KR102141156B1 - Apparatus for Cleaning Solar Panel - Google Patents

Abstract

Disclosed is an apparatus for cleaning a solar panel. According to one aspect of an embodiment of the present invention, the apparatus for cleaning a solar panel is intended to remove foreign matter on a solar panel and at the same time, detect a defect of the solar panel while moving on the solar panel. The apparatus for cleaning a solar panel comprises: a brush part coming into contact with a solar panel and removing foreign matter on the solar panel; a vacuum pump providing vacuum pressure; a caterpillar including a plurality of attachment units for receiving the vacuum pressure provided from the vacuum pump to be attached to or detached from the solar panel, and moving on the solar panel by varying the attachment units attached or detached; a sensor part sensing the vacuum pressure, detecting whether the solar panel is located on a lower end of the apparatus for cleaning a solar panel, and sensing the posture of the apparatus for cleaning a solar panel; a motor supplying power to enable the caterpillar to move; a body fixing the caterpillar and the brush part and varying directions of the caterpillar and the brush part; a control part controlling operations of the caterpillar and the body according to a sensing value of the sensor part; and a battery supplying power so that each element in the apparatus for cleaning a solar panel can operate.

Description

Apparatus for Cleaning Solar Panel

This embodiment relates to a photovoltaic panel cleaning device that drives a photovoltaic panel by itself and removes foreign substances on the photovoltaic panel while detecting defects on the photovoltaic panel.

The contents described in this section merely provide background information for this embodiment, and do not constitute a prior art.

Recently, solar power generation technology to replace fossil fuels is rapidly developing. Solar power is a technology that collects light on a photovoltaic power generation panel to convert solar energy into electrical energy to obtain electricity. In general, for the photovoltaic power generation, the photovoltaic panel is installed in a sunny outdoor place. On the surface of the panel installed outside the building, rainwater and unwanted foreign matter contained in the atmosphere accumulate naturally, and the foreign matter blocks the light that has to enter the panel, thereby reducing light collection efficiency.

Therefore, in order to maintain the light collection efficiency of the photovoltaic power generation panel, panel cleaning must be periodically performed, and the solar panel cleaning by the worker has a problem that maintenance cost increases due to excessive labor costs. In particular, recently, solar panel cleaning is frequently required due to yellow dust, fine dust, ultrafine dust, and the like, and the above-mentioned problems are further highlighted.

To solve this problem, a robotic device for cleaning solar panels has been developed. The robot device moves on the solar panel and cleans foreign matter on the solar panel.

In order to improve the light collection efficiency, the solar panel has a certain slope from the ground and is arranged at an angle. In order to move on the photovoltaic panel, the robot device for cleaning the photovoltaic panel must be able to support its weight so as not to deviate from the photovoltaic panel.

A conventional robotic device for cleaning a solar panel contacts the solar panel and uses friction with the solar panel to prevent departure from the solar panel or to move on the solar panel. However, since the conventional solar panel cleaning robot device applied excessive frictional force to the solar panel in order not to stray on the solar panel, defects caused by the conventional solar panel cleaning robot device would occur. .

In addition, the friction force between the solar panel and the conventional robotic device for cleaning solar panels varies significantly depending on the environment of the place where the solar panel is disposed, for example, rain or snowy weather. Thus, the conventional robotic device for cleaning solar panels stably moves to the solar panel according to the environment, and has a difficulty in cleaning.

One embodiment of the present invention has a purpose to provide a solar panel cleaning device stably located on a solar panel and moving on the solar panel and removing foreign matter.

In addition, an embodiment of the present invention is to provide a solar panel cleaning apparatus for photographing a solar panel and analyzing a captured image to detect a defect on the solar panel.

According to an aspect of the present embodiment, in the solar panel cleaning apparatus for detecting a defect in the solar panel while moving the solar panel and removing foreign matter on the solar panel, in contact with the solar panel, on the solar panel It includes a brush portion for removing foreign matter, a vacuum pump providing vacuum pressure, and a plurality of attachment units detached from the solar panel by receiving the vacuum pressure provided from the vacuum pump, thereby changing the attachment or detachment of the attachment unit. Caterpillar moving on the optical panel and vacuum pressure, and whether the solar panel is located at the bottom of the solar panel cleaning device and the sensor unit for sensing the posture of the solar panel cleaning device and the power to enable the caterpillar to move A control unit and a photovoltaic panel cleaning device for fixing the supplied motor, the caterpillar and the brush part, and controlling the body of the caterpillar and the brush part and the operation of the caterpillar and the body according to sensing values of the sensor part It provides a solar panel cleaning device characterized in that it comprises a battery that supplies power to enable each of the components to operate.

According to an aspect of the present embodiment, the attachment unit is formed at the end of the upper piston, the upper piston that transmits and descends according to the external pressure while transmitting the vacuum pressure provided from the frame, the vacuum pump, the first vacuum pressure to the outside A discharge hole to be transmitted, a vacuum pad that is in contact with the solar panel and adheres to the solar panel when a vacuum pressure is provided, is formed at an end of the lower piston and the lower piston that delivers vacuum or atmospheric pressure to the vacuum pad. Arranged between the frame and the vacuum pad and the inlet hole for introducing vacuum pressure or atmospheric pressure from the outside to the lower piston, the slide valve determining the inflow of atmospheric pressure into the inlet hole by moving up and down together with the frame within the frame It characterized in that it comprises a spring.

According to an aspect of the present embodiment, the slide valve is characterized in that when the load of the caterpillar or the body is applied, the discharge hole and the inlet hole are pneumatically connected.

According to one aspect of this embodiment, the slide valve is characterized in that when the load of the caterpillar or the body is not applied, away from the vacuum pad by the spring and pneumatically separating the discharge hole and the inlet hole do.

According to an aspect of the present embodiment, the caterpillar is characterized in that the predetermined number of attachment units of the plurality of attachment units are attached to the solar panel, thereby preventing the solar panel cleaning device from being detached from the solar panel. do.

As described above, according to one aspect of the present embodiment, in moving the solar panel to remove foreign substances on the solar panel, there is an advantage that can be stably moved without causing defects in the solar panel.

In addition, according to an aspect of this embodiment, while removing foreign matter on the solar panel, there is an advantage that can detect the presence or absence of defects on the solar panel by photographing the solar panel.

1 is a view showing a state in which a solar panel cleaning device is disposed on a solar panel according to an embodiment of the present invention.
2 is a view showing the configuration of a solar panel cleaning apparatus according to an embodiment of the present invention.
3 is a perspective view of the solar panel cleaning apparatus according to an embodiment of the present invention.
4 is an upper perspective view of a brush part according to an embodiment of the present invention.
5 is an upper perspective view of a caterpillar according to an embodiment of the present invention.
6 is a view showing the internal configuration of a caterpillar according to an embodiment of the present invention.
7 is a top perspective view and a cross-sectional view of an attachment unit according to an embodiment of the present invention.
8 is a cross-sectional view according to the operation of the attachment unit according to an embodiment of the present invention.
9 is a cross-sectional view of a rotary joint according to an embodiment of the present invention.
10 is a view showing the configuration of a sensor unit according to an embodiment of the present invention.
11 is a bottom perspective view of a body according to an embodiment of the present invention.
12 is a flowchart illustrating a method of moving a solar panel cleaning apparatus according to an embodiment of the present invention to an initial position on a solar panel for cleaning.
13 is a flowchart illustrating a method of cleaning a solar panel by the solar panel cleaning apparatus according to an embodiment of the present invention.
14 is a diagram showing the configuration of an image processing unit according to an embodiment of the present invention.
15 is a flowchart illustrating a method of detecting a straight line formed by a photovoltaic panel in an image obtained by an image processing unit according to an embodiment of the present invention.
16 is a flowchart illustrating a method of detecting a defect on a solar panel within an image acquired by an image processing unit according to an embodiment of the present invention.
17 is a view showing an image obtained by the image processing unit according to an embodiment of the present invention and an angle at which a straight line included in the image is inclined.
18 to 21 are views illustrating an image obtained according to a position on a panel of a solar panel cleaning apparatus according to an embodiment of the present invention.

The present invention can be applied to various changes and may have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from other components. For example, the first component may be referred to as a second component without departing from the scope of the present invention, and similarly, the second component may be referred to as a first component. The term and/or includes a combination of a plurality of related described items or any one of a plurality of related described items.

When an element is said to be "connected" or "connected" to another component, it is understood that other components may be directly connected to or connected to the other component, but there may be other components in between. It should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

Terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. It should be understood that terms such as “include” or “have” in the present application do not preclude the existence or addition possibility of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. .

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains.

Terms, such as those defined in a commonly used dictionary, should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. Does not.

In addition, each configuration, process, process or method included in each embodiment of the present invention may be shared within a technically inconsistent range.

1 is a view showing a state in which a solar panel cleaning device is disposed on a solar panel according to an embodiment of the present invention.

The photovoltaic panel cleaning device 120 (hereinafter abbreviated as'device') moves on the photovoltaic panel 110 and removes foreign substances on the photovoltaic panel, and detects defects in the solar panel.

The device 120 moves on the solar panel 110 and removes foreign substances on the solar panel. When disposed on the solar panel 110, the device 120 moves to a predetermined initial position of the solar panel. After moving to a preset initial position, the device 120 moves in one direction and cleans the solar panel 110. The device 120 cleans the solar panel 110 and continuously senses a distance from the solar panel 110. When the device 120 senses that the cleaning proceeds to the end of the photovoltaic panel 110 (it arrives at the end of the photovoltaic panel), it rotates in the opposite direction to the moved direction to clean the photovoltaic panel 110 again To proceed. The device 120 repeats this method to clean all parts of the solar panel 110.

The device 120 detects a defect occurring in the solar panel by taking an image of the surface of the solar panel with cleaning. The device 120 photographs an image of the surface of the solar panel, and analyzes the captured image to detect whether a defect has occurred in the solar panel. The device 120 performs machine learning to detect whether a defect in the image has occurred and which defect has occurred. In addition, the device 120 analyzes the captured image to detect the movement of the unit panel of the solar panel 110. Even if the device 120 detects a defect on the photovoltaic panel 110 by performing machine learning, if the manager does not know where the defect is, considerable effort is required of the manager. The device 120 detects the movement of the unit panel and grasps how much it has moved from a preset initial position. The device 120 stores the location at the moment when the defect occurs, so that the administrator can recognize what kind of defect occurred at which position of the solar panel 110.

2 is a view showing the configuration of a solar panel cleaning apparatus according to an embodiment of the present invention, and FIG. 3 is a perspective view of the solar panel cleaning apparatus according to an embodiment of the present invention.

2 and 3, the device 120 according to an embodiment of the present invention includes a brush part 210, a caterpillar 220, a sensor part 230, a body 240, a battery 250, and a vacuum pump 260, an image processing unit 270, a control unit 280 and a memory unit 290. Furthermore, the device 120 may further include a communication unit (not shown).

The brush part 210 is in contact with the solar panel 110 and removes foreign substances on the solar panel, and prevents separation of the body 240 and the caterpillar 220 on the solar panel.

The brush part 210 moves on the solar panel 110 together with the movement of the caterpillar 220 and removes foreign substances on the solar panel 110. The brush portion 210 is made of a material that does not scratch the solar panel 110 (for example, a sponge, etc.), but removes foreign substances but does not scratch the solar panel 110.

The brush part 210 prevents the body 240 and the caterpillar 220 from being detached from the solar panel. Although the body 240 and the caterpillar 220 are adsorbed on the photovoltaic panel 110, the photovoltaic panel 110 is arranged to be inclined and the device 120 has a weight higher than a certain level, so the body The problem that the 240 and the caterpillar 220 may leave the solar panel 110 (separate in a direction perpendicular to the solar panel) may occur. The brush portion 210 is connected to the body 240, and is disposed on both the front and rear sides based on the body 240. Thus, no matter how the device 120 is disposed on the solar panel 110 in any posture, at least one brush unit 210 makes contact with the solar panel 110. Thus, the brush unit 210 is configured to contact the solar panel 110 (to be described later with reference to FIG. 4) to support the load of the device 120 together with the caterpillar 220, so as to support the body 240 and The problem that the caterpillar 220 leaves the solar panel 110 may be significantly resolved.

The detailed structure of the brush portion 210 is illustrated in FIG. 4.

4 is an upper perspective view of a brush part according to an embodiment of the present invention.

Referring to FIG. 4, the brush part 210 according to an embodiment of the present invention includes a brush 410, an auxiliary wheel 420, and a connection part 430.

The brush 410 is in contact with the solar panel 110 to remove foreign matter. As described above, the brush 410 is a portion in contact with the solar panel 110 and is made of a material that does not scratch, thereby removing foreign matter on the solar panel 110 without being scratched. In order to smoothly move the solar panel 110 according to the movement of the caterpillar 220, the brush 410 may be implemented in a cylindrical shape.

The auxiliary wheel 420 is a portion in contact with the solar panel 110 at a position as far as the connection portion 230 from the body 240, and in contact with the solar panel 110 at a distance away from the caterpillar 220 Site. Even if the device 120 is positioned on the solar panel in any posture, it contacts the solar panel 110 at the lower portion of the body 240 and the caterpillar 220 (meaning the lower portion in the vertical direction on the solar panel). The auxiliary wheel 420 is necessarily present. Since the auxiliary wheel 420 is connected to the body 240 by the connection portion 430 and is located under the body 240 and the caterpillar 220 in structure, the body 240 and the caterpillar 220 by weight It can be prevented from leaving in a direction perpendicular to the surface of the solar panel.

The connection part 430 structurally connects the brush part 210 and the body 240. The connection part 430 connects both components 210 and 240 so that the auxiliary wheel 420 can prevent the body 240 and the caterpillar 220 from being detached from the bottom.

Referring to FIGS. 2 and 3 again, the caterpillar 220 is located on both sides (in a direction in which the brush part 210 is not located) relative to the body 240, so that the entire device including the body 240 is sunlight Make the panel moveable. Detailed description of the caterpillar 220 will be described later with reference to FIGS. 4 to 9.

The sensor unit 230 is supplied by the vacuum pump 260 to sense the vacuum pressure formed in the body 240 and the caterpillar 220 and the distance between the device 120 itself and the solar panel 110. The configuration of the sensor unit 230 is illustrated in FIG. 10.

10 is a view showing the configuration of a sensor unit according to an embodiment of the present invention.

Referring to FIG. 10, the sensor unit 230 according to an embodiment of the present invention includes a pressure sensor 1010, a distance sensor 1020, and an inertial measurement sensor 1030.

The pressure sensor 1010 is supplied by the vacuum pump 260 to sense the vacuum pressure formed in the body 240 and the caterpillar 220. The caterpillar 220 is detached from the solar panel 110 using a vacuum pressure supplied by the vacuum pump 260, and the device 120 is fixed on the solar panel 110 or the solar panel 110 Allow the phase to move. The body 240 uses a vacuum pressure supplied by the vacuum pump 260 to vary the vertical distance between the solar panel 110 and the device 120. As such, in the operation of the caterpillar 220 and the body 240, vacuum pressure is essentially used. When an abnormality occurs in the vacuum pressure supplied by the vacuum pump 260 or an abnormality occurs in the process of transferring the vacuum pressure to each of the components 220 and 240, a fatal abnormality in the operation of each of the components 220 and 240 This will happen. To prevent this problem, the pressure sensor 1010 is supplied by the vacuum pump 260 to sense the vacuum pressure formed in the body 240 and the caterpillar 220 to provide to the control unit 280. The control unit 280 may use the sensed vacuum pressure information to recognize in advance before an abnormality occurs in each of the components 220 and 240.

The distance sensor 1020 senses the distance between the device 120 and the solar panel 110. The distance sensor 1020 measures the distance away from the presence or absence of an external object by irradiating light such as ultrasonic waves or lasers to the outside, and measuring whether the reflected light is reflected and returning. The distance sensor 1020 is disposed at each end of the device 120, and determines whether a solar panel exists vertically downward (direction in which the solar panel is located) at each end. Here, each end is an axis where the brush part 210 is located, and may be each end of the brush part 210 or each end of the body 220, and further, an axis where the brush part 210 and the caterpillar 220 are located. It may be at each end of the device. The distance sensor 1020 is disposed at each end (especially, the end to the axis where the brush part 210 is located), and senses whether a solar panel is present under its own. If there is no photovoltaic panel below it, it means that the device 120 has moved to the end of the photovoltaic panel in the moving direction. The distance sensor 1020 transmits the sensing value to the control unit 280, so that the control unit 280 can recognize whether the device 120 has moved to the end of the solar panel.

An inertial measurement unit (IMU) 1030 senses the posture of the device 120 on the solar panel 110. The inertial measurement sensor measures a roll value, a pitch value, and a yaw value of the device 120, and senses the posture of the current device. For example, if the device 120 is traveling straight on the photovoltaic panel 110 vertically (y-axis in FIG. 1), the pitch value has a certain value depending on the angle at which the photovoltaic panel 110 is disposed, The roll value has 0. Conversely, if the device 120 is moving straight on the photovoltaic panel 110 horizontally (x-axis in FIG. 1), the roll value has a certain value depending on the angle at which the photovoltaic panel 110 is disposed, but the pitch value is Has zero In addition, if the device 120 moves on the photovoltaic panel 110 in a vertical direction but is inclined at a certain angle from the y-axis, the roll value has a positive or negative value depending on the non-zero inclined direction. The same is true for horizontal. The inertial measurement sensor 1030 allows the device to grasp in what position the device is positioned based on the sensing value. The inertial measurement sensor 1030 transmits the sensing value to the control unit 280 so that the control unit 280 can determine in which direction the device 120 is moving and in a desired direction.

Referring again to FIGS. 2 and 3, the body 240 is connected to each component in the device 120 to support each component, and between the solar panel 110 and the device 120 for rotation of the device 120 Adjust the vertical distance. The detailed structure of the body 240 is shown in FIG. 11.

11 is a bottom perspective view of a body according to an embodiment of the present invention.

Referring to Figure 11, the body 240 according to an embodiment of the present invention includes a lifting and lowering unit 1110, a servo motor (not shown), a support unit 1120 and a frame 1130.

The lifting/lowering unit 1110 is rotatably connected to the frame 1130, and the supporting unit 1120 is moved up or down in the vertical direction of the solar panel 110.

The elevating/lowering unit 1110 is connected to the frame 1130, but is rotatably connected to the frame 1130. Since the lifting/lowering unit 1110 is rotatable, the body 240 may rotate around the support unit 1120.

The lifting/lowering unit 1110 receives or receives power from a servo motor (not shown) to raise or lower the supporting unit 1120 in the vertical direction of the solar panel 110. When the device 120 moves to find a preset initial position or moves for cleaning, the elevating/lowering unit 1110 elevates the support unit 1120 in the vertical direction so as not to interfere with the movement of the device 120. On the other hand, when the device 120 needs to move to the end of the solar panel 110 and rotate, the elevating/lowering unit 1110 descends the support unit 1120 in the vertical direction to move the solar panel 110 ). At this time, the lifting/lowering unit 1110 does not lower the support unit 1120 to just the extent of contact, but the attachment unit 510 of the caterpillar 220 and the sunlight by the force that the support unit 1120 descends The panel 110 is lowered to the point where the adsorption falls. When the attachment unit 510 of the caterpillar 220 is adsorbed to the solar panel 110, it is difficult to rotate the device 120, so the elevating/lowering unit 1110 is the degree to which the support unit 1120 is described above. Descend until In this situation, when each of the caterpillars 220a and 220b rotates in different directions, the body 240 may rotate in place. Since the support unit 1120 supports the body 240 from the solar panel 110, and the adsorption of the attachment unit 510 of the caterpillar 220 and the solar panel 110 is separated, the body 240 Can rotate in place without leaving. For example, when the caterpillar 220a rotates counterclockwise and the caterpillar 220b clockwise respectively, the body 240 may rotate in place to the right.

The servo motor (not shown) supplies power to the elevating/lowering unit 1110.

The support unit 1120 contacts the solar panel 110 to support the body 240. The support unit 1120 includes a compression spring 1122, and the support unit 1120 descends by the elevating and descending unit 1110 and reduces the impact received by contacting the solar panel 110. In addition, the support unit 1120 includes a vacuum pad 1124, is fixed in contact with the solar panel 110. The vacuum pressure in the vacuum pump 260 is transmitted to the vacuum pad 1124 through the frame 1130, the elevating/lowering unit 1110 and the supporting unit 1120. Thus, the vacuum pad 1124 may contact the solar panel 110 to support the body 240.

The frame 1130 is connected to or supported by each component in the device 120 to fix each component.

Referring again to FIGS. 2 and 3, the battery 250 supplies power to allow each component to operate with each component in the device 120.

The vacuum pump 260 is vacuum pressure to the caterpillar 220 and the body 240 so that the caterpillar 220 and the body 240 can be attached to the solar panel 110 or move on the solar panel 110. Gives The vacuum pump 260 is connected to the caterpillar 220 and the body 240 with a hose or the like, and provides vacuum pressure to the caterpillar 220 and the body 240.

The image processing unit 270 acquires an image by photographing the surface of the photovoltaic panel 110, and a straight line (hereinafter, referred to as'straight line') formed between boundaries of each unit panel in the photovoltaic panel 110 in the image. Detection). The detailed description of the image processing unit 270 will be described later with reference to FIGS. 13 to 20.

The control unit 280 controls the operation of each component based on the sensing information of the sensor unit 230, detects a defect on the solar panel 110 based on the image acquired by the image processing unit 270, and detects the defect on the device 120. Know your current location.

The control unit 280 controls the movement of the caterpillar 220 and the operation of the body 240 based on the sensing information of the sensor unit 230.

The control unit 280 controls the caterpillar 220 and the body 240 so that the device 120 moves to a preset initial position based on the sensing information of the sensor unit 230. The device 120 moves all parts of the solar panel 110 and needs to clean the solar panel 110. In order not to generate the uncleaned portion of the solar panel 110, the device 120 must move intentionally on the solar panel 110. Accordingly, when the device 120 is mounted on the solar panel 110 for cleaning the solar panel 110, the control unit 280 moves the device 120 to a predetermined initial position. Here, the preset initial position may be one corner of the solar panel 110. A method for the control unit 280 to move the device 120 to a preset initial position is illustrated in FIG. 12.

12 is a flowchart illustrating a method of moving a solar panel cleaning apparatus according to an embodiment of the present invention to an initial position on a solar panel for cleaning.

The control unit 280 adjusts the horizontal position to move to the preset initial position using the detected pitch value (S1210). When the device 120 is first disposed on the solar panel 110, it is highly likely to be disposed in any direction at any position. Accordingly, the control unit 280 analyzes the pitch value detected by the sensor unit 230 to adjust the horizontal position of the device. In order for the device 120 to move to a preset initial position, the horizontal position should be in a state where the pitch value of the device is 0 (parallel to the x-axis shown in FIG. 1). The controller 280 adjusts the pitch value of the device to 0 so that it can move to a preset initial position.

The control unit 280 controls the caterpillar 220 to move backward and move to the end of the panel (S1220). After adjusting the horizontal position, the control unit 280 controls the caterpillar 220 to move backward, which is the direction of the preset initial position. At this time, if the preset initial position and the direction of the rear of the device do not coincide with each other, the control unit 280 may control the body 240 and the caterpillar 220 such that the device 120 rotates 180 degrees. The controller 280 determines whether the device 120 has reached the end (in the horizontal direction) of the solar panel 110 based on the distance from the solar panel 110 sensed by the sensor unit 230. When the device 120 reaches the end of the solar panel 110 (in the horizontal direction), the control unit 280 stops the operation of the caterpillar 220.

The control unit 280 controls the body 240 and the caterpillar 220 so that the body 240 rotates in a predetermined initial position direction (S1230). Since the device 120 has moved to the end (in the horizontal direction) of the solar panel 110, it must be rotated to move to the preset initial position. Accordingly, the control unit 280 controls the body 240 and the caterpillar 220 to rotate the body 240 in a predetermined initial position direction. As described above, the control unit 280 increases and decreases the unit so that the support unit 1120 of the body 240 descends to the extent that the adsorption of the attachment unit 510 and the solar panel 110 of the caterpillar 220 falls. 1110). Thus, the support unit 1120 is in contact with the solar panel 110 and supports the body 240, the attachment unit 510 of the caterpillar 220 has a state in which the adsorption of the solar panel 110 is dropped. Thereafter, the control unit 280 rotates the body 240 in a predetermined initial position direction by causing both caterpillar 220a and 220b to rotate in different directions.

The control unit 280 adjusts the vertical position to move to the preset initial position using the sensed roll value (S1240). Although the body 240 was rotated through the above-described process, it is unclear whether it was rotated exactly 90°. Accordingly, the control unit 280 analyzes the roll value sensed by the sensor unit 230 to adjust the vertical position of the device. Since the device 120 is already positioned in the horizontal direction to the end of the photovoltaic panel, in order to move to the preset initial position, the vertical position is a state where the roll value of the device is 0 (parallel to the y-axis shown in FIG. 1). Should be The control unit 280 adjusts the roll value of the device to 0 so that it can move to a preset initial position.

The control unit 280 controls the caterpillar 220 to move backward and move to the end of the panel (S1250).

Through the above-described process, the device 120 may move to a predetermined initial position of the solar panel. However, when the device 120 moves to a predetermined initial position of the solar panel 110, it is not necessarily limited to the process of FIG. 12 illustrates moving to a horizontal position first, and then to a vertical position. When moved as described above, the device 120 is disposed at a preset initial position so that it can move in the vertical direction of the panel. On the other hand, when S1210 and S1220 and S1240 and S1250 are changed and performed, the device 120 is disposed at a preset initial position so that it can move in the horizontal direction of the panel. Therefore, when the device 120 moves to a predetermined initial position of the solar panel 110, it is not necessarily limited to the process of FIG. 12.

Referring again to FIGS. 2 and 3, the control unit 280 moves the device 120 to a predetermined initial position, and then moves the entire area of the solar panel 110 to clean the body 240. And a caterpillar 220. Since cleaning is performed by the brush unit 210 connected to the body 240, the control unit 280 controls the device 120 to move the entire area of the solar panel 110. The method in which the device 120 moves the entire area of the solar panel 110 under the control of the control unit 280 is illustrated in FIG. 13.

13 is a flowchart illustrating a method of cleaning a solar panel by the solar panel cleaning apparatus according to an embodiment of the present invention. 13 shows a method in the case where the device 120 is disposed at a preset initial position so that it can move in the vertical direction of the panel.

The control unit 280 controls the caterpillar 120 to move on the solar panel 120 after adjusting the roll value of the device 120 to be equal to a preset reference value (S1310). The control unit 280 determines whether the roll value sensed by the sensor unit 230 is the same as a preset reference value. Here, the preset reference value may be 0. When the roll value of the device is 0, it means that the device 120 is facing (moving) in the vertical direction (the direction parallel to the y axis shown in FIG. 1) of the solar panel 110. If the roll value sensed by the sensor unit 230 does not match the preset reference value, the control unit 280 controls the body 240 and the caterpillar 220 to adjust to the same value as the reference value. After adjusting the roll value of the device 120, the control unit 280 controls the caterpillar 120 to move on the solar panel 120. By adjustment, the device 120 is moved in a direction where the roll value is 0 (vertical direction).

The control unit 280 determines whether the device 120 has moved to the end of the panel (S1320). Using the sensing value of the sensor unit 230, the control unit 280 determines whether the device 120 has moved to the end of the solar panel. If the device 120 has not moved to the end of the panel, the control unit 280 controls the caterpillar 220 to continuously move.

When the device 120 moves to the end of the panel, the body 240 and the caterpillar 220 are controlled to rotate the pitch value of the device 120 to be equal to the reference value (S1330). When the device 120 moves to the vertical end of the solar panel 110, the device 120 must rotate. Accordingly, the control unit 280 controls the body 240 and the caterpillar 220 to rotate the device (especially the body). The control unit 280 may rotate until the pitch value of the device 120 becomes equal to a preset reference value. Here, the preset reference value may be 0, like that of the roll value. When the pitch value is 0, it means that the device 120 is facing (moving) the horizontal direction (the direction parallel to the x-axis shown in FIG. 1) of the solar panel 110. When the pitch value sensed by the sensor unit 230 does not match the preset reference value, the control unit 280 controls the body 240 and the caterpillar 220 to rotate the body 240 to be equal to the reference value.

In addition, the control unit 280 rotates the body 240, so that the body 240 is rotated in a direction other than the end of the panel. Since the device 120 is moving from the initial position, one end in the horizontal direction of the device 120 corresponds to the end of the panel. Therefore, the control unit 280 rotates the body 240 in a direction other than the end of the panel.

The control unit 280 controls the caterpillar 220 to move a predetermined distance (S1330). After rotation, the control unit 280 controls the caterpillar 220 to move in the horizontal direction. At this time, the control unit 280 controls the caterpillar 220 to move a predetermined distance in the horizontal direction. Here, the preset distance means a distance shorter than the length of the brush 410. If the preset distance is longer than the length of the brush 410, even if the device 120 moves the solar panel 110, a portion where the brush 410 cannot contact the solar panel 110 occurs. When the preset distance is shorter than the brush 410, the brush 410 may not contact the solar panel 110 even though it may occur when the part where the brush 410 contacts the solar panel 110 overlaps. The part will not occur. Accordingly, the brush unit 210 can completely clean the solar panel 110, and the image processing unit 270 can also photograph all surfaces of the solar panel 110.

The control unit 280 determines whether the device 120 has moved to the end of the panel (S1350). The control unit 280 determines whether the device 120 has moved to the end of the panel in a direction in which the pitch is a preset reference value (0). If the device 120 moves to the end of the panel in a direction in which the pitch is a preset reference value (0), it means that cleaning is completed by moving all the areas of the solar panel 110.

If the device 120 is not moved to the end of the panel, the control unit 280 controls the body 240 and the caterpillar 220 to rotate the roll value of the device 120 to be equal to the reference value (S1360). Again, since the device 120 has to move the solar panel in the vertical direction (the direction in which the roll value is 0), the control unit 280 controls the body 240 and the caterpillar 220 to control the device (especially the body). Rotate. The control unit 280 rotates until the pitch value of the device 120 becomes equal to a preset reference value.

After rotating, the control unit 280 again goes through the process S1310.

By operating as described above, the brush 410 and the image processing unit 270 in the device 120 may cover all areas of the solar panel 110.

However, as described with reference to FIG. 12, the process of controlling the controller 280 to clean the solar panel 110 is not necessarily limited to the process of FIG. 13. Depending on the direction in which the device 120 is disposed at a preset initial position, the processes S1310 and S1360 may be operated based on a pitch value rather than a roll value, and the processes S1330 may be operated based on a roll value rather than a pitch value. .

Referring to FIGS. 2 and 3 again, the control unit 280 detects a defect on the solar panel 110 based on the image acquired by the image processing unit 270. The controller 280 detects a defect on the solar panel 110 in the image by performing machine learning based on the data stored in the memory unit 290. The control unit 280 learns the types of defects stored in the memory unit 290 and detects defects from the image acquired by the image processing unit 270. Defects and straight lines can be detected in the image. However, while the straight line has regular width and appears in the image, the defects appear irregularly with various shapes (areas). Based on this point, the control unit 280 detects a defect by distinguishing it from a straight line in the image, and determines the type of the defect. When a defect is found, the control unit 280 stores the type and location of the defect in the memory unit 290, and transmits the type and location of the defect to the administrator's terminal (not shown) immediately after the defect is found or thereafter To control the communication unit (not shown). A method in which the controller 280 detects a defect on the solar panel 110 in the image is illustrated in FIG. 16.

16 is a flowchart illustrating a method of detecting a defect on a solar panel within an image acquired by an image processing unit according to an embodiment of the present invention.

The control unit 280 classifies defects and components other than the defects in the captured image (S1610).

The controller 280 analyzes the type of the detected defect by performing machine learning (S1620).

The control unit 280 identifies and stores the location on the panel where the detected defect is located (S1630).

Referring to FIGS. 2 and 3 again, the controller 280 analyzes a straight line detected by the image processing unit 270 and analyzes the current position of the device 120 on the solar panel 120. Since the device 120 moves from the initial position in cleaning the panel, depending on how many unit panels in the solar panel have been moved, where the device 120 is currently located on the panel can be revealed. . Accordingly, the control unit 280 grasps the current position of the device 120 in consideration of which direction the straight line detected by the image processing unit 270 is in the image and how many straight lines have passed while moving on the panel. . Accordingly, when a defect is found, the control unit 280 may determine where the location where the defect is found on the panel. A detailed description thereof will be described later with reference to FIGS. 14 to 20 along with a description of the image processing unit 270.

In addition, the control unit 280 analyzes the sensing result of the sensor unit to determine whether an abnormality has occurred in the device. In particular, when the sensed vacuum pressure in the pressure sensor 1010 is outside a preset range, the control unit 280 stops the operation of each component in the device 120 and notifies the abnormality to the terminal (not shown) of the manager. It is possible to control the communication unit (not shown).

The memory unit 290 stores the width of the brush 410 and the solar panel 110, the type and location of the defect, and the defects on the solar panel 110 as big data.

The memory unit 290 stores the width of the brush 410 and the solar panel 110. The memory unit 290 stores the width (length in the horizontal direction) of the brush 410 so that the device 120 can completely move all surfaces of the solar panel 110 and provides it to the control unit 280 do. The control unit 280 may set a preset length using information stored in the memory unit 290.

The memory unit 290 stores the types and locations of defects detected by the control unit 280. When the controller 280 detects a defect occurring in the solar panel 110 in the image by performing machine learning, the memory unit 290 stores it. Accordingly, the communication unit (not shown) may transmit the type and location of the defect to the terminal (not shown) of the manager immediately or after discovery using the information stored in the memory unit 290.

The memory unit 290 stores a number of defects that may occur on the solar panel 110 as big data. The memory unit 290 stores a number of defects that may occur on the solar panel 110 so that the control unit 280 performs machine learning to isolate and detect only defects in the image. In addition, when the control unit 280 detects a defect, the defect information is also updated by storing the detected defect again.

Under the control of the control unit 280, the communication unit (not shown) may transmit defect information or an abnormality occurrence to the terminal (not shown) of the manager.

5 is an upper perspective view of a caterpillar according to an embodiment of the present invention, and FIG. 6 is a view showing an internal configuration of a caterpillar according to an embodiment of the present invention.

5 and 6, the caterpillar 220 according to an embodiment of the present invention includes an attachment unit 510, a rotary joint 520, a spring hose 530, a connecting hose 535, and a vacuum pressure transfer pipe ( 540), check valve 545, chain 550, gears 522, 554, 556, motor 560, and rails 570, 575.

The attachment unit 510 is detached from the solar panel 110 by receiving vacuum pressure from the vacuum pump 260. The attachment unit 510 receives the vacuum pressure from the vacuum pump 260 through a spring hose 530, a connecting hose 535, a vacuum pressure transmission pipe 540, and a check valve 545, and the solar panel 110 ) And is detached. Since the attachment unit 510 is detached from the solar panel 110 by vacuum pressure, it can be detached without causing absorption in the solar panel 110. When the attachment unit 510 is detached from the solar panel 110, it attaches itself to the solar panel 110 by the internal structure of the attachment unit 510 and the load applied to the attachment unit 510, or the solar panel Falls from 110. That is, the control unit 280 operates the motor 560 to rotate the chain 550 to move the position of the attachment units 510, the attachment unit 510 in contact with the solar panel 110 itself It may be attached to the solar panel 110. Accordingly, it is not necessary for the control unit 280 to individually control whether or not a number of attachment units 510 are attached or detached.

A plurality of attachment units 510 are formed at a predetermined interval in one caterpillar 220. Since one attachment unit 510 does not contact the solar panel 110 with an area sufficient to support the device 120, a plurality of attachment units 510 are attached to the solar panel 110, thereby Support 120. The structure and operation of the attachment unit 510 is shown in detail in FIGS. 7 and 8.

7 is a top perspective view and a cross-sectional view of the attachment unit according to an embodiment of the present invention, Figure 8 is a cross-sectional view according to the operation of the attachment unit according to an embodiment of the present invention.

7 and 8, the attachment unit 510 according to an embodiment of the present invention the auxiliary wheel 515, piston 710, spring 720, vacuum pad 730, slide valve 740 And a frame 750.

The auxiliary wheel 515 contacts the rail 570 to be described later, and improves adhesion between the attachment unit 510 and the solar panel 110. The auxiliary wheel 515 can move along the rail 570 so as not to affect the rotation of the attachment unit 510, and at the same time, the attachment unit 510 is rearward (away from the solar panel) in contact with the rail 570. Direction).

The piston 710 transfers the vacuum pressure transmitted from the vacuum pump 260 to the vacuum pad 730, and moves up and down according to external force. The piston 710 includes an upper piston 712, a discharge hole 714, a lower piston 716 and an inlet hole 718.

The upper piston 712 is connected to the vacuum pressure transmission pipe 540 to receive the vacuum pressure, and is raised and lowered by external force. The upper piston 712 receives vacuum pressure and discharges it to the discharge hole 714. In addition, when the attachment unit 510 is positioned at a position in contact with the solar panel 110 according to the movement of the chain 550, the caterpillar 220 and the body 240 of the upper piston 712 are vertically upward. A load equal to the weight is applied. The upper piston 712 descends due to the load. Conversely, when the attachment unit 510 moves to a position away from the solar panel 110 according to the movement of the chain 550, the load is not applied and the upper piston 712 is lifted by the elastic force of the spring 720 Is done.

The discharge hole 714 discharges vacuum pressure to the outside. The discharge hole 714 discharges the vacuum pressure transmitted from the upper piston 712 to the outside, and may be used to discharge the vacuum pressure within the seals 744 and 748, depending on the position of the slide valve 740, or the seal It is also possible to transfer the vacuum pressure to the inlet hole (718) entered into (744, 748).

The lower piston 716 is connected to the upper piston 712 and is raised and lowered together with the raising and lowering of the upper piston 712, and transfers vacuum pressure or atmospheric pressure flowing into the inlet hole 718 to the vacuum pad 730. By doing so, the vacuum pad 730 is detached from the solar panel 110.

The inlet hole 718 flows vacuum pressure or atmospheric pressure from the outside. Depending on the movement of the lower piston 716, the inlet hole 718 may enter or exit the lower portion 744 of the seal in the slide valve 740. When the lower piston 716 is elevated, the inlet hole 718 enters the lower end portion 744 of the seal. At this time, the discharge hole 714 is already located in the seal, and vacuum pressure is formed at the upper and lower parts 744 and 748 of the seal. The inlet hole 718 is supplied with a vacuum pressure provided from the outlet hole 714 by entering the lower end portion 744 of the seal. The vacuum pressure introduced into the inlet hole 718 is provided to the vacuum pad 730 through the lower piston 716. Conversely, when the upper piston 712 descends under a load and the lower piston 716 also descends, the inlet hole 718 deviates from the lower end 744 of the seal. Due to this, the inlet hole 718 is exposed to atmospheric pressure, and atmospheric pressure is provided to the vacuum pad 730 via the lower piston 716. The vacuum pad 730 to which atmospheric pressure is transmitted may be separated from the solar panel 110 that has been adsorbed without much control.

The spring 720 is disposed between the frame 750 and the vacuum pad 730 to apply a restoring force to the frame 750. When the upper piston 712 and the frame 750 descend due to the load, the frame 750 presses the spring 720 under load. Accordingly, the spring 720 is compressed, so that the slide valve 740 in the frame 750 and the frame 750 can descend. Conversely, when a load is not applied to the piston 710, the spring 720 applies a restoring force to the frame 750. Accordingly, the frame 750 and the slide valve 740 in the frame 750 may be raised.

The vacuum pad 730 is located at the end of the lower piston 716, and is detached from the solar panel 110 according to the atmospheric pressure or vacuum pressure transmitted in contact with the solar panel 110. The vacuum pad 730 is made of a material that can be in contact with the solar panel 110 without adsorption and contacts the solar panel 110. The vacuum pad 730 contacts the solar panel 110 in a form that can be in full contact. Thus, when the vacuum pressure is transmitted to the vacuum pad 730, the vacuum pad 730 may completely adsorb the solar panel 110. Conversely, when atmospheric pressure is transmitted to the vacuum pad 730, the vacuum pad 730 may be separated from the solar panel 110.

The slide valve 740 moves up and down together with the frame 750 within the frame 750 and determines whether to transfer vacuum pressure to the inlet hole 716. The slide valve 740 is included in the frame 750 and structurally moves up and down together with the frame 750. At this time, the slide valve 740 includes a seal that blocks inflow and outflow of air. The seal has a predetermined length, blocking the pressure state from the lower end 744 of the seal to the upper end 748 from the outside. Thus, when the discharge hole 714 enters the upper end portion 748 of the seal, a vacuum pressure is formed inside the seal. The seal is structurally, whether the upper frame 712 moves up or down, the discharge hole 714 is located inside the seal, but when the lower frame 714 moves up and down, the inlet hole 718 moves to the lower end portion 744 of the seal. When entering but descending, the inlet hole 718 is disposed in a position to escape the lower end portion 744 of the seal. That is, the seal covers the entire operating range of the discharge hole 714, but is disposed at a position such that the descent of the inlet hole 718 is not covered with respect to the inlet hole 718. Accordingly, the inlet hole 718 transmits vacuum pressure or atmospheric pressure to the vacuum pad 730 according to the operation.

The frame 750 supports the internal configuration of the attachment unit 510. The frame 750 fixes the slide valve 740 therein, so that the slide valve 740 operates together according to the operation of the frame 750. In addition, the frame 750 fixes the spring 720 between itself and the vacuum pad 730, so that the spring 720 can apply a restoring force to itself.

Referring again to FIGS. 5 and 6, the rotary joint 520 transfers vacuum pressure supplied from the vacuum pump 260 to the spring hose 530 and prevents twisting of the spring hose 530. When the spring hose 530 is connected to a fixed uniaxial axis, twisting occurs in the spring hose 530 when it is continuously rotated in one direction. Thus, the rotary joint 520 has a structure that can be rotated mechanically unlimited, so that the spring hose 530 connected to one end is not twisted even by continuous rotation. The structure of the rotary joint 520 is shown in detail in FIG. 9.

9 is a cross-sectional view of a rotary joint according to an embodiment of the present invention.

The rotary joint 520 receives vacuum pressure at one end, and is connected to a spring hose 530 at the other end. The rotary joint 520 mechanically rotates the end connected to the spring hose 530 mechanically, so that the spring hose 530 is not twisted to rotate in any direction according to the operation of the caterpillar 220.

5 and 6 again, the spring hose 530 transfers the vacuum pressure delivered to the rotary joint 520 to the vacuum pressure transmission pipe 540a connected to itself. The vacuum pressure transmission pipe 540a connected to one end of the spring hose 530 has a variable distance from the rotary joint 520 according to the position of the attachment unit to which the transmission pipe 530a is connected. Since the rotary joint 520 and the vacuum pressure transmission pipe 540a are continuously connected regardless of the distance and the vacuum pressure must be transmitted, the spring hose 530 connects both 530 and 540a.

The connecting hose 535 connects between each attachment unit 510 and each vacuum pressure transmission pipe 540. The connecting hose 535 connects between each vacuum pressure transmission pipe 540 so that the vacuum pressure delivered through the spring hose 530 can be delivered to each attachment unit.

The vacuum pressure transmission pipe 540 is connected to the piston 710 of each attachment unit 510 and transmits the vacuum pressure transmitted through the connection hose 535 to the piston 710. In the section where the attaching unit 510 is in contact with the solar panel 110, or in the section where the attaching unit 510 is located at the farthest position from the solar panel 110, the interval between each attaching unit 510 (vector A scalar value, not a value) may be constant. However, in the section where the attachment unit 510 that has been in contact with the solar panel 110 has just fallen off or the attachment unit 510 has just been attached to the solar panel 110 (the rotating section), the distance between the attachment units 510 is It becomes different. Thus, when the vacuum pressure transmission pipes 540 are physically connected to each other in order to transmit vacuum pressure, it is difficult to pass a rotating section. Therefore, the vacuum pressure transmission pipe 540 is physically connected to the piston 710 of each attachment unit 510, but is not physically connected to each other, but is connected to the connection hose 535.

Check valve 545 is disposed in the middle of the vacuum pressure transmission pipe 540 and the piston 710, the vacuum pressure is delivered to the piston 710, but blocking the transfer of atmospheric pressure to the vacuum pressure transmission pipe 540. The check valve 545 transfers the vacuum pressure delivered to the vacuum pressure transmission pipe 540 from the center of the vacuum pressure transmission pipe 540 and the piston 710 to the piston 710. On the other hand, (slightly) atmospheric pressure may be introduced from the inlet hole 718 to the outlet hole 714 by the operation of the slide valve 740. The check valve 545 blocks the atmospheric pressure delivered to the piston 710 through the discharge hole 714, so that atmospheric pressure is not transmitted to the vacuum pressure