encounter an obstacle during the whole driving process, but is still inclined, and at this time, the driving posture of the photovoltaic cleaning device can be restored from the inclined posture to the normal posture by adjusting the rotation speed of the upper driving wheel and the lower driving wheel of the photovoltaic cleaning device.
To further optimize the above embodiment, after step S103, the method may further include:
when the target running wheel meets an obstacle in the running process, the torque of the running wheel on one side of the obstacle is increased, and the photovoltaic cleaning device is enabled to cross the obstacle.
For example, referring to fig. 4, in a schematic diagram of a photovoltaic cleaning device disclosed in an embodiment of the present invention, when the photovoltaic cleaning device moves on a photovoltaic cell panel (for example, moves from left to right, or vice versa), the photovoltaic cleaning device tilts due to an obstacle, when the photovoltaic cleaning device encounters a gap between two photovoltaic cell panels and the two photovoltaic cell panels are not completely aligned, a driving wheel on the upper right side of the photovoltaic cleaning device is blocked, and a driving wheel on the lower right side of the photovoltaic cleaning device crosses the gap first, so that the photovoltaic cleaning device tilts as a whole. As shown in fig. 4, the offset distance D3 of the driving wheel on the lower right side of the photovoltaic cleaning device is the relative displacement of the two photovoltaic panels, so that the relative displacement distance and the displacement between the two photovoltaic panels can be found and measured. When the photovoltaic cleaning device is in the situation shown in fig. 4, the part of the right photovoltaic cell panel, which is higher than the left photovoltaic cell panel, can be regarded as an obstacle for the photovoltaic cleaning device, and the torque of the running wheel on the upper right side of the cleaning machine can be increased, so that the running wheel on the upper right side can rapidly cross the obstacle, and the obstacle crossing capability of the photovoltaic cleaning device is improved.
During the normal running process of the photovoltaic cleaning device, the position of each running wheel can be continuously detected, and when a certain running wheel is detected to deviate from the normal position for a long time or when the photovoltaic cleaning device stops, the deviation of the certain running wheel from the normal position indicates that the tire of the running wheel is likely to be seriously worn or fall off.
Therefore, to further optimize the above embodiment, after step S103, the method may further include:
and in the moving process of the photovoltaic cleaning device, when the time that the target running wheel deviates from the normal position exceeds the preset time, or when the photovoltaic cleaning device stops and the target running wheel deviates from the normal position, determining that the tire of the target running wheel is worn or falls off.
The value of the preset time is determined according to actual needs, and the invention is not limited herein.
Specifically, referring to a schematic diagram of the deviation of the running wheels in the photovoltaic cleaning apparatus shown in fig. 5, when a certain running wheel is detected to be continuously deviated from the normal position, the degree of wear of the tire of the deviated running wheel can be judged by measuring and calculating the deviation distance D4 of the running wheel.
In the present embodiment, when the offset distance of the running wheel is not lower than the preset threshold value, it is determined that the tire of the target running wheel on which the offset has occurred has fallen off.
The value of the preset threshold is determined according to actual needs, such as the radius of the driving wheel, and the present invention is not limited herein.
It should be noted that, in practical applications, the offset distance of the tire of one driving wheel may be measured, and the offset distances of the tires of two or more driving wheels on the same side (upper side or lower side or left side or right side) may also be measured, so as to find out obstacles, tire wear or tire drop-out in time.
When the running wheel of the photovoltaic cleaning device meets an obstacle, the position of the running wheel can be deviated due to the obstacle, and the size of the obstacle can be calculated by measuring the deviation distance between the initial linear distance of the running wheel and the target linear distance of the current moving position.
Therefore, to further optimize the above embodiment, after step S104, the method may further include:
when the target driving wheel meets the obstacle in the driving process, the initial linear distance is subtracted by the target linear distance, and the size of the obstacle is calculated.
For example, referring to fig. 6, a schematic diagram of a traveling wheel shifting in another photovoltaic cleaning device according to an embodiment of the present invention is shown, in fig. 6, D5 represents an initial linear distance between an initial linear position of a target traveling wheel and a position of a target distance measuring sensor, D6 represents an initial linear distance between a current position of the target traveling wheel and the position of the target distance measuring sensor, and a size D of an obstacle is D5-D6.
