CN209829808U - Connection robot - Google Patents

Abstract

The utility model provides a robot of plugging into, the robot of plugging into includes the automobile body, plugs into device and angle adjusting device, clean system includes clean district, cleaning robot and the robot of plugging into. The utility model discloses a robot of plugging into transfers cleaning machines people in the passway district between a plurality of solar panel arrays as cleaning machines people's carrier for cleaning machines people can accomplish cleaning on the solar panel array of difference.

Description

Connection robot

Technical Field

The utility model relates to a delivery vehicle, in particular to robot of plugging into.

Background

With the decreasing of fossil fuels, solar energy, which is a new renewable energy source, has become an important component of energy sources used by human beings, and solar energy application technology has been rapidly developed in various countries in the world in the last decade.

Since the working environment of the solar panel can be only outdoors, the biggest problem affecting the work of the solar panel is not wind, rain and thunder, but dust, snow and the like accumulated all the year round. The solar panel is attached with dust or other attachments, can influence the luminousness of panel board, hinders photoelectric efficiency to can seriously influence the efficiency that the panel directly acquireed sunshine, reduce the energy absorption and the conversion efficiency of panel, reduce the generating efficiency.

Therefore, each photovoltaic power station needs to clean the surface of the solar panel, so that the efficiency of manual cleaning is obviously low and the risk is high. Correspondingly, the industry has developed solar panel cleaning machines people and has cleaned its surface, can effectual improvement clean efficiency, can not appear again the eminence and clean the operation and the personal safety hidden danger problem that exists.

However, because the solar panels or the panel arrays are not arranged in a whole but arranged at a plurality of positions in a certain area, the solar panels or the panel arrays at different positions in the area have larger space intervals, and the cleaning robot cannot directly span the space intervals on different solar panels.

Based on the above problems, there is a need for a cleaning robot that can perform an effective cleaning operation on a single solar panel or panel array; still need utility model a robot of plugging into simultaneously, can transfer cleaning machines people from a solar panel array to another solar panel array on, utilize server remote scheduling and control cleaning machines people to accomplish cleaning work on different panel arrays high-efficiently.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a scheme of plugging into for solve the technical problem that cleaning machines people shifted and dispatched between a plurality of solar panel arrays.

In order to achieve the above object, the utility model provides a robot of plugging into includes the automobile body, plugs into device and angle adjusting device: the connection device comprises a connection platform which can be rotatably connected to the top or the upper half part of the vehicle body; the angle adjusting device is arranged between the vehicle body and the connection platform and used for adjusting the angle of the connection platform.

Further, the connection device comprises a baffle protruding from the edge of the connection platform.

Furthermore, the baffle comprises a left baffle, a rear baffle and a right baffle which are connected in sequence; an entrance is formed between the open end of the left baffle and the open end of the right baffle.

Further, the docking device further includes: the correlation sensor comprises a transmitting end and a receiving end which are oppositely arranged, the transmitting end and the receiving end are respectively arranged on the inner side walls of the left baffle plate and the right baffle plate, and the transmitting end and the receiving end are close to the entrance; and/or the distance sensor is arranged on the inner side wall in the middle of the rear baffle plate and is opposite to the inlet and the outlet; wherein the correlation sensor and/or the distance sensor are connected to a processor.

Furthermore, the connecting device also comprises an anti-collision component which is arranged on the inner side wall of the left baffle plate and/or the rear baffle plate and/or the right baffle plate.

Further, the docking device further comprises a bridge plate which is slidably mounted to the upper surface of the docking platform; and one end of the first telescopic rod is connected to the lower surface of the connection platform, and the other end of the first telescopic rod is connected to the lower surface of the bridge plate.

Further, the docking apparatus includes: the two sliding shaft bases are oppositely arranged and protrude out of the middle of the bottom surface of the connection platform; the two first sliding chutes are respectively arranged on two opposite surfaces of the two sliding shaft bases; and the two rotating shaft bases are oppositely arranged, protrude out of the bottom surface of the connection platform and are close to the edge of one end of the connection platform. The angle adjusting device includes: the two ends of the sliding shaft can be slidably mounted into the two first sliding chutes; one end of the second telescopic rod is rotatably connected to the middle part of the sliding shaft, and the other end of the second telescopic rod is rotatably connected to the vehicle body; and the middle part of the rotating shaft is connected to one end of the top part or the upper half part of the vehicle body, and the two ends of the rotating shaft are rotatably installed on the two rotating shaft bases.

Further, the docking robot further includes: the inclination angle sensor is used for measuring an included angle between the connection platform and a horizontal plane; the inclination angle sensor is arranged on the lower surface of the connection platform and connected to a processor; the docking robot further includes: the positioning device is used for acquiring the real-time position of the vehicle body; the positioning device is arranged inside or outside the vehicle body and is connected to a processor; the docking robot further comprises an electronic compass used for acquiring the real-time traveling direction of the vehicle body; the electronic compass is arranged inside or outside the vehicle body and is connected to a processor.

Further, the docking robot further includes: the image sensor is arranged at the front end and/or the rear end and/or the left side and/or the right side of the vehicle body and is connected to a processor; and/or. The lighting device is arranged at the front end and/or the rear end and/or the left side and/or the right side of the vehicle body and is connected to a processor; the docking robot further comprises an obstacle avoidance sensor which is arranged at the front end and/or the rear end and/or the left side and/or the right side of the vehicle body and connected to a processor.

Further, the docking robot further comprises a first telescopic rod controller for adjusting the length of the first telescopic rod; and/or the second telescopic rod controller is used for adjusting the length of the second telescopic rod; and/or a third telescopic rod controller for adjusting the length of the third telescopic rod; and a processor connected to the first and/or second and/or third telescopic rod controllers.

To achieve the above object, the present invention provides a cleaning system, comprising a cleaning area, a cleaning robot and the docking robot, wherein the cleaning area comprises a solar panel or a solar panel array; the cleaning robot is used for cleaning on the cleaning area; the docking robot is configured to carry the cleaning robot.

The utility model has the advantages that the docking robot is provided as a carrying tool of the cleaning robot, and the cleaning robot is transferred in the channel area among the plurality of solar panel arrays, so that the cleaning robot can complete cleaning work on different solar panel arrays; the inclination angle of the connection platform of the connection robot can be adjusted so as to facilitate the comprehensive butt joint of the connection platform and the solar panel.

Drawings

Fig. 1 is a schematic view of an operation area according to embodiment 1 or 2 of the present invention;

fig. 2 is a schematic view of an operation state of the cleaning system according to embodiment 1 or 2 of the present invention;

fig. 3 is a schematic structural view of the cleaning system according to embodiment 1 or 2 of the present invention;

fig. 4 is a schematic structural view of the cleaning zone according to embodiment 1 or 2 of the present invention;

fig. 5 is a schematic structural view of the connection robot in embodiment 1 of the present invention in a state where the connection platform is horizontally disposed;

fig. 6 is a schematic structural view of the connection robot according to embodiment 1 of the present invention in a state where the connection platform is inclined;

fig. 7 is a schematic structural view of the top of the connection device according to embodiment 1 of the present invention;

fig. 8 is a schematic structural view of the bottom of the connection device according to embodiment 1 of the present invention in one direction;

fig. 9 is a schematic structural view of the bottom of the connection device according to embodiment 1 of the present invention in another direction;

fig. 10 is a schematic structural view of a vehicle body according to embodiment 1 of the present invention;

fig. 11 is a schematic structural view of an angle adjusting device according to embodiment 1 of the present invention;

fig. 12 is a functional block diagram of an electronic device of the cleaning system according to embodiment 1 of the present invention;

fig. 13 is a schematic structural view of the docking robot according to embodiment 2 of the present invention in a state where the docking platform is horizontally disposed;

fig. 14 is a schematic structural view of the connection robot according to embodiment 2 of the present invention in a state where the connection platform is inclined;

fig. 15 is a schematic structural view of the height adjusting device according to embodiment 2 of the present invention in a deployed state;

fig. 16 is an exploded view of the height adjusting device according to embodiment 2 of the present invention in an expanded state;

fig. 17 is a schematic structural view of the height adjusting device according to embodiment 2 of the present invention in a folded state;

fig. 18 is a functional block diagram of an electronic device of the cleaning system according to embodiment 2 of the present invention.

The components in the figure are identified as follows:

100 working area, 200 cleaning robot, 300 docking robot, 400 data processing system, 500 cleaning area;

101 solar panel array, 102 solar panel, 103 channel region;

201 a first wireless communication unit, 301 a second wireless communication unit, 401 a third wireless communication unit;

310, 320, a connecting device, 330, an angle adjusting device, 340, a processor and 350, a height adjusting device;

311 a vehicle body, 312 a traveling device, 313 a vehicle frame and 314 a circuit board;

321 connecting platform, 322 baffle, 322a left baffle, 322b back baffle, 322c right baffle, 323 entrance;

324 anti-collision components, 325a, 325b sliding shaft bases, 325c, 325d first sliding chutes;

326a, 326b rotating shaft bases, 326c, 326d base through holes, 327 bridge plates,

328 a first telescoping rod, 329 a first telescoping rod controller; 331 a sliding shaft, and a sliding shaft,

332 second telescoping rod, 333 rotating shaft, 334 telescoping rod mounting bracket, 335 second telescoping rod controller;

351, a frame, 352 a first bracket, 353 a second bracket, 354 a pin shaft; 355a, 355b a first guide rail,

356a, 356b second rail, 357a, 357b second runner, 358a, 358b third runner;

359 third telescoping rod, 360 third telescoping rod controller;

the upper end of a cleaning area 501, the lower end of a cleaning area 502, the left end of a cleaning area 503 and the right end of a cleaning area 504;

505 a first docking zone, 506 a second docking zone;

601 correlation sensor, 601a transmitting end, 601b receiving end; a distance sensor 602, a tilt sensor 603,

604 positioning means, 605 electronic compass; 606 image sensor, 607 illuminator, 608 obstacle avoidance sensor;

3521a, 3521b first link, 3522 first beam, 3523a, 3523b first pulley, 3524 sleeve;

3531a, 3531b second link, 3532 second beam, 3533a, 3533b second pulley.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings for illustrating the embodiments of the present invention, and these embodiments can fully introduce the technical contents of the present invention to those skilled in the art, so that the technical contents of the present invention can be more clearly and easily understood. The present invention may, however, be embodied in many different forms of embodiments, and the scope of the present invention is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. When an element is described as being "connected to" another element, it can be directly "connected" or "connected" to the other element through an intermediate element.

As shown in FIG. 1, a solar power station is provided with a working area 100, wherein the working area 100 comprises a plurality of solar panel arrays 101 (referred to as panel arrays), each solar panel array 101 has an inclination angle with respect to the horizontal plane of 15 ~ 45 degrees, which is an angle value that ensures that more sunlight is incident on the solar panel as much as possible.

As shown in fig. 1, each solar panel array 101 (referred to as a panel array) includes a plurality of solar panels 102 (referred to as panels) spliced together, a plurality of solar panel arrays 101 and/or a plurality of solar panels 102 may be arranged in a matrix, a channel region 103 is formed between any two adjacent solar panel arrays 101 or solar panels 102, and in this embodiment, a plurality of channel regions 103 cross-connected with each other form a crisscross channel network.

As shown in fig. 2 ~ 3, the present embodiment provides a cleaning system, which includes a cleaning robot 200, a docking robot 300, and a data processing system 400, wherein the working area 100 is a working area where the cleaning robot 200 and the docking robot 300 complete the solar panel cleaning operation, and includes a cleaning area 500 and a passage area 103.

In the normal working process of the solar power station, certain solar panels or solar panel arrays are stained with dust or dirt and need to be cleaned; each solar panel 102 or solar panel array 101 that needs to be cleaned is the cleaning area 500. The cleaning robot 100 can complete the cleaning operation on the solar panel 102 or the solar panel array 101, and can effectively clean each area on the panel 102 or the panel array 101. The docking robot 300 may carry the cleaning robot 200 from a cleaning robot 200 storage location to a cleaning zone 500 (panel 102 or panel array 101 to be cleaned) upper surface, from one cleaned panel array upper surface to another cleaning zone 500 (panel or panel array to be cleaned) upper surface, or from one cleaned cleaning zone 500 upper surface to a cleaning robot 200 storage location.

As shown in fig. 4, each cleaning zone 500 is preferably a set of panel arrays 101 of synthetic rectangles defined at the peripheral edges thereof as a cleaning zone upper end 501, a cleaning zone lower end 502, a cleaning zone left side end 503 and a cleaning zone right side end 504, respectively.

When a cleaning robot 200 is carried by a docking robot 300 to a cleaning zone 500, preferably, the cleaning robot 200 travels onto the cleaning zone 500 from the cleaning zone left side end 503 or the cleaning zone right side end 504; similarly, when a cleaning robot 200 is transferred from a cleaning zone 500 by a docking robot 300, it is preferable that the cleaning robot 200 travels onto the docking robot 300 from the cleaning zone left side end 503 or the cleaning zone right side end 504.

As shown in fig. 4, each cleaning zone 500 is provided with a first connection zone 505 and a second connection zone 506 which are opposite to each other, and the first connection zone 505 and the second connection zone 506 are respectively disposed at two sides of the left side end 503 or the right side end 504 of the cleaning zone. In this embodiment, the first connection zone 505 is an area outside the cleaning zone 500 and adjacent to the right side end 504 of the cleaning zone, and the second connection zone 506 is an area inside the cleaning zone and adjacent to the right side end 504 of the cleaning zone. Preferably, the first and second docking zones 505, 506 are located immediately below the right side end 504 of the cleaning zone.

The first is a zoning estimation method, wherein the natural environments of a plurality of panel arrays adjacent to each other in a small area (the area range can be freely defined) are similar, so that the pollution degree of the panels in the area is similar, a solar panel is randomly selected, the pollution degree of the panel is detected, whether the panel needs to be cleaned is judged, if the panel needs to be cleaned, all the panels in the area need to be cleaned, if the working area of a certain power station is large in occupied area, a large working area can be divided into a plurality of small working areas, and sampling detection is carried out on the small working areas.

As shown in fig. 3, the data processing system 400, preferably a physical server or a cloud server, is connected to the cleaning robot 200 and/or the docking robot 300, implements data exchange of the cleaning robot 200 and/or the docking robot 300, issues a control instruction to the cleaning robot 200 and/or the docking robot 300, and simultaneously acquires feedback data from the cleaning robot 200 and/or the docking robot 300, such as the real-time position coordinates of the two robots, the image data acquired by the two robots in real time, and the like, so that the data processing system 400 can implement real-time monitoring of the cleaning operation process of the cleaning robot 200, the traveling of the docking robot 300, and the docking process, control the docking robot 300 to normally travel in the channel network of the operation area 200, and control the docking robot 300 to dock with the panel array 101 of the cleaning area.

After the data processing system 400 obtains the information (certain panel numbers) of which panel arrays 101 need to be cleaned, the number of docking robots 300 and cleaning robots 200 required for the cleaning job is estimated in combination with the time allowed for the cleaning job within the photovoltaic power plant. The data processing system 300 calls a docking robot 300 to transfer the cleaning robot 200 to a certain panel array 101 to be cleaned, the cleaning robot 200 performs a full cleaning operation on the panel array 101, and after the cleaning operation of the panel array 101 is completed, the data processing system 400 calls the docking robot 300 to carry the cleaning robot 200 from the upper surface of one cleaned panel array to the upper surface of another panel array to be cleaned, or to a place where the cleaning robot 200 is stored.

The cleaning robot 200 is a product independently developed by the applicant, see a series of patents related to a solar panel cleaning robot applied by the applicant in 2016, ~ 2018, 2018. after being transported to a solar panel array, the cleaning robot 200 can freely travel on the panel array, and can travel around each corner of the panel array, and the cleaning operation of the whole panel array is completed during the travel, which is not described herein again.

Example 1

As shown in fig. 5, the present embodiment provides a docking robot 300, which includes a vehicle body 310, a docking device 320, and an angle adjusting device 330.

As shown in fig. 5 ~ 6, the docking device 320 includes a docking platform 321 for placing the cleaning robot 200, the docking platform 321 being rotatably connected to the top or upper half of the vehicle body 310, and the cleaning robot 200 travels from the upper surface of the docking platform 321 to the upper surface of a panel during docking (upper panel process) or from the upper surface of a panel to the upper surface of the docking platform 321 (lower panel process).

As shown in fig. 7 ~ 9, the docking device 320 includes a baffle 322 protruding from an edge of the docking platform 321 and perpendicular to the docking platform 321, the baffle 322 includes a left baffle 322a, a rear baffle 322b and a right baffle 322c connected in sequence and enclosing a concave shape, and an entrance 323 is formed between an open end of the left baffle 322a and an open end of the right baffle 322 c.

The docking device 320 further includes an impact prevention member 324, preferably an impact prevention strip, disposed on the inner sidewall of the tailgate 322 b; alternatively, the inner sidewalls of the left and/or right baffles 322a and 322c may be respectively provided with a bumper strip (not shown).

The docking device 320 further includes a bridge 327 and a first telescopic rod 328, the bridge 327 is slidably mounted on the upper surface of the docking platform 321; the first telescopic rod 328 is connected to the lower surface of the docking platform 321 at one end and connected to the lower surface of the bridge 327 at the other end. The first telescopic rod 328 is a hydraulic telescopic rod or an electric telescopic rod, and the first telescopic rod 328 has a first telescopic rod controller 329, and when the first telescopic rod controller 329 receives a command electric signal, the first telescopic rod 328 can be controlled to adjust the length thereof. When the length of the first telescopic rod 328 is shortened to the shortest, the bridge plate 327 is located on the upper surface of the docking platform 321; when the first extension rod 328 is extended in length, the bridge plate 327 extends a distance toward the entrance 323. When the distance between the docking robot 300 and the panel array 101101 is the minimum, and the angle of the docking platform 321 is adjusted to be consistent with the panel array 101, the first telescopic rod 328 extends for a certain distance, and the bridge plate 327 extends towards the solar panel array 101, so that the docking platform 321 is connected to the solar panel array 101, and therefore the cleaning robot 200 can conveniently and smoothly travel to the solar panel array 101 (i.e., a cleaning zone) from the docking platform 321, or travel to the docking platform 321 from the solar panel array 101 (i.e., a cleaning zone). After the cleaning robot 200 is transferred, the length of the first telescopic rod 328 is shortened to the minimum, and the bridge plate 327 is retracted to the upper surface of the docking platform 321.

As shown in fig. 7 ~ 9, the docking device 320 further includes two oppositely disposed sliding axle mounts 325a, 325b and two oppositely disposed rotating axle mounts 326a, 326 b.

The two sliding shaft bases 325a and 325b protrude from the middle of the bottom surface of the docking platform 321, two first sliding grooves 325c and 325d are respectively arranged on two opposite surfaces of the two sliding shaft bases 325a and 325b, and the two first sliding grooves 325c and 325d have the same shape and size and are corresponding in position.

The two rotating shaft bases 326a, 326b protrude from the bottom surface of the docking platform 321 and are close to the edge of one end of the right side of the docking platform 321. The centers of the two rotating shaft bases 326a and 326b are respectively provided with base through holes 326c and 326d, and the two base through holes 326c and 326d have the same shape and size and are corresponding in position.

As shown in fig. 10, the vehicle body 310 includes a vehicle body 311, and traveling devices 312 (e.g., wheels) are respectively disposed on the left and right sides of the bottom of the vehicle body 311, preferably, a crawler wheel set, which has good adaptability to the road surface and good passing performance.

As shown in fig. 11, the vehicle body 311 includes a frame 313, the frame 313 is a three-dimensional frame, and the whole frame is approximately in the shape of a rectangular parallelepiped, and the frame 313 includes a plurality of horizontally disposed transverse brackets and a plurality of vertically disposed longitudinal brackets, and the longitudinal brackets are perpendicular to the horizontal plane or keep a certain included angle with the horizontal plane. One or more baffles are fixed on the top surface or the side surface or the bottom surface of the frame 313, and the baffles and the frame 313 jointly form a vehicle body 311.

As shown in fig. 5 ~ 6 and fig. 10 ~ 11, an angle adjusting device 330 is disposed between the vehicle body 310 and the docking platform 321 for adjusting the angle of the docking platform 321 relative to the horizontal plane.

When the docking robot 300 travels beside a cleaning zone 500, the angle adjusting device 330 adjusts the angle of the docking platform 321 relative to the horizontal plane, so that the upper surface of the docking platform 321 and the upper surface of the cleaning zone 500 are located on the same plane as much as possible, thereby facilitating docking of the docking platform 321 and the cleaning zone 500 and facilitating the travel of the cleaning robot 200 between the docking platform 321 and the cleaning zone 500.

As shown in fig. 10 ~ 11, the angle adjustment device 330 includes a sliding shaft 331, a second telescopic rod 332 and a rotating shaft 333, the second telescopic rod 332 is a hydraulic telescopic rod or an electric telescopic rod, the second telescopic rod 332 has a second telescopic rod controller 335, and when the second telescopic rod controller 335 receives a command electrical signal, the second telescopic rod 332 is controlled to adjust its length.

Both ends of the sliding shaft 331 are slidably mounted into the two first sliding grooves 325c and 325 d; the second telescopic rod 332 has one end rotatably connected to the middle of the sliding shaft 331 and the other end rotatably connected to the vehicle body 310. The rotation shaft 333 is fixedly coupled at its middle portion to one end of the top or upper half portion of the vehicle body 310, and rotatably mounted at both ends to the two base through holes 326c, 326d such that the rotation shaft 333 is rotatable with respect to the rotation shaft bases 326a, 326 b.

As shown in fig. 12, the docking robot 300 of the present embodiment further includes a circuit board (not shown), preferably, disposed in the vehicle body 310. The circuit board is provided with a processor 340 as a control device of the docking robot 300. The processor 340 is connected to the first telescoping rod controller 329 and the second telescoping rod controller 335, respectively, for issuing control commands to the first telescoping rod controller 329 and/or the second telescoping rod controller 335.

The cleaning robot 200 is provided with a first wireless communication unit 201, the docking robot 300 is provided with a second wireless communication unit 301, and the data processing system 400 is provided with a third wireless communication unit 401. The first wireless communication unit 201, the second wireless communication unit 301 and the third wireless communication unit 401 are wirelessly connected to each other, so that the cleaning robot 200 or the docking robot 300 and the data processing system 400 can exchange data in a wireless communication manner.

As shown in fig. 4, when the docking robot 300 travels to the vicinity of a cleaning zone 500 (solar panel or panel array 101), the data processing system 400 controls a docking robot 300 to adjust its position and direction, travel to the first docking zone 505 at the lower right end of the cleaning zone 500, and make the entrance 323 of the docking device 320 face the direction of the cleaning zone 500.

In this embodiment, when the docking robot 300 travels in the passage zone 103, the length of the second telescopic rod 332 is shortened to be the shortest, the docking platform 321 is horizontally disposed on the top of the vehicle body 310, and an included angle between the docking platform 321 and the upper surface of the vehicle body 310 is 0 degree. If the cleaning robot 200 is placed on the docking platform 321, it can be kept stable during transportation and will not slip off.

When a docking robot 300 travels to a first docking area 505 of a cleaning area 500, the processor 340 sends an electrical signal to the second telescopic rod controller 335, and controls the second telescopic rod 332 to extend, one end of the docking platform 321 away from the rotating shaft 333 is supported, and the other end rotates around the rotating shaft 333, so that the included angle between the docking platform 321 and the upper surface of the vehicle body 310 gradually increases until the inclination angle of the docking platform with respect to the horizontal plane is consistent with that of the cleaning area 500 (solar panel or panel array), and the upper surface of the docking platform 321 and the upper surface of the panel of the cleaning area 500 are on the same plane. In the extending process of the second telescopic rod 332, two ends of the rotating shaft 333 rotate in the two base through holes 326c and 326d, and two ends of the sliding shaft 331 slide in the two first sliding grooves 325c and 325d, so that the bottom of the docking platform 321 can be kept stable in the process of adjusting the inclination angle, and the docking platform cannot shake.

If the inclination angles of all the solar panels in the working area 100 are the same and remain unchanged, the extending distance of the second telescopic rod 332 may be a preset constant length, and the inclination angle of the docking platform 321 after adjustment is the same as the inclination angle of the panel every time the second telescopic rod 332 extends.

If the tilt angles of all the solar panels in the working area 100 are different, the data processing system 400 issues a command to the processor 340 of the docking robot 300 according to the panel tilt angle of the cleaning area 500, and the processor 340 issues a command to the second telescopic rod controller 335 to adjust the tilt angle of the docking platform 321.

When the adjustment of the inclination angle of the docking platform 321 is completed, the data processing system 400 receives the feedback information of the docking robot 300, sends an action instruction to the cleaning robot 200, and controls the cleaning robot 200 to travel from the docking platform 321 of the first docking area 505 to the solar panel (referred to as an upper panel for short) of the second docking area 506, or to travel from the solar panel of the second docking area 506 to the docking platform 321 of the first docking area 505 (referred to as a lower panel for short), thereby completing the docking process.

In this embodiment, when the docking platform 321 is in an inclined state, the height of the lowest position of the docking platform 321 is greater than or equal to the lowest end (e.g. the lower end 502 of the cleaning area) of the solar panel or the panel array 101 in the working area 100; the height of the highest point of the docking platform 321 is less than or equal to the highest end of the solar panel or panel array 101 in the working area 100 (e.g., the upper end 501 of the cleaning area); ensuring that during docking, the docking platform 321 can form an omni-directional docking (e.g., cleaning zone left side end 503 or right side end 504) with the left or right side of the solar panel or panel array 101.

The height of the lowest point of the docking platform 321 is substantially constant regardless of whether the docking platform 321 is in an inclined state or a horizontal state, and the height is substantially determined by the height of the top of the vehicle body 310. Preferably, the docking station 321 is located at the lower part of the right side of the panel or panel array 101, and the requirement for the height of the vehicle body 310 is relatively low. The lower the center of gravity of the vehicle body 310, the more stable the docking robot 300 will be in the process of carrying the cleaning robot 200, effectively preventing jolt and sway caused by uneven road surface.

In this embodiment, the docking robot 300 is further provided with a plurality of data acquisition devices for acquiring various working data of the docking robot 300 during the working process. The data acquisition device comprises various sensors, including a correlation sensor 601, a distance sensor 602, a tilt sensor 603, a positioning device 604, an electronic compass 605, an image sensor 606, an illuminating device 607, an obstacle avoidance sensor 608, and the like. The sensors are connected to the processor 340 in a wired or wireless manner, the raw working data collected during the operation of the docking robot 300 is transmitted to the processor 340, the raw working data is processed by the processor 340 to form pre-processed data, and the raw working data and/or the pre-processed data are transmitted to the data processing system 400 through the wireless communication unit, so as to realize real-time monitoring of the operation of the docking robot 300 and real-time control of the advancing process and/or the docking process of the docking robot 300.

As shown in fig. 5 ~ 6, 12, the correlation sensor 601 includes a transmitting end 601a and a receiving end 601b, which are disposed opposite to each other and respectively disposed on the inner sidewalls of the left baffle 322a and the right baffle 322c of the docking device 320, the transmitting end 601a and the receiving end 601b are disposed near the entrance 323 and are respectively disposed at both sides of the entrance 323, the correlation sensor 601 preferably is a correlation infrared sensor, the infrared rays emitted from the transmitting end 601a are captured by the receiving end 601b, and the processor 340 can determine that the article passes through the entrance 323 when the infrared rays are blocked.

When a cleaning robot 200 travels to the entrance and exit of the docking device 320 from the outside, the infrared ray between the emitting end 601a and the receiving end 601b is blocked, and the correlation sensor 601 can sense that the front end of the cleaning robot 200 travels to the docking device 320; when the whole cleaning robot 200 completely travels into the docking device 320, the infrared ray between the emitting end 601a and the receiving end 601b returns to the non-shielding state, and the opposite-type sensor 601 can sense that the rear end of the cleaning robot 200 also travels into the docking device 320. The processor 340 may determine that the front end of a cleaning robot 200 has traveled to the docking device 320 or that the entire cleaning robot 200 has completely traveled to the docking device 320 according to the real-time electrical signal of the correlation sensor 601.

The distance sensor 602 is disposed on an inner sidewall of a middle portion of the rear baffle 322b of the docking device 320, and is disposed opposite to the entrance 323. The distance sensor 602 is preferably a reflective infrared sensor that continuously emits infrared rays toward the gateway 323, and if the reflected infrared rays are received, it can be determined that the cleaning robot 200 has driven into the docking platform 321 from the gateway 323. Further, the distance between the front end of the cleaning robot 200 and the rear barrier 322b of the docking device 320 may be acquired according to the time of the received infrared ray.

When a cleaning robot 200 travels to the entrance or exit of the docking device 320 from the outside, the distance sensor 602 (reflective infrared sensor) may determine that the cleaning robot 200 has traveled to the docking device 320, and may determine the distance between the front end of the cleaning robot 200 and the rear baffle 322b according to the time when the reflected infrared ray is received, and the processor 340 may obtain the value of the distance, so as to monitor the progress of the cleaning robot 200 entering the docking device 320 in real time, and determine whether the cleaning robot 200 travels to the docking platform 321 as a whole.

When a cleaning robot 200 moves out of the docking device 320 through the doorway, the distance sensor 602 (the reflective infrared sensor) may determine that the cleaning robot 200 moves out of the docking device 320, and may determine the distance between the front end of the cleaning robot 200 and the rear baffle 322b according to the time for acquiring the reflected infrared ray, and the processor 340 may acquire the value of the distance, so as to monitor the progress of the cleaning robot 200 leaving the docking device 320 in real time, and determine whether the cleaning robot 200 moves out of the docking platform 321 as a whole.

The tilt sensor 603 is preferably disposed on the lower surface of the docking platform 321 (see fig. 8) for measuring an included angle between the upper surface of the docking platform 321 and the horizontal plane (referred to as a platform tilt angle) in real time, and transmitting the value of the platform tilt angle to the processor 340. If the tilt angles of all the solar panels 102 in the working area 100 are different or the tilt angles of some panels are variable, the tilt sensor 603 monitors the angle value of the platform tilt angle in real time and sends the angle value to the processor 340 every time the second telescopic rod 332 extends, and when the angle value of the platform tilt angle is the same as the angle value of the panel tilt angle in real time, the processor 340 sends a stop instruction to the second telescopic rod controller 335, so that the second telescopic rod 332 stops extending, and the platform tilt angle is the same as the panel tilt angle.

In this embodiment, the positioning device 604 is an RFID Reader (RFID Reader) and is disposed inside or outside the vehicle body 310, preferably at the bottom of the vehicle body 310 or at the front end of the docking platform 321, so as to obtain the real-time position of the vehicle body 310 in the working area and transmit the real-time position of the vehicle body 310 to the processor 340.

In this embodiment, a recommended path is preset in the passage area 103 by using a scheme of positioning tags, the vehicle body 310 is controlled to travel along the recommended path, a group of identifiable tags, such as RFID tags, is arranged on the recommended path at regular intervals, and each identifiable tag stores data such as position coordinates of the tag in the operation area. When the docking robot 300 travels to a certain intersection or road section, the RFID reader reads the RFID tag preset at the intersection or road section, and the processor 340 acquires the real-time position of the docking robot 300 and optionally transmits the real-time position to the data processing system 400. In other embodiments, the positioning device 604 may also be a high-precision GPS positioning unit or a beidou positioning unit, and may also acquire the real-time position of the docking robot 300.

The electronic compass 605 is preferably disposed inside or outside the vehicle body 310 to obtain the real-time traveling direction of the docking robot 300, and transmit the real-time traveling direction to the processor 340 for data processing and data analysis, so as to determine whether the real-time traveling direction of the docking robot 300 is consistent with the preset direction, and if the docking robot 300 deviates from the preset direction, the processor 340 sends a control command to the vehicle body 310 to adjust the traveling direction of the vehicle body 310 in time.

Preferably, the image sensor 606 and/or the lighting device 607 are disposed at the front end and/or the rear end of the vehicle body 310, and the image sensor 606 is configured to collect real-time images and/or pictures of the front and/or the rear of the vehicle body 310 in real time and send the images and/or pictures to the processor 340. When the docking robot 300 travels in the channel zone 103 of the working zone 100, the image content acquired by the image sensor 606 includes a travelable region in the channel zone 103 at any moment and is sent to the processor 340, the processor 340 calculates a predicted travel region covered by the vehicle body 310 at the next time period according to the real-time travel speed of the vehicle body 310, compares the predicted travel region and the travelable region at each moment in real time, and determines whether the vehicle body 310 is still in the travelable region at the next time period; if the expected travel area is beyond the range of the feasible travel area, which proves that an obstacle appears on the travel route of the vehicle body 310, the processor 340 needs to adjust the travel direction of the vehicle body 310 in real time to prevent the vehicle body 310 from colliding with the obstacle during travel.

In other embodiments, the content of the picture captured by the image sensor 606 may further include a frame of the solar panel 102 and/or the panel array 101, which is displayed as a frame line in the picture. In other embodiments, after being processed by a specific algorithm, the docking robot 300 may adjust the traveling direction in real time during the traveling process with reference to the position of the frame straight line, so that the docking robot 300 travels along the straight line as much as possible.

When the docking robot 300 travels in a dark environment (such as night, cloudy day, etc.), the illumination device 607 is used for illuminating the passage area in front of and/or behind the vehicle body 310, so that the image sensor 606 can normally capture images and/or pictures. In other embodiments, the image sensor 606 and/or the lighting device 607 may also be disposed on the left side and/or the right side of the vehicle body 310 for capturing real-time images and/or pictures of the left side and/or the right side of the vehicle body 310 in real time. In other embodiments, the image sensor 606 and/or the illumination device 607 may also be disposed on one side of the docking device 320, with the camera of the image sensor 606 facing outward, and facing the solar panel 102 when the height and tilt angle of the docking platform 321 are adjusted to be consistent with the solar panel 102.

When the processor 340 acquires a sensing signal sent by the obstacle avoidance sensor 608 at the front end or the rear end during the traveling process of the docking robot 300, the obstacle avoidance sensor 608, preferably an ultrasonic sensor, may determine that there is an obstacle in front of or behind the traveling route of the vehicle body to affect the traveling, so that the processor 340 may adjust the traveling direction of the docking robot 300 to avoid the obstacle. In other embodiments, obstacle avoidance sensor 608 may also be disposed on the left and/or right side of body 310.

The present embodiment provides a docking robot 300, which is a vehicle of the cleaning robot 200, and can transfer the cleaning robot 200 in the passage area 103 between the solar panel arrays 101, so that the cleaning robot 200 can complete cleaning work on different solar panel arrays 101.

Example 2

In embodiment 1, only one end of the docking platform 321 of the docking robot 300 may be lifted, and the height of the other end remains constant, and if the height of the lower end of the solar panel 102 is much greater than the height of the top of the body of the docking robot 300, the docking platform 321 cannot be fully docked with the solar panel 102. Obviously, the docking robot 300 described in embodiment 1 has more limitations, and can only be applied to the case where the height of the solar panel 102 is low; therefore, the utility model discloses still provide embodiment 2, can effectively solve above-mentioned technical problem.

As shown in fig. 13 ~ 14, the embodiment 2 includes all the technical solutions of the embodiment 1, and the difference is that the docking robot 300 of the embodiment 2 further includes a height adjusting device 350 disposed between the vehicle body 310 and the angle adjusting device 330, specifically, the height adjusting device 350 is mounted to the top of the vehicle body 310, the docking device 320 is rotatably connected to the top of the height adjusting device 350, and the angle adjusting device 330 is mounted between the top of the height adjusting device 350 and the bottom of the docking platform 321.

As shown in fig. 15 ~ 17, the height adjustment device 350 includes a frame 351, a first bracket 352, a second bracket 353 and a pin 354, wherein the connection device 320 is rotatably connected to one end of the frame 351, the first bracket 352 is slidably connected to the frame 351 at the upper end and rotatably connected to the top of the vehicle body 310 at the lower end, the second bracket 353 is rotatably connected to the frame 351 at the upper end and slidably connected to the top of the vehicle body 310 at the lower end, the pin 354 passes through the middle portion of the first bracket 352 and the middle portion of the second bracket 353, and the second bracket 353 is rotatably connected to the first bracket 352 through the pin 354.

The height adjustment device 350 further includes two oppositely disposed first guide rails 355a, 355b and two oppositely disposed second guide rails 356a, 356 b. The first guide rails 355a, 355b are horizontally mounted to the frame 351; two opposite surfaces of the two first guide rails are respectively provided with two second sliding grooves 357a, 357b opposite to each other. Second guide rails 356a, 356b are horizontally mounted to the top of body 310; two third sliding grooves 358a and 358b are provided on two opposite surfaces of the two second guide rails 356a and 356b, respectively.

As shown in fig. 7 ~ 9, the structure and technical effects of the docking device 320 of embodiment 2 are the same as those of embodiment 1, and are not repeated herein.

As shown in fig. 15 ~ 17, the angle adjustment device 330 includes a sliding shaft 331, a second telescopic rod 332, a rotating shaft 333, and a telescopic rod mounting rack 334, the second telescopic rod 332 is a hydraulic telescopic rod or an electric telescopic rod, the second telescopic rod 332 has a second telescopic rod controller 335, and when the second telescopic rod controller 335 receives a command electric signal, the second telescopic rod 332 can be controlled to adjust its length.

Both ends of the sliding shaft 331 are slidably mounted into the two first sliding grooves 325c and 325 d; the telescopic rod mounting rack 334 is arranged below the frame 351 and connected to the frame 351; one end of the second telescopic rod 332 is rotatably connected to the middle part of the sliding shaft 331, and the other end thereof is rotatably connected to the telescopic rod mounting frame 334; the rotation shaft 333 is fixedly coupled at the middle to one end of the top or upper half of the frame 351, and both ends thereof are rotatably mounted to the base through holes 326c, 326d of the two rotation shaft bases 326a, 326b, so that the rotation shaft 333 can rotate with respect to the rotation shaft bases 326a, 326 b.

The first bracket 352 includes two first links 3521a, 3521b arranged in parallel and a first beam 3522, and both ends of the first beam 3522 are connected to the first links 3521a, 3521b, respectively. A first pulley 3523a or 3523b is disposed at an outer side of an upper end of the first link 3521a or 3521b, and the two first pulleys 3523a and 3523b are slidably mounted in the second sliding grooves 357a and 357b, respectively.

The second bracket 353 includes two second links 3531a, 3531b and a second beam 3532 arranged in parallel, and both ends of the second beam 3532 are connected to the second links 3531a, 3531b, respectively. A second pulley 3533a or 3533b is disposed at the outer side of the lower end of the second link 3531a or 3531b, and the two second pulleys 3533a and 3533b are slidably mounted in the third sliding grooves 358a and 358b, respectively.

The angle adjusting device 330 further includes a third telescopic rod 359, one end of which is rotatably connected to the first bracket 352 or the second bracket 353, and the other end of which is rotatably connected to the vehicle body 310. Preferably, a third cross member (not shown) is disposed on the first support 352, and two ends of the third cross member are respectively and vertically connected to the two first connecting rods 3521a, 3521b, a sleeve 3524 is sleeved outside the third cross member, and the upper end of the third telescopic rod 359 is hinged to the sleeve 3524 and can rotate around the third cross member.

The third telescopic rod 359 is a hydraulic telescopic rod or an electric telescopic rod, and is connected to the processor 340 (see fig. 18), the third telescopic rod 359 has a third telescopic rod controller 360, and the processor 340 can send an electric signal to control the third telescopic rod controller 360. When the third telescopic link controller 360 receives the command electrical signal, it can control the third telescopic link 359 to adjust its length.

As shown in fig. 3, when the docking robot 300 travels to the vicinity of a cleaning zone 500 (solar panel or panel array 101), the data processing system 400 controls a docking robot 300 to adjust its position and direction, travel to the first docking zone 505 at the lower right end of the cleaning zone 500, and make the entrance 323 of the docking device 320 face the direction of the cleaning zone 500.

In this embodiment, when the docking robot 300 travels in the passage zone 103, the lengths of the second telescopic rod 332 and the third telescopic rod 359 are shortened to the shortest length, the height of the height adjusting device 350 is reduced to the lowest length, the docking platform 321 is horizontally disposed on the top of the vehicle body 310, and an included angle between the docking platform 321 and the upper surface of the vehicle body 310 is 0 degree. If the cleaning robot 200 is placed on the docking platform 321, it can be kept stable during transportation and will not slip off.

As shown in fig. 3, when a docking robot 300 travels to a first docking station 505 of a cleaning zone 500, the processor 340 sends an electrical signal to the second telescopic rod controller 335 and/or the third telescopic rod controller 360 to control the second telescopic rod 332 and/or the third telescopic rod 359 to extend. The third telescopic bar 359 is extended so that the frame 351 at the upper end of the height adjusting device 350 and the docking platform 321 are raised; the second telescopic rod 332 is extended, so that one end of the docking platform 321 away from the rotating shaft 333 is supported, and the other end rotates around the rotating shaft 333, so that the included angle between the docking platform 321 and the upper surface of the car body 310 gradually increases until the inclination angle of the cleaning area 500 (solar panel or panel array) relative to the horizontal plane is consistent, so that the upper surface of the docking platform 321 and the upper surface of the panel of the cleaning area 500 are on the same plane.

Similarly, after the docking process is completed, the processor 340 sends an electrical signal to the second telescopic rod controller 335 and/or the third telescopic rod controller 360 to control the second telescopic rod 332 and/or the third telescopic rod 359 to shorten. The second telescopic rod 332 is shortened, so that the included angle between the docking platform 321 of the docking device 320 and the horizontal plane is reduced to 0 degree, and the docking platform 321 is restored to the horizontal state from the inclined state. The third telescopic bar 359 is shortened so that the frame 351 and the docking platform 321 at the upper end of the height adjusting device 350 are lowered to the lowest position, and the docking robot 300 can travel to other positions thereafter.

In the process of extending or shortening the second telescopic rod 332, the two ends of the rotating shaft 333 rotate in the two base through holes 326c and 326d, and the two ends of the sliding shaft 331 slide in the two first sliding grooves 325c and 325d, so that the bottom of the docking platform 321 can be kept stable in the process of adjusting the inclination angle, and the docking platform cannot shake.

During the extension or contraction of the third telescopic link 359, the lower end of the first support 352 rotates relative to the vehicle body 310, and the first pulleys 3523a and 3523b on the left and right sides of the upper end slide in the second chutes 357a and 357b, respectively; the second holder 353 rotates at its upper end with respect to the docking device 320, and the second pulleys 3533a and 3533b on the left and right sides of its lower end slide in the third slide grooves 358a and 358b, respectively. The first and second brackets 352 and 353 have substantially the same shape and size, the first link 3521b and the second link 3531b have the same length, the rotation angle of the lower end of the first bracket 352 is the same as the rotation angle of the upper end of the second bracket 353, and the sliding distance of the upper end of the first bracket 352 is the same as the sliding distance of the lower end of the second bracket 353. In the lifting process of the height adjusting device 350, the docking device 320 is kept stable all the time and does not shake, and if the cleaning robot 200 is loaded on the docking platform 321, the cleaning robot 200 can be ensured not to slide off the docking device 320.

If the inclination angles of all the solar panels 102 in the working area 100 are the same and remain unchanged, the extending distance of the second telescopic rod 332 may be a preset constant length, and the inclination angle of the docking platform 321 after adjustment is the same as the inclination angle of the panel every time the second telescopic rod 332 extends.

If all the solar panels 102 in the working area 100 have the same height, the extension distance of the third telescopic rod 332 may also be a predetermined constant length. The extension distance of the third telescopic rod 359 may be a preset constant length, and each time the third telescopic rod 359 is extended, the height of the docking platform 321 is the same and is greater than or equal to the height of the lower end of the panel.

If the inclination angles and/or heights of all the solar panels 102 in the working area 100 are different, the data processing system 400 issues instructions to the processor 340 of the docking robot 300 according to the panel height and the panel inclination angle of the cleaning area 500, the processor 340 issues instructions to the third telescopic rod controller 360 to adjust the height of the height adjusting device 350 and the height of the docking platform 321, and the processor 340 issues instructions to the second telescopic rod controller 335 to adjust the inclination angle of the docking platform 321.

When the adjustment of the inclination angle of the docking platform 321 is completed, the data processing system 400 receives the feedback information of the docking robot 300, sends an action instruction to the cleaning robot 200, and controls the cleaning robot 200 to travel from the docking platform 321 of the first docking area 505 to the solar panel (referred to as an upper panel for short) of the second docking area 506, or to travel from the solar panel of the second docking area 506 to the docking platform 321 of the first docking area 505 (referred to as a lower panel for short), thereby completing the docking process.

The docking robot 300 of embodiment 2 is further provided with a plurality of data acquisition devices, including a correlation sensor 601, a distance sensor 602, a tilt sensor 603, a positioning device 604, an electronic compass 605, an image sensor 606, an illumination device 607, and an obstacle avoidance sensor 608. The structure and technical effects of the data acquisition device are the same as those of embodiment 1, and are not described herein again.

The utility model provides a robot of plugging into shifts cleaning machines people between a plurality of solar panel arrays, utilizes cleaning machines people to accomplish cleaning work on solar panel or solar panel array. Meanwhile, the data processing system is used for realizing the scheduling and control of the cleaning robot and the connection robot, and the cleaning tasks of all solar panels and panel arrays can be completed in the shortest time. In embodiment 2, both the height and the inclination angle of the docking platform of the docking robot can be adjusted, and even if the height of the solar panel is large, the docking platform and the solar panel can be in full docking.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A docking robot, comprising:

a vehicle body;

the connection device comprises a connection platform which can be rotatably connected to the top or the upper half part of the vehicle body; and

the angle adjusting device is arranged between the vehicle body and the connection platform and used for adjusting the angle of the connection platform.

2. The docking robot of claim 1, wherein said docking device comprises:

and the baffle protrudes out of the edge of the connecting platform.

3. The docking robot of claim 2,

the baffle comprises a left baffle, a rear baffle and a right baffle which are connected in sequence;

an entrance is formed between the open end of the left baffle and the open end of the right baffle.

4. The docking robot of claim 3, wherein said docking device further comprises:

the opposite-type sensor comprises a transmitting end and a receiving end which are oppositely arranged, the transmitting end and the receiving end are respectively arranged on the inner side walls of the left baffle plate and the right baffle plate, and the transmitting end and the receiving end are close to the inlet and the outlet; and/or the presence of a gas in the gas,

the distance sensor is arranged on the inner side wall in the middle of the rear baffle plate and is opposite to the inlet and the outlet;

wherein the correlation sensor and/or the distance sensor are connected to a processor.

5. The docking robot of claim 3, wherein said docking device further comprises:

and the anti-collision component is arranged on the inner side wall of the left baffle plate and/or the rear baffle plate and/or the right baffle plate.

6. The docking robot of claim 1, wherein said docking device comprises:

a bridge plate slidably mounted to the upper surface of the docking platform; and

and one end of the first telescopic rod is connected to the lower surface of the connection platform, and the other end of the first telescopic rod is connected to the lower surface of the bridge plate.

7. The docking robot of claim 1,

the docking device includes:

the two sliding shaft bases are oppositely arranged and protrude out of the middle of the bottom surface of the connection platform;

the two first sliding chutes are respectively arranged on two opposite surfaces of the two sliding shaft bases; and

the two rotating shaft bases are oppositely arranged, protrude out of the bottom surface of the connection platform and are close to the edge of one end of the connection platform;

the angle adjusting device includes:

the two ends of the sliding shaft can be slidably mounted into the two first sliding chutes;

one end of the second telescopic rod is rotatably connected to the middle part of the sliding shaft, and the other end of the second telescopic rod is rotatably connected to the vehicle body; and

and the middle part of the rotating shaft is connected to one end of the top part or the upper half part of the vehicle body, and the two ends of the rotating shaft are rotatably installed on the two rotating shaft bases.

8. The docking robot of claim 1, further comprising:

the inclination angle sensor is used for measuring an included angle between the connection platform and a horizontal plane;

the inclination angle sensor is arranged on the lower surface of the connection platform and connected to a processor;

the positioning device is used for acquiring the real-time position of the vehicle body;

the positioning device is arranged inside or outside the vehicle body and is connected to a processor;

the electronic compass is used for acquiring the real-time traveling direction of the vehicle body;

the electronic compass is arranged inside or outside the vehicle body and is connected to a processor.

9. The docking robot of claim 1, further comprising:

the image sensor is arranged at the front end and/or the rear end and/or the left side and/or the right side of the vehicle body and is connected to a processor; and/or the presence of a gas in the gas,

the lighting device is arranged at the front end and/or the rear end and/or the left side and/or the right side of the vehicle body and is connected to a processor;

the obstacle avoidance sensor is arranged at the front end and/or the rear end and/or the left side and/or the right side of the vehicle body and is connected to a processor.

10. The docking robot of claim 1, further comprising:

the first telescopic rod controller is used for adjusting the length of the first telescopic rod; and/or the presence of a gas in the gas,

the second telescopic rod controller is used for adjusting the length of the second telescopic rod; and/or the presence of a gas in the gas,

a third telescopic rod controller for adjusting the length of the third telescopic rod; and

a processor connected to the first and/or second and/or third telescopic rod controllers.