CN116094448A

CN116094448A - Ground walking type photovoltaic panel cleaning and detecting robot system

Info

Publication number: CN116094448A
Application number: CN202310192999.3A
Authority: CN
Inventors: 李胜玉; 钟添荣; 成岑
Original assignee: Xiamen Sola Ruibo Technology Co ltd
Current assignee: Xiamen Sola Ruibo Technology Co ltd
Priority date: 2023-03-02
Filing date: 2023-03-02
Publication date: 2023-05-09

Abstract

The invention discloses a ground walking type photovoltaic panel cleaning and detecting robot system, which comprises: the vehicle frame comprises a cross beam and two vertical beams which are respectively connected to two ends of the cross beam; the cleaning component is used for cleaning the upper surface of the photovoltaic panel and is movably arranged on the frame; the lifting component is arranged on the frame and is in driving connection with the cleaning component, and the lifting component can adjust the height of the cleaning component and/or the inclination angle between the lifting component and the horizontal plane; the two moving assemblies are respectively arranged at the bottoms of the two vertical beams; the visual component is used for acquiring image information of the cleaned photovoltaic panel; and the controller is arranged on the frame and is electrically connected with the cleaning assembly, the lifting assembly, the moving assembly and the vision assembly respectively. According to the technical scheme, the damage degree of the photovoltaic panel can be automatically checked while the cleaning effect is guaranteed, and the checking cost is saved.

Description

Ground walking type photovoltaic panel cleaning and detecting robot system

Technical Field

The invention relates to the technical field of engineering equipment, in particular to a ground walking type photovoltaic panel cleaning and detecting robot system.

Background

With the continuous growth of the photovoltaic industry and commercialization of the photovoltaic industry, various problems of the photovoltaic power station in operation management have also been highlighted, especially the problem of cleaning the photovoltaic panel directly related to the power generation efficiency. In the current technical scheme, cleaning robots are often adopted to clean the photovoltaic panels, however, the cleaning robots operate based on preset fixing steps, when the photovoltaic panels are dirty, the cleaning effect is poor, and because the photovoltaic panels are outdoor, when the photovoltaic panels are damaged, manual investigation is needed one by one, and the investigation cost is high.

Disclosure of Invention

The present invention aims to solve at least to some extent one of the technical problems in the above-described technology. Therefore, the invention aims to provide a ground walking type photovoltaic panel cleaning and detecting robot system, so that the damage degree of a photovoltaic panel can be automatically checked while the cleaning effect is ensured, and the checking cost is saved.

To achieve the above object, an embodiment of the present invention provides a ground walking type photovoltaic panel cleaning and detecting robot system, including:

the frame comprises a cross beam and two vertical beams which are respectively connected to two ends of the cross beam, and the two vertical beams are matched to define a channel through which the photovoltaic panel can pass;

the cleaning component is used for cleaning the upper surface of the photovoltaic panel and is movably arranged on the frame so that two ends of the cleaning component can move up and down along the vertical direction respectively or jointly;

the lifting component is arranged on the frame and is in driving connection with the cleaning component, and the lifting component can adjust the height of the cleaning component and/or the inclination angle between the lifting component and the horizontal plane so as to be matched with the upper surface of the photovoltaic panel;

the two moving assemblies are respectively arranged at the bottoms of the two vertical beams and used for driving the frame to move so as to clean the multiple rows of photovoltaic panels;

the visual assembly is used for acquiring image information of the cleaned photovoltaic panel and comprises a plurality of groups of cameras and parallel light supplementing parts which are matched with each other, the plurality of groups of cameras and the parallel light supplementing parts are respectively arranged on two sides of the cross beam, and the cameras comprise infrared cameras and visual cameras;

the controller is arranged on the frame and is electrically connected with the cleaning assembly, the lifting assembly, the moving assembly and the vision assembly respectively; the controller can determine whether hot spots exist on the photovoltaic panel according to the image information transmitted by the infrared camera, determine whether nondestructive and hidden cracks exist on the photovoltaic panel according to the image information transmitted by the visual camera, and further determine whether repeated cleaning or loss information reporting is needed.

According to the ground walking type photovoltaic panel cleaning detection robot system provided by the embodiment of the invention, the height of the cleaning assembly and/or the inclination angle between the lifting assembly and the horizontal plane can be adjusted by the mode that the cleaning assembly is matched with the lifting assembly, so that the upper surface of the photovoltaic panel to be cleaned can be adapted, the collision with the photovoltaic panel can be avoided while the cleaning effect is ensured, the safety of equipment is ensured, and the visual assembly is used for acquiring the image information of the cleaned photovoltaic panel, and the controller is electrically connected with the visual assembly, so that whether hot spots exist on the photovoltaic panel can be determined based on the image information transmitted by the infrared camera, whether the photovoltaic panel is stained and hidden cracks exist on the photovoltaic panel can be determined according to the image information transmitted by the visual camera, and whether repeated cleaning or loss information reporting is required. Therefore, the system can repeatedly clean the photovoltaic panel with higher pollution degree to ensure the cleaning effect, and meanwhile, the system can automatically report loss information to the photovoltaic panel with hot spots or hidden cracks, so that manual investigation is not needed, and the investigation cost is saved.

In addition, the ground walking type photovoltaic panel cleaning and detecting robot system provided by the embodiment of the invention can also have the following additional technical characteristics:

optionally, the controller is further configured to control the moving assembly, the lifting assembly and the cleaning assembly according to a pre-configured robot navigation map to clean a plurality of columns of photovoltaic panels.

Optionally, a plurality of first ultrasonic sensors are arranged on the frame along the circumferential direction outwards, the first ultrasonic sensors are electrically connected with the controller, the first ultrasonic sensors are used for detecting whether obstacles exist in the current travelling direction, and the controller determines whether obstacle avoidance is performed according to the detection result of the first ultrasonic sensors.

Optionally, a movable guide rail and a fixed guide rail are downwards arranged on the cross beam, and the movable guide rail and the fixed guide rail are respectively arranged at two ends of the cross beam; one end of the fixed guide rail is fixedly connected with the cross beam, one end of the movable guide rail is slidably connected with the cross beam, so that the movable guide rail can slide along the length direction of the cross beam, and the other end of the movable guide rail is hinged to the vertical beam; the two ends of the cleaning component are respectively connected with the movable guide rail and the fixed guide rail in a sliding way;

the lifting assembly comprises two lifting driving parts which are respectively arranged corresponding to the movable guide rail and the fixed guide rail; the fixed end of the lifting driving piece close to the fixed guide rail is connected with the cross beam, and the telescopic end of the lifting driving piece is connected with the end part of the cleaning assembly; the fixed end of the lifting driving piece close to the movable guide rail is fixed at one end of the movable guide rail far away from the cross beam, and the telescopic end of the lifting driving piece is connected with the end part of the cleaning assembly.

Optionally, the moving component is hinged to the bottom of the vertical beam, and damping springs connecting the vertical beam and the moving component are respectively arranged on two sides of the hinge shaft.

Optionally, the cleaning component comprises a frame, a rolling brush and a rotary driving piece, wherein the frame is arranged at the periphery of the rolling brush, and the rotary driving piece is in driving connection with the rolling brush to drive the rolling brush to rotate.

Optionally, at least one second ultrasonic sensor is disposed downward on the frame, and the second ultrasonic sensor is electrically connected to the controller, so as to control a distance between the rolling brush and the upper surface of the photovoltaic panel.

Optionally, at least one limit switch is disposed on the frame, and the limit switch is electrically connected with the controller, so as to be used for emergency obstacle avoidance.

Optionally, a battery assembly for providing power is also included, which is disposed on one of the two vertical beams.

Optionally, the device further comprises an electric cabinet, wherein the electric cabinet is arranged on one of the two vertical beams, and the controller is arranged in the electric cabinet.

Drawings

Fig. 1 is a schematic structural view of a ground-traveling type photovoltaic panel cleaning and detecting robot system according to an embodiment of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

fig. 3 is a partial enlarged view at a in fig. 2.

Description of the reference numerals:

a cross beam 110; a vertical beam 120; a movable rail 130; a fixed rail 140; a guide groove 150; a frame 210; a roller brush 220; a lifting driving member 300; a moving assembly 400; a vision component 500; a second ultrasonic sensor 211; limit switch 212; a battery assembly 600; an electric cabinet 700; photovoltaic panel X.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

According to the invention, the upper surface of the photovoltaic panel to be cleaned can be adapted by adjusting the height of the cleaning assembly and/or the inclination angle between the cleaning assembly and the horizontal plane through the mode of matching the cleaning assembly and the lifting assembly, the cleaning effect is ensured, the collision with the photovoltaic panel can be avoided, the safety of equipment is ensured, and the controller is electrically connected with the vision assembly through the arrangement of the vision assembly, so that whether hot spots exist on the photovoltaic panel or not can be determined based on the image information transmitted by the infrared camera, and whether the pollution and the hidden cracks exist on the photovoltaic panel or not can be determined according to the image information transmitted by the vision camera, thereby determining whether repeated cleaning or loss information reporting is required. Therefore, the system can repeatedly clean the photovoltaic panel with higher pollution degree to ensure the cleaning effect, and meanwhile, the system can automatically report loss information to the photovoltaic panel with hot spots or hidden cracks, so that manual investigation is not needed, and the investigation cost is saved.

In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 3, in one embodiment of the present application, a floor-walking type photovoltaic panel cleaning detection robot system is provided, which includes a frame, a cleaning assembly, a lifting assembly, two moving assemblies 400, a vision assembly 500, and a controller (not shown).

Specifically, the frame includes a cross beam 110 and two vertical beams 120, where the two vertical beams 120 are respectively connected to two ends of the cross beam 110, so that the cross beam 110 and the two vertical beams 120 are integrally shaped as a door, and cooperate to define a channel through which the photovoltaic panel X can pass, i.e. the cross beam 110 spans the photovoltaic panel X, and the two vertical beams 120 are respectively standing on two sides of the photovoltaic panel X. It will be appreciated that the length of the transverse beam 110 and the height of the vertical beam 120 may be correspondingly set according to the size of the photovoltaic panel X to be cleaned, i.e. different sizes of photovoltaic panels X may be correspondingly provided with different cleaning devices. Alternatively, the size of the cross members 110 and the size of the vertical members 120 may be determined so as to satisfy the size of the photovoltaic panel X commonly used in the market, which is not particularly limited. In addition, the cross beams 110 and the vertical beams 120 can be plate-type structures, so that production cost is saved, and the frame-type structure can be adopted on the premise of meeting the structural strength requirement, so that production cost is reduced, and equipment weight is reduced.

The cleaning component is used for cleaning the upper surface of the photovoltaic panel X and is movably arranged on the frame, so that the two ends of the cleaning component can respectively or jointly move up and down along the vertical direction. It should be understood that if the height of the cleaning assembly is required to be adjusted, the two ends of the cleaning assembly may be moved upward together or downward together, if the inclination angle between the cleaning assembly and the horizontal plane is required to be adjusted, one end of the cleaning assembly may be moved upward in the vertical direction, the other end may be kept stationary or moved downward in the vertical direction, or one end of the cleaning assembly may be moved downward in the vertical direction, the other end may be kept stationary or moved upward in the vertical direction, and so on. Therefore, the cleaning assembly can adapt to different working conditions (namely different inclination angles and different heights) of the photovoltaic panel X, the cleaning effect of the photovoltaic panel X is guaranteed, and meanwhile, the photovoltaic panel X is prevented from being damaged during cleaning.

The lifting component is arranged on the frame and is in driving connection with the cleaning component, and the lifting component can adjust the height of the cleaning component or the inclination angle between the lifting component and the horizontal plane so as to adapt to the upper surface of the photovoltaic plate X, thereby achieving better cleaning effect. In one example, the lift assembly may be an existing multi-axis motion control mechanism, such as a robotic arm or the like, to enable precise adjustment of the height and tilt angle of the cleaning assembly.

The two moving assemblies 400 are respectively arranged at the bottoms of the two vertical beams 120, and the two moving assemblies 400 can drive the frame to move, so that the cleaning assembly can clean a plurality of photovoltaic panels X (including the photovoltaic panels X in the same row or different rows). In an embodiment, each moving assembly 400 may include at least two rollers and corresponding driving members, where the two rollers may move independently, and in the moving process, the advancing direction of the rollers may be controlled, so as to adjust the moving direction of the cleaning device, so as to implement the cross-column cleaning. The moving assembly 400 may be a conventional moving driving structure, and is not limited thereto.

From this, cooperate through cleaning subassembly and lifting unit to control the high and with the horizontal plane between inclination who cleans the subassembly, can adapt to the different operating modes of photovoltaic board X, guarantee to clean the effect, simultaneously, through the setting of moving subassembly 400, can drive the frame and move, with clean same or different photovoltaic board X that are listed as, saved equipment cost.

The vision assembly 500 is used for acquiring image information of the cleaned photovoltaic panel X, and the vision assembly 500 includes a plurality of sets of matched cameras and parallel light supplementing members, which are respectively disposed at two sides of the beam 110. It should be noted that the camera includes an infrared camera and a visual camera. It should be understood that two cameras can be matched with a parallel light supplementing member, namely an infrared camera and a visual camera are matched with a parallel light supplementing member, so that the equipment cost is saved while the light supplementing effect is ensured.

It will be appreciated that the photovoltaic panel X is typically cleaned at night in order not to interfere with its normal operation during the day. At this time, through the setting of parallel light filling piece, the light filling effect when can guaranteeing to acquire image information avoids thereby influencing subsequent image recognition result because of illumination problem.

In an example, the vision assembly 500 may include four sets of matched cameras and parallel light supplementing members, where each two sets of cameras and parallel light supplementing members are disposed on one side of the beam 110, and there may be a certain interval between two sets on the same side, so as to ensure that the two sets of cameras can fully cover the photovoltaic panel X when shooting. It should be noted that the vision module 500 is used for acquiring the image information of the cleaned photovoltaic panel X, so that when the image is performed, the image may be captured by a camera opposite to the advancing direction of the robot, so as to determine the cleaning degree of the cleaned photovoltaic panel X later.

The controller is disposed on the frame, and the controller can be electrically connected with the cleaning assembly, the lifting assembly, the moving assembly 400 and the vision assembly 500 respectively, so as to realize corresponding control functions, for example, the controller can control the cleaning assembly to act for cleaning, the controller can control the lifting assembly to adjust the height of the cleaning assembly or the inclination angle between the lifting assembly and the horizontal plane, the controller can control the moving assembly 400 to move the frame to clean the photovoltaic panels X in the same row or different rows, and the like.

After the shooting of the infrared camera and the visual camera is completed, the infrared camera and the visual camera can transmit corresponding image information to the controller, and the controller can perform image recognition on the transmitted image information, so that the current state of the photovoltaic panel X is determined. Specifically, the controller can determine whether hot spots exist on the photovoltaic panel X according to the image information transmitted by the infrared camera, and determine whether dirt and hidden cracks exist on the photovoltaic panel X according to the image information transmitted by the visual camera.

In an example, the controller may compare the image information captured by the camera with a pre-stored reference image according to a pre-trained image recognition algorithm, so as to determine whether hot spots, stains and hidden cracks exist on the photovoltaic panel X.

According to the image recognition result, the controller can further determine whether the cleaned photovoltaic panel X needs to be repeatedly cleaned or report loss information, for example, when the dirty area on the photovoltaic panel X reaches a certain threshold value, the cleaning is repeatedly performed, because the robot stretches across the photovoltaic panel X to clean, the controller can directly control the moving assembly 400 to enable the robot to retreat, the cleaning assembly can be controlled to repeatedly clean the photovoltaic panel X in the retreating process, and the robot can be controlled to continuously advance to clean other photovoltaic panels X after the cleaned effect meets the requirement.

Or when the hidden crack area or the hot spot area on the photovoltaic panel X reaches a certain threshold value, the controller can report the loss information of the photovoltaic panel X, in an example, a GPS module can be arranged in the controller, the controller can determine the identification information of the photovoltaic panel X according to the current position information and add the identification information into the loss information, so that a worker can clearly determine which photovoltaic panel X has loss, and overhaul the photovoltaic panel X in time.

Therefore, through the arrangement of the vision component 500, the controller is electrically connected with the vision component 500 to determine whether hot spots exist on the photovoltaic panel X based on the image information transmitted by the infrared camera, and determine whether dirt and hidden cracks exist on the photovoltaic panel X according to the image information transmitted by the vision camera, thereby determining whether repeated cleaning or reporting of loss information is required. Therefore, the system can repeatedly clean the photovoltaic panel X with higher pollution degree to ensure the cleaning effect, and meanwhile, the system can automatically report loss information to the photovoltaic panel X with hot spots or hidden cracks without manual investigation, so that the investigation cost is saved.

In one embodiment of the application, the controller is further configured to control the movement assembly, the lifting assembly, and the cleaning assembly to clean the plurality of columns of photovoltaic panels according to a pre-configured robot navigation map. Specifically, a robot navigation map may be used for movement control of the robot while it is in operation, and may include coordinate information of a reference origin in an area to be cleaned, photovoltaic panel position information, and cleaning path information. The area to be cleaned may be an area where the photovoltaic panels are placed, and in an example, a plurality of photovoltaic panels are placed adjacently to form a photovoltaic panel group, and the plurality of photovoltaic panel groups are arranged in a matrix to form a photovoltaic array. The reference origin may be a start point for instructing preparation for starting the cleaning operation.

It should be noted that, in the robot navigation map, it may include one or more reference origins, if the robot navigation map has only one reference origin, it may correspond to one cleaning robot, and when the robot needs to perform cleaning operation, it needs to move to the reference origin first, and then clean along the cleaning path; if the number of the reference origins is two or more than two, the corresponding number of cleaning robots can be controlled at the same time, namely, according to the same robot navigation map, the plurality of cleaning robots can firstly move to the corresponding reference origins and respectively perform cleaning operation along the corresponding cleaning paths, and each cleaning robot only needs to complete part of cleaning tasks in the area to be cleaned, so that the cleaning efficiency can be improved.

The photovoltaic panel position information may be used to describe the position of the photovoltaic panels, in one example, the photovoltaic panel position information may include coordinates of four corner points of each photovoltaic panel, and in another example, since the photovoltaic panel sets are consecutive, the photovoltaic panel position information may also be coordinates including four corner points of each photovoltaic panel set in order to reduce the amount of data. The form of the position information of the corresponding photovoltaic panel can be selected by a person skilled in the art according to the actual implementation requirement, and is not particularly limited.

The cleaning path information may be path information describing a path that the cleaning robot needs to pass through when performing the cleaning operation, and specifically, the cleaning path information may include coordinate information of a plurality of continuous path points, and the cleaning robot needs to pass through each path point in turn when performing the cleaning operation, thereby completing the cleaning operation. It should be appreciated that the cleaning path may be adapted to the distribution of the photovoltaic panels to ensure that the cleaning robot may clean each photovoltaic panel and that the cleaning path should be prevented from repeatedly passing a certain photovoltaic panel, resulting in repeated cleaning.

It should be noted that, the distance between the path points may be set according to the navigation accuracy requirement, that is, the navigation accuracy requirement is high, the distance between the path points may be reduced, and if the navigation accuracy requirement is low, the distance between the path points may be enlarged, which is not particularly limited.

When the cleaning operation is started, the controller can acquire real-time position information of the cleaning robot at intervals of a preset time through the GPS module, and the controller can determine the specific position of the required photovoltaic panel to be cleaned according to the position information of the photovoltaic panel, so that when the controller controls the cleaning robot to move along the cleaning path according to the real-time position information of the cleaning robot and the cleaning path information, the cleaning assembly of the cleaning robot can be controlled to start to clean the photovoltaic panel when the cleaning robot moves to the position where the photovoltaic panel is placed.

In one embodiment of the present application, the robot navigation map further includes mobile station information including a station type of the mobile station and station coordinates, the station type including at least one of a general traffic station for parking turns, a charging station for charging, a rest station for temporarily parking the cleaning robot, and a start station for indicating cleaning of the photovoltaic panel. It should be appreciated that different types of mobile stations have different roles, wherein the start station for indicating cleaning of the photovoltaic panels may refer to a pre-station that the cleaning robot needs to reach before cleaning each photovoltaic panel set, and when the cleaning robot reaches the start station, the cleaning mechanism may be turned on to avoid missing cleaning and to ensure the cleaning effect on the photovoltaic panel set.

The controller can carry out movement control on the cleaning robot according to the information of the mobile station, the position information of the photovoltaic panel, the information of the cleaning path and the real-time position information, and it is understood that various conditions, such as insufficient electric quantity of the cleaning robot, overheat parts and the like, exist when the cleaning operation is carried out, therefore, according to the coordinate information of the mobile station, the control information can control the cleaning robot to move to the corresponding station according to the actual requirement so as to ensure the normal operation of the cleaning operation.

In an embodiment of the present application, be provided with a plurality of first ultrasonic sensor (not shown in the figure) outward along its circumference on the frame, specifically, a plurality of first ultrasonic sensor set up on crossbeam 110 and set up outward along crossbeam 110's circumference, first ultrasonic sensor is connected with the controller electricity, first ultrasonic sensor is used for detecting whether there is the barrier in the current advancing direction, the controller is according to first ultrasonic sensor's testing result determination whether keep away the barrier, when there is the barrier, then the controller can control the removal subassembly and shut down in order to stop going ahead, the security of robot system's during operation has been guaranteed.

In one embodiment of the present application, the beam 110 is further provided with a plurality of cameras outwards along the circumferential direction thereof, and when the controller determines that an obstacle exists in the traveling direction through the first ultrasonic sensor, the controller can acquire image information in the current traveling direction through the corresponding camera, perform image recognition according to the image information, recognize size information of the obstacle, and determine whether obstacle detouring can be performed according to the size information. In an example, a person skilled in the art may preset a selection rule of the obstacle avoidance policy based on the size information of the obstacle that may be encountered, for example, if the length of the obstacle is greater than the first threshold, control the cleaning robot to stop, send a prompt message to the manager, if the length of the obstacle is less than or equal to the first threshold, control the cleaning robot to bypass the obstacle, and so on.

In other embodiments, the cleaning path information in the robot navigation map may further include a path width corresponding to each path point, and when the controller determines that an obstacle exists in the current travelling direction, the controller may determine the path point corresponding to the cleaning robot currently according to the real-time position information of the cleaning robot and the coordinate information of each path point, and determine the corresponding remaining feasible width according to the path width of the path point corresponding to the cleaning robot currently and the size information of the obstacle, and if the remaining feasible width meets a preset detour rule, control the cleaning robot to detour the obstacle, and if the remaining feasible width does not meet the preset detour rule, control the cleaning robot to stop advancing.

Specifically, the path width may be used to describe a range in which the cleaning robot can move under the current path point, for example, the path width is 0.5 m, which means that the cleaning robot can traverse a total of 0.5 m left and right at the path point, and so on. The path width can be set by a manager according to the actual path situation.

After determining the size information of the obstacle, the controller can determine the current corresponding path point of the cleaning robot according to the real-time position information of the cleaning robot and the coordinate information of each path point, and further determine the corresponding path width of the path point. And determining the corresponding remaining feasible width based on the path width and the size information of the obstacle. If the obstacle is located at the middle position of the path, the remaining feasible width may be a width with a larger distance between the path boundary and the obstacle.

The manager may preset a detour rule, for example, if the remaining feasible width is greater than the equipment width of the cleaning robot, the cleaning robot may be controlled to detour the obstacle, and if the remaining feasible width is less than or equal to the equipment width of the cleaning robot, the cleaning robot may be controlled to stop advancing, and a prompt message may be sent to the manager to clear the obstacle. It should be noted that, since the frame has a portal structure and spans the photovoltaic panel, the remaining feasible width only needs to be larger than the equipment width of the path on the side where the obstacle exists. In other examples, when the determination is made, the determination may also be made in combination with the height and width of the obstacle to ensure the safety of the cleaning robot.

In some embodiments of the present invention, a movable rail 130 and a fixed rail 140 are disposed downward on the beam 110, and are disposed at two ends of the beam 110, respectively. One end of the fixed rail 140 is fixedly connected with the transverse beam 110, and the other end of the fixed rail 140 may be fixedly connected with the corresponding vertical beam 120 in order to ensure stability of the fixed rail 140. One end of the movable rail 130 is slidably connected to the beam 110, specifically, a guide groove 150 is disposed at an end of the beam 110 fixed to the movable rail 130, and the guide groove 150 is disposed along the length direction of the beam 110 and has an arc shape, so that the movable rail 130 can slide along the length direction of the beam 110. One end of the movable rail 130 is provided with a guide wheel which can slide on the guide groove 150 to reduce friction with the guide groove 150 when the movable rail 130 swings, and meanwhile, the stability of the movement of the movable rail 130 can be ensured. And, the guide groove 150 may be provided with a limit structure to prevent the movable rail 130 from being separated from the guide groove 150.

The other end of the movable rail 130 is hinged to the corresponding vertical beam 120, and thus, by being hinged to the guide groove 150, the movable rail 130 can be rotated in a small extent on the vertical plane with the hinge shaft as a rotation center, so as to adapt to the adjustment of the cleaning assembly. Both ends of the cleaning assembly are slidably connected with the movable guide rail 130 and the fixed guide rail 140, respectively, and specifically, both ends of the cleaning assembly are provided with guide wheels so that the cleaning assembly can slide on the movable guide rail 130 or the fixed guide rail 140, so that both ends of the cleaning assembly can move up or down along the movable guide rail 130 and the fixed guide rail 140 respectively or together.

The lifting assembly includes two lifting driving members 300 which are respectively disposed corresponding to the movable rail 130 and the fixed rail 140, specifically, the fixed end of the lifting driving member 300 close to the fixed rail 140 is connected with the cross beam 110, and the telescopic end thereof is connected with the end of the cleaning assembly, thereby driving the end of the cleaning assembly connected therewith to reciprocate in the vertical direction along the fixed rail 140 when the telescopic end stretches.

The fixed end of the lifting driving member 300 close to the movable guide rail 130 is fixed at one end of the movable guide rail 130 far away from the cross beam 110, and the telescopic end of the lifting driving member is connected with the end of the cleaning assembly, so that when the telescopic end of the lifting driving member stretches, the end of the cleaning assembly connected with the lifting driving member can be driven to reciprocate along the movable guide rail 130 in the vertical direction.

Therefore, the height of the cleaning assembly and the inclination angle between the cleaning assembly and the horizontal plane can be adjusted by the cooperation of the two lifting driving members 300, and it should be understood that when the inclination angle between the cleaning assembly and the horizontal plane is adjusted, the length of the cleaning assembly in the horizontal direction can be changed, and the length change can be adapted by the arrangement of the movable guide rail 130 so as to ensure the cleaning stability of the cleaning assembly.

In an embodiment, the lifting driving member 300 may include a telescopic driving member, a main rod, and a sub rod, wherein the sub rod is inserted into the main rod, and one end of the sub rod is connected to an end of the cleaning assembly. The telescopic driving piece is in driving connection with the auxiliary rod, so that the auxiliary rod can stretch and retract along the axial direction of the main rod to drive the end part of the cleaning assembly to move.

In some embodiments of the present invention, the moving assembly 400 is hinged to the bottom of the vertical beam 120, and shock absorbing springs connecting the vertical beam 120 and the moving assembly 400 are respectively disposed at both sides of the hinge shaft, so that during the moving process of the cleaning device, the influence on the cleaning device caused by the unevenness of the ground can be reduced by the arrangement of the shock absorbing springs, and the running stability of the cleaning device is ensured.

In some embodiments of the present invention, the cleaning assembly includes a frame 210, a rolling brush 220, and a rotary driving member, in particular, the frame 210 may be disposed at the periphery of the rolling brush 220 to protect the rolling brush 220, two ends of the frame 210 are respectively connected to the fixed rail 140 and the movable rail 130, and the rotary driving member is in driving connection with the rolling brush 220 to drive the rolling brush 220 to rotate for cleaning. In one embodiment, the roller brush 220 may be elongated, and the length thereof may be adapted to the size of the photovoltaic panel X to be cleaned.

Based on the foregoing embodiments, in some embodiments of the present invention, at least one second ultrasonic sensor 211 is disposed downward on the frame 210, and the second ultrasonic sensor 211 is electrically connected to the controller. The second ultrasonic sensor 211 can monitor the distance between the rolling brush 220 and the upper surface of the photovoltaic panel X in real time, so that the controller can adjust the distance between the rolling brush 220 and the upper surface of the photovoltaic panel X according to the detection result of the second ultrasonic sensor 211, thereby avoiding the overlarge or undersize distance between the rolling brush 220 and the photovoltaic panel X and further ensuring the cleaning effect of the rolling brush 220 and the safety of the photovoltaic panel X. Preferably, the number of the second ultrasonic sensors 211 is four, and every two second ultrasonic sensors 211 are disposed on one side of the frame 210 and are disposed at two ends of the frame 210 respectively, so that the effectiveness of the distance control can be ensured on the premise of ensuring the equipment cost.

In some embodiments of the present application, at least one limit switch 212 is further disposed on the frame 210 for emergency obstacle avoidance, where the limit switch 212 is electrically connected to the controller, so that when other components fail, the controller may emergency shut down the robot by setting the limit switch 212, such as when the cleaning component excessively approaches the photovoltaic panel X to trigger the limit switch 212, or when a certain portion of the system excessively approaches the photovoltaic panel X (including the currently cleaned photovoltaic panel X or an adjacent photovoltaic panel X) or other devices to trigger the limit switch 212, the controller may emergency shut down the robot to ensure the operation safety of the robot.

Specifically, at least two limit switches 212 may be disposed downward on the frame 210 for emergency obstacle avoidance of the cleaning assembly to the photovoltaic panel X. Limit switches 212 facing both sides of the cleaning device may also be provided on the frame 210 for emergency obstacle avoidance of the robot to nearby equipment, etc. It should be understood that, according to practical needs, the frame 210 may also be provided with different orientations and different numbers of phase switches, which is not limited in particular.

In some embodiments of the present invention, the robot system further includes a battery pack 600, and the battery pack 600 is disposed on one of the two vertical beams 120 to supply power to each pack, so that the non-plug-in operation of the cleaning device can be satisfied, and thus the cleaning range of the cleaning device can be enlarged.

In some embodiments of the present invention, the robotic system further includes an electric cabinet 700, the electric cabinet 700 being disposed on one of the two vertical beams 120, and the controller may be disposed within the electric cabinet 700 to protect the controller. In an embodiment, the electric cabinet 700 and the battery assembly 600 may be disposed on the two vertical beams 120, respectively, so as to ensure the weight balance at two ends of the robot system, and avoid the center of gravity shift of the robot system caused by being disposed on the same vertical beam 120.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms should not be understood as necessarily being directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. Ground walking type photovoltaic panel cleans detection robot system, characterized by comprising:

the controller is arranged on the frame and is electrically connected with the cleaning assembly, the lifting assembly, the moving assembly and the vision assembly respectively; the controller can determine whether hot spots exist on the photovoltaic panel according to the image information transmitted by the infrared camera, determine whether dirt and hidden cracks exist on the photovoltaic panel according to the image information transmitted by the visual camera, and further determine whether repeated cleaning or loss information reporting is needed.

2. The system of claim 1, wherein the controller is further configured to control the movement assembly, the lifting assembly, and the cleaning assembly to clean a plurality of columns of photovoltaic panels according to a pre-configured robotic navigation map.

3. The system according to claim 2, wherein a plurality of first ultrasonic sensors are provided on the frame along a circumferential direction thereof and are electrically connected to the controller, the first ultrasonic sensors are configured to detect whether an obstacle exists in a current traveling direction, and the controller determines whether to avoid the obstacle according to a detection result of the first ultrasonic sensors.

4. The system according to claim 1, wherein a movable guide rail and a fixed guide rail are downwardly arranged on the cross beam, and are respectively arranged at two ends of the cross beam; one end of the fixed guide rail is fixedly connected with the cross beam, one end of the movable guide rail is slidably connected with the cross beam, so that the movable guide rail can slide along the length direction of the cross beam, and the other end of the movable guide rail is hinged to the vertical beam; the two ends of the cleaning component are respectively connected with the movable guide rail and the fixed guide rail in a sliding way;

5. The system according to claim 1, wherein the moving assembly is hinged to the bottom of the vertical beam, and shock absorbing springs connecting the vertical beam and the moving assembly are provided at both sides of a hinge shaft, respectively.

6. The system of any one of claims 1-5, wherein the cleaning assembly comprises a frame disposed about a periphery of the roller brush, a roller brush, and a rotary drive member drivingly coupled to the roller brush to drive the roller brush.

7. The system of claim 6, wherein at least one second ultrasonic sensor is disposed down on the bezel, the ultrasonic sensor being electrically connected to the controller to control a distance between the roller brush and the upper surface of the photovoltaic panel.

8. The system of claim 6, wherein at least one limit switch is provided on the bezel, the limit switch being electrically connected to the controller for emergency obstacle avoidance.

9. The system of claim 1, further comprising a battery assembly for providing power, disposed on one of the two vertical beams.

10. The system of claim 1, further comprising an electric cabinet disposed on one of the two vertical beams, the controller disposed within the electric cabinet.