After the size of the obstacle is calculated, the general position of the obstacle in the photovoltaic cell panel string can be further determined.
Therefore, to further optimize the above embodiment, the state detection method may further include:
acquiring the running speed and the running time of the photovoltaic cleaning device;
based on the operating rate and the operated time, the position of the obstacle in the string of photovoltaic panels is calculated.
According to the invention, the position of the barrier in the photovoltaic cell panel string is calculated, so that operation and maintenance personnel can conveniently carry out on-site positioning and maintenance on the barrier. In addition, when the photovoltaic cleaning device meets an obstacle, the torque of the driving wheel on one side of the obstacle can be increased, the obstacle crossing capability of the photovoltaic cleaning device is improved, and the photovoltaic cleaning device can cross the obstacle more easily.
In practical application, when the photovoltaic cleaning device does not encounter an obstacle in the moving process, the torque of the driving wheel can be reduced, so that the energy consumption of the photovoltaic cleaning device is saved.
In this embodiment, the deflection angle of the photovoltaic cleaning device can be calculated by measuring the offset distance of the traveling wheels based on the normal position and the distance between two traveling wheels on the same side in the direction perpendicular to the running direction of the photovoltaic cleaning device.
Therefore, to further optimize the above embodiment, after step S104, the state detection method may further include:
acquiring an initial position distance D1 between a first target driving wheel and a second target driving wheel on the same side in a direction parallel to the running direction of the photovoltaic cleaning device, and a first offset distance D1 of the first target driving wheel based on a normal position and a second offset distance D2 of the second target driving wheel based on the normal position;
calculating the deflection angle A of the photovoltaic cleaning device according to the formula (1), wherein the formula (1) is as follows:
Tan(A)＝(d1+d2)/D1 (1)；
in the formula, Tan represents a tangent function.
For example, referring to the schematic diagram of the deviation of the driving wheels in another photovoltaic cleaning device shown in fig. 7, assuming that the deflection angle of the photovoltaic cleaning device is a, the target distance between two driving wheels on the same side in the direction perpendicular to the running direction of the photovoltaic cleaning device is L, and the deviation distances of the wheels 1, 2, and 3 based on the normal position are D1, D2, and D3, respectively, wherein the wheels 1, 2, and 3 are all the target driving wheels in the above embodiment, the first target driving wheel and the second target driving wheel correspond to the wheels 1 and 2 in fig. 7, respectively, and D1 is the initial position distance between two driving wheels on the same side in the direction parallel to the running direction of the photovoltaic cleaning device.
When the offset distance D1 of the wheel No. 1 based on the normal position, the offset distance D2 of the wheel No. 2 based on the normal position and the initial position distance D1 of the two running wheels (the wheel No. 1 and the wheel No. 2) on the same side in the direction parallel to the running direction of the photovoltaic cleaning device are known, the calculation formula of the deflection angle A of the photovoltaic cleaning device is shown in the formula (1).
In order to further optimize the embodiment, the invention also discloses another method for calculating the deflection angle of the photovoltaic sweeping device.
After step S104, the state detection method may further include:
acquiring a target distance L between a third target driving wheel and a fourth target driving wheel on the same side in a direction perpendicular to the running direction of the photovoltaic cleaning device, and a third offset distance d3 of the third target driving wheel based on a normal position and a fourth offset distance d4 of the fourth target driving wheel based on the normal position;
calculating a deflection angle A of the photovoltaic cleaning device according to a formula (3);
Cos(A)＝L/(d3+d4+L) (2)；
in the formula, Cos represents a cosine function.
For example, referring to fig. 7, assuming that the fourth target driving wheel corresponds to wheel No. 2 in fig. 7, and the offset distance d2 of wheel No. 2 based on the normal position, the third target driving wheel corresponds to wheel No. 3 in fig. 7, and the offset distance d3 of wheel No. 3 based on the normal position, and the target distance L between the two driving wheels (wheel No. 2 and wheel No. 3) on the same side in the direction perpendicular to the running direction of the photovoltaic cleaning apparatus, the calculation formula of the deflection angle a of the photovoltaic cleaning apparatus is shown in formula (3), and formula (3) is as follows:
Cos(A)＝L/(d2+d3+L) (3)；
in the formula, Cos represents a cosine function.
After the offset angle a of the photovoltaic cleaning apparatus is calculated, the offset distance D2 generated by the two driving wheels on the same side in the parallel direction of the running direction can be calculated according to the offset angle a and the target distance L between the two third target driving wheels and the fourth target driving wheels (see the wheels 2 and 3 in fig. 7) on the same side in the direction perpendicular to the running direction of the photovoltaic cleaning apparatus, the calculation formula is shown in formula (4), and formula (4) is as follows:
D2＝L*tan(A) (4)；
the running posture of the photovoltaic cleaning device can be accurately corrected by adjusting the rotating speeds of the two running wheels on the same side, so that the photovoltaic cleaning device is perpendicular to the running direction.
It should be noted that the photovoltaic sweeping device of the present invention may be two, three, four, five or more than five traveling wheels.
In summary, the movable suspension component is adopted to replace the rigid suspension component, so that on one hand, when each running wheel meets the conditions of an obstacle, a gap between photovoltaic cell boards, vertical misalignment of the photovoltaic cell boards and the like in the cleaning process of the photovoltaic cleaning device, the running wheels can deviate on the photovoltaic cleaning device, and therefore whether the target running wheel deviates or not can be determined by measuring whether the linear distance between the position of the running wheel and the position of the target running wheel changes or not by adopting the distance measuring sensor, and whether the photovoltaic cleaning device inclines or meets the obstacle or not can be determined; on the other hand, each driving wheel can be set to move randomly within the preset range of the photovoltaic cleaning device, so that the trafficability of the photovoltaic cleaning device can be increased, and the abrasion to tires can be reduced; in addition, the distance measuring sensor is not influenced by the inclination angle of the photovoltaic cell panel when measuring the distance, so that the accuracy of the state detection result of the photovoltaic cleaning device is improved.
In addition, the invention can judge whether the running wheel is blocked by the obstacle or not by detecting the direction and the magnitude of the position deviation of the running wheel, the duration time of the deviation and the like, can determine the magnitude and the position of the obstacle, and can detect the degree of tire wear, the falling-off condition and the like.
Corresponding to the embodiment of the method, the invention also discloses a controller for detecting the state of the photovoltaic cleaning device.
Referring to fig. 8, a schematic structural diagram of a controller for detecting a state of a photovoltaic cleaning device according to an embodiment of the present invention is disclosed, in which each driving wheel of the photovoltaic cleaning device is mounted on the photovoltaic cleaning device through a movable suspension member, and can move freely within a preset range relative to the photovoltaic cleaning device through the movable suspension member, the photovoltaic cleaning device includes at least two distance measuring sensors, and two of the distance measuring sensors are fixedly mounted on the same side of the photovoltaic cleaning device; the controller includes:
an initial straight-line distance acquisition unit 201 for acquiring an initial straight-line distance between the position of the target distance measurement sensor and the initial position of the target running wheel;
when photovoltaic cleaning device moved on photovoltaic cell board, if each driving wheel rotational speed was inconsistent, when the driving wheel appeared skidding, circumstances such as tire wearing and tearing led to photovoltaic cleaning device slope, the tire of photovoltaic cleaning device one side will deviate from normal position, through detecting whether the tire deviates from normal position, just can judge whether photovoltaic cleaning device has taken place the slope or met the barrier.
The invention uses the distance measuring sensor to replace a photoelectric sensor or a gravity sensor in the traditional scheme to detect whether the photovoltaic cleaning device inclines or meets an obstacle. In practical application, at least two distance measuring sensors are arranged on the photovoltaic cleaning device, and the two distance measuring sensors are arranged on the same side of the photovoltaic cleaning device so as to detect whether the photovoltaic cleaning device is inclined or meets an obstacle.
A target linear distance obtaining unit 202, configured to obtain a target linear distance between a position of the photovoltaic cleaning apparatus measured by the target distance measuring sensor and a current moving position of the target driving wheel during a moving process of the photovoltaic cleaning apparatus on a photovoltaic cell panel;
an inclination determination unit 203, configured to determine that the photovoltaic cleaning apparatus is inclined or meets an obstacle when the target straight-line distance is not equal to the initial straight-line distance.
In summary, the present invention discloses a controller for detecting the status of a photovoltaic cleaning device, each driving wheel of the photovoltaic cleaning device is mounted on the photovoltaic cleaning device through a movable suspension component, and can freely move in a preset range relative to the photovoltaic cleaning device through the movable suspension part, the photovoltaic cleaning device comprises at least two distance measuring sensors, and two distance measuring sensors are fixedly arranged on the same side of the photovoltaic cleaning device, the initial linear distance between the self position measured by the target distance measuring sensor and the initial position of the target running wheel is obtained, the movement process of the photovoltaic cleaning device on the photovoltaic cell panel is obtained, the target linear distance between the self position measured by the target distance measuring sensor and the current moving position of the target running wheel, and when the target straight-line distance is not equal to the initial straight-line distance, determining that the photovoltaic sweeping device is inclined or meets an obstacle. According to the invention, the movable suspension component is adopted to replace a rigid suspension component, so that on one hand, each running wheel can deviate on the photovoltaic cleaning device when encountering obstacles, gaps among photovoltaic cell boards, vertical misalignment of the photovoltaic cell boards and the like in the cleaning process of the photovoltaic cleaning device, and whether the target running wheel deviates or not can be determined by measuring whether the linear distance between the position of the running wheel and the position of the target running wheel is changed or not by adopting a distance measuring sensor, so that whether the photovoltaic cleaning device inclines or encounters the obstacles or not can be determined; on the other hand, each driving wheel can be set to move randomly within the preset range of the photovoltaic cleaning device, so that the trafficability of the photovoltaic cleaning device can be increased, and the abrasion to tires can be reduced; in addition, the distance measuring sensor is not influenced by the inclination angle of the photovoltaic cell panel when measuring the distance, so that the accuracy of the state detection result of the photovoltaic cleaning device is improved.
To further optimize the above embodiment, the controller may further include:
and the offset distance determining unit is used for calculating the offset distance of the target driving wheel based on the normal position after the inclination determining unit 203 determines that the photovoltaic cleaning device is inclined or meets an obstacle when the target straight-line distance is not equal to the initial straight-line distance.
In practical application, the offset distance of the target running wheel can be directly calculated, the position of the target running wheel can be indirectly calculated by detecting the position or the deformation quantity of a bearing and a movable suspension part of the target running wheel, and the change condition of the target running wheel can be detected.
Therefore, when directly calculating the offset distance of the target running wheel based on the normal position, the offset distance determining unit may be specifically configured to:
and when the target distance measuring sensor is fixedly arranged at a position where the distance between the target distance measuring sensor and a target movable suspension part of the target running wheel is a preset distance, calculating the offset distance of the target running wheel based on a normal position based on the target linear distance and the initial linear distance.
Therefore, when indirectly calculating the offset distance of the target running wheel based on the normal position, the offset distance determining unit may be specifically configured to:
acquiring a first linear distance between the initial position of the target movable suspension part measured by the target distance measuring sensor and a preset fixed part on the photovoltaic cleaning device;
acquiring a second linear distance between the current self moving position of the target movable suspension part and the preset fixed part, which is measured by the target distance measuring sensor, in the moving process of the photovoltaic cleaning device on the photovoltaic cell panel;
indirectly calculating the offset distance of the target running wheel based on a normal position based on the first straight-line distance and the second straight-line distance.
On the basis of the above-described embodiments, the present invention can also determine the tire condition. Therefore, to further optimize the above embodiment, the controller may further include:
and the tire state determining unit is used for determining that the tire of the target running wheel is worn or falls off when the time for which the target running wheel deviates from the normal position exceeds preset time or the photovoltaic cleaning device stops and the target running wheel deviates from the normal position in the moving process of the photovoltaic cleaning device.
Further, the present invention may also determine whether the tire is dropped, and therefore, the controller may further include:
a tire slip-off determination unit for determining that the tire of the target running wheel has slipped off when the offset distance is not less than a preset threshold value.
When the running wheel of the photovoltaic cleaning device meets an obstacle, the position of the running wheel can be deviated due to the obstacle, the size of the obstacle can be calculated by measuring the deviation distance between the initial straight-line distance of the running wheel and the target straight-line distance of the current moving position, and the position of the obstacle can be further determined.
Accordingly, the controller may further include:
and the obstacle size determining unit is used for subtracting the target linear distance from the initial linear distance when the target driving wheel meets an obstacle in the driving process, and calculating to obtain the size of the obstacle.
The obstacle position determining unit is used for acquiring the running speed and the running time of the photovoltaic cleaning device; calculating the position of the obstacle in the string of photovoltaic panels based on the operating rate and the operated time.
According to the invention, the position of the barrier in the photovoltaic cell panel string is calculated, so that operation and maintenance personnel can conveniently carry out on-site positioning and maintenance on the barrier. In addition, when the photovoltaic cleaning device meets an obstacle, the torque of the driving wheel on one side of the obstacle can be increased, the obstacle crossing capability of the photovoltaic cleaning device is improved, and the photovoltaic cleaning device can cross the obstacle more easily.
Accordingly, the controller may further include:
and the torque increasing unit is used for increasing the torque of the driving wheel on one side of the obstacle when the photovoltaic cleaning device meets the obstacle in the driving process so as to enable the photovoltaic cleaning device to cross the obstacle.
It should be noted that, when the photovoltaic cleaning device does not encounter an obstacle during the driving process, the photovoltaic cleaning device can be restored to the normal posture by controlling the rotating speed of the driving wheels.
Accordingly, the controller may further include:
and the attitude adjusting unit is used for adjusting the rotating speeds of the upper end driving wheel and the lower end driving wheel of the photovoltaic cleaning device when the photovoltaic cleaning device does not encounter an obstacle in the driving process, so that the driving attitude of the photovoltaic cleaning device is restored to a normal attitude from an inclined attitude.
In this embodiment, the deflection angle of the photovoltaic cleaning device can be calculated by measuring the offset distance of the traveling wheels based on the normal position and the distance between two traveling wheels on the same side in the direction perpendicular to the running direction of the photovoltaic cleaning device.
Accordingly, the controller may further include:
a first yaw angle determination unit for acquiring an initial position distance D1 between a first target running wheel and a second target running wheel on the same side in a direction parallel to the running direction of the photovoltaic cleaning apparatus, and a first offset distance D1 of the first target running wheel based on a normal position and a second offset distance D2 of the second target running wheel based on a normal position;
calculating a deflection angle A of the photovoltaic cleaning device according to the following formula;
Tan(A)＝(d1+d2)/D1 (1)；
in the formula, Tan represents a tangent function.
Or, a second deflection angle determination unit for acquiring a target distance L between a third target running wheel and a fourth target running wheel on the same side in a direction perpendicular to the running direction of the photovoltaic cleaning apparatus, and a third offset distance d3 of the third target running wheel based on the normal position and a fourth offset distance d4 of the fourth target running wheel based on the normal position;
calculating a deflection angle A of the photovoltaic cleaning device according to the following formula;
Cos(A)＝L/(d3+d4+L) (2)；
in the formula, Cos represents a cosine function.
After the offset angle a of the photovoltaic cleaning apparatus is calculated, the offset distance D2 generated in the direction parallel to the running direction by the two running wheels on the same side can be calculated according to the offset angle a and the target distance L between the two third target running wheels and the fourth target running wheels (see the wheels No. 2 and No. 3 in fig. 7) on the same side in the direction perpendicular to the running direction of the photovoltaic cleaning apparatus.
Accordingly, the controller may further include:
a deviation distance determination unit for calculating a deviation distance D2 generated in a direction parallel to the running direction by the third target running wheel and the fourth target running wheel according to the following formula;
D2＝L*tan(A) (4)。
it should be noted that, for the specific working principle of each component in the controller, please refer to the corresponding part of the method embodiment, which is not described herein again.
The invention also discloses a photovoltaic cleaning device, comprising: the controller comprises a plurality of running wheels, movable suspension parts with the same number as the running wheels, at least two distance measuring sensors and the controller in the embodiment, wherein each running wheel is installed on the photovoltaic cleaning device through one movable suspension part and can freely move in a preset range relative to the photovoltaic cleaning device through the movable suspension part, and the two distance measuring sensors are fixedly installed on the same side of the photovoltaic cleaning device.
Please refer to the corresponding parts of the above embodiments, and details thereof are omitted here.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (16)
1. A state detection method of a photovoltaic cleaning device is characterized in that each driving wheel of the photovoltaic cleaning device is installed on the photovoltaic cleaning device through a movable suspension part and can freely move in a preset range relative to the photovoltaic cleaning device through the movable suspension part, the photovoltaic cleaning device comprises at least two distance measuring sensors, and the two distance measuring sensors are fixedly installed on the same side of the photovoltaic cleaning device; the method comprises the following steps:
acquiring an initial linear distance between the position of the target ranging sensor and the initial position of a target running wheel;
acquiring a target linear distance between the position of the photovoltaic cleaning device measured by the target distance measuring sensor and the current moving position of the target driving wheel in the moving process of the photovoltaic cleaning device on a photovoltaic cell panel;
when the target straight-line distance is not equal to the initial straight-line distance, determining that the photovoltaic sweeping device is inclined or meets an obstacle.
2. The status detection method according to claim 1, further comprising, after determining that the photovoltaic cleaning apparatus is tilted or encounters an obstacle when the target straight-line distance is not equal to the initial straight-line distance:
and calculating the offset distance of the target running wheel based on the normal position.
3. The status detection method according to claim 2, wherein when the target distance measuring sensor is fixedly installed at a position where a distance from a target movable suspension member of the target travel wheel is a preset distance, the calculating of the offset distance of the target travel wheel based on a normal position specifically includes:
calculating the offset distance of the target running wheel based on a normal position based on the target straight-line distance and the initial straight-line distance.
4. The state detection method according to claim 2, wherein the calculating of the offset distance of the target running wheel based on a normal position when the target ranging sensor is fixedly mounted on the target movable suspension member of the target running wheel includes:
acquiring a first linear distance between the initial position of the target movable suspension part measured by the target distance measuring sensor and a preset fixed part on the photovoltaic cleaning device;
acquiring a second linear distance between the current self moving position of the target movable suspension part and the preset fixed part, which is measured by the target distance measuring sensor, in the moving process of the photovoltaic cleaning device on the photovoltaic cell panel;
indirectly calculating the offset distance of the target running wheel based on a normal position based on the first straight-line distance and the second straight-line distance.
5. The status detection method according to claim 2, further comprising:
determining that the tire of the target running wheel has fallen off when the offset distance is not less than a preset threshold value.
6. The status detection method according to claim 1, further comprising:
and in the moving process of the photovoltaic cleaning device, when the time that the target running wheel deviates from the normal position exceeds the preset time, or when the photovoltaic cleaning device stops and the target running wheel deviates from the normal position, determining that the tire of the target running wheel is worn or falls off.
7. The status detection method according to claim 1, further comprising:
and when the target driving wheel meets an obstacle in the driving process, subtracting the target linear distance from the initial linear distance, and calculating to obtain the size of the obstacle.
8. The status detection method according to claim 7, further comprising:
acquiring the running speed and the running time of the photovoltaic cleaning device;
calculating the position of the obstacle in the string of photovoltaic panels based on the operating rate and the operated time.
9. The status detection method according to claim 1, further comprising:
when the photovoltaic cleaning device meets an obstacle in the running process, the torque of the running wheel on one side of the obstacle is increased, and the photovoltaic cleaning device is enabled to cross the obstacle.
10. The status detection method according to claim 1, further comprising:
when the photovoltaic cleaning device does not encounter an obstacle in the running process, the rotating speeds of the upper end running wheel and the lower end running wheel of the photovoltaic cleaning device are adjusted, so that the running posture of the photovoltaic cleaning device is recovered to the normal posture from the inclined posture.
11. The status detection method according to claim 2, further comprising:
acquiring an initial position distance D1 between a first target driving wheel and a second target driving wheel on the same side in a direction parallel to the running direction of the photovoltaic cleaning device, and a first offset distance D1 of the first target driving wheel based on a normal position and a second offset distance D2 of the second target driving wheel based on the normal position;
calculating a deflection angle A of the photovoltaic cleaning device according to the following formula;
Tan(A)＝(d1+d2)/D1；
in the formula, Tan represents a tangent function.
12. The status detection method according to claim 2, further comprising:
acquiring a target distance L between a third target driving wheel and a fourth target driving wheel on the same side in a direction perpendicular to the running direction of the photovoltaic cleaning device, and a third offset distance d3 of the third target driving wheel based on a normal position and a fourth offset distance d4 of the fourth target driving wheel based on the normal position;
calculating a deflection angle A of the photovoltaic cleaning device according to the following formula;
Cos(A)＝L/(d3+d4+L)；
in the formula, Cos represents a cosine function.
13. The status detection method according to claim 12, further comprising:
calculating a deviation distance D2 generated in a direction parallel to the running direction by the third target running wheel and the fourth target running wheel according to the following formula;
D2＝L*tan(A)。
14. a controller for detecting the state of a photovoltaic cleaning device is characterized in that each driving wheel of the photovoltaic cleaning device is installed on the photovoltaic cleaning device through a movable suspension part and can freely move in a preset range relative to the photovoltaic cleaning device through the movable suspension part, the photovoltaic cleaning device comprises at least two distance measuring sensors, and the two distance measuring sensors are fixedly installed on the same side of the photovoltaic cleaning device; the controller includes:
an initial straight-line distance obtaining unit for obtaining an initial straight-line distance between the self position measured by the target distance measuring sensor and the initial position of the target running wheel;
the target linear distance acquiring unit is used for acquiring a target linear distance between the position of the photovoltaic cleaning device measured by the target distance measuring sensor and the current moving position of the target driving wheel in the moving process of the photovoltaic cleaning device on the photovoltaic cell panel;
and the inclination determining unit is used for determining that the photovoltaic cleaning device inclines or meets an obstacle when the target straight-line distance is not equal to the initial straight-line distance.
15. The controller of claim 14, further comprising:
and the offset distance determining unit is used for calculating the offset distance of the target driving wheel based on the normal position after the inclination determining unit determines that the photovoltaic cleaning device is inclined or meets an obstacle when the target straight-line distance is not equal to the initial straight-line distance.
16. A photovoltaic cleaning device, comprising: a plurality of running wheels, an equal number of moveable suspension members as said running wheels, at least two distance measuring sensors, and a controller according to any one of claims 14 to 15;
each driving wheel is installed on the photovoltaic cleaning device through one movable suspension part and can move freely in a preset range relative to the photovoltaic cleaning device through the movable suspension part, and the two distance measuring sensors are fixedly installed on the same side of the photovoltaic cleaning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110332686.4A CN113037205B (en) | 2021-03-29 | 2021-03-29 | State detection method and controller of photovoltaic cleaning device and photovoltaic cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110332686.4A CN113037205B (en) | 2021-03-29 | 2021-03-29 | State detection method and controller of photovoltaic cleaning device and photovoltaic cleaning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113037205A true CN113037205A (en) | 2021-06-25 |
| CN113037205B CN113037205B (en) | 2022-11-15 |
Family
ID=76452655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110332686.4A Active CN113037205B (en) | 2021-03-29 | 2021-03-29 | State detection method and controller of photovoltaic cleaning device and photovoltaic cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113037205B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114042662A (en) * | 2021-11-17 | 2022-02-15 | 江苏德天智能设备有限公司 | Cleaning system and cleaning method for photovoltaic power station |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109365462A (en) * | 2018-12-06 | 2019-02-22 | 阳光电源股份有限公司 | Photovoltaic panel sweeping robot and its control method |
| CN109382384A (en) * | 2018-10-29 | 2019-02-26 | 阳光电源股份有限公司 | Photovoltaic panel sweeping robot and its deflection detection and method for correcting error |
| CN110125124A (en) * | 2019-05-14 | 2019-08-16 | 阳光电源股份有限公司 | Photovoltaic sweeping machine lateral attitude detection method, controller and photovoltaic sweeping machine |
| US20200235697A1 (en) * | 2019-01-23 | 2020-07-23 | Sungrow Power Supply Co., Ltd. | Photovoltaic-module cleaning robot and obstacle-surmounting control method and device thereof |
-
2021
- 2021-03-29 CN CN202110332686.4A patent/CN113037205B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109382384A (en) * | 2018-10-29 | 2019-02-26 | 阳光电源股份有限公司 | Photovoltaic panel sweeping robot and its deflection detection and method for correcting error |
| CN109365462A (en) * | 2018-12-06 | 2019-02-22 | 阳光电源股份有限公司 | Photovoltaic panel sweeping robot and its control method |
| US20200235697A1 (en) * | 2019-01-23 | 2020-07-23 | Sungrow Power Supply Co., Ltd. | Photovoltaic-module cleaning robot and obstacle-surmounting control method and device thereof |
| CN110125124A (en) * | 2019-05-14 | 2019-08-16 | 阳光电源股份有限公司 | Photovoltaic sweeping machine lateral attitude detection method, controller and photovoltaic sweeping machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114042662A (en) * | 2021-11-17 | 2022-02-15 | 江苏德天智能设备有限公司 | Cleaning system and cleaning method for photovoltaic power station |
| CN114042662B (en) * | 2021-11-17 | 2022-10-11 | 江苏德天智能设备有限公司 | Cleaning system and cleaning method for photovoltaic power station |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113037205B (en) | 2022-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110560404B (en) | Photovoltaic panel cleaning robot and control method thereof | |
| JP6404348B2 (en) | Self-propelled robot | |
| TWI679959B (en) | Robot cleaner and method of controlling the same | |
| WO2014103293A1 (en) | Autonomous-travel cleaning robot | |
| JP5686270B2 (en) | Self-propelled cleaning robot | |
| CN109365462B (en) | Photovoltaic panel cleaning robot and control method thereof | |
| AU2014357957B2 (en) | Cleaning robot and control method thereof | |
| CN113037205B (en) | State detection method and controller of photovoltaic cleaning device and photovoltaic cleaning device | |
| WO2014103291A1 (en) | Self-propelled cleaning robot | |
| US20160259336A1 (en) | Robot cleaner and control method thereof | |
| CN109772841A (en) | A kind of photovoltaic module sweeping robot and its obstacle detouring control method and device | |
| CN106272331B (en) | The method for path navigation that robot travels in rectangular slope | |
| EP3118606B1 (en) | Travel wheel degradation detection method and detection system, and travel carriage | |
| CN110125124B (en) | Photovoltaic cleaning machine inclination posture detection method, controller and photovoltaic cleaning machine | |
| CN105407776A (en) | Floor cleaning machine and method for adjusting the position of a sweeping roller on a floor cleaning machine | |
| CN210920562U (en) | Pipeline detection device that stability is strong | |
| CN114811265A (en) | Pipeline detection device and system | |
| KR20090119638A (en) | Robot cleaner and method for detecting floor type using the same | |
| CN110260094A (en) | Walking type pipeline length-measuring appliance | |
| KR20100134958A (en) | Mobile body and method for controlling traveling of the same | |
| CN218052601U (en) | Adjustable enclasping walking mechanism of rail-hanging robot | |
| Katsuki et al. | Development of a high efficiency and high reliable glass cleaning robot with a dirt detect sensor | |
| CN116048134A (en) | Double-shaft posture correction device and state correction judgment method for photovoltaic cleaning robot | |
| EP3676955A1 (en) | Automated solar collector cleaning device | |
| TWI443488B (en) | Obstacle sensing process for self-propelled mobile apparatus in path of movement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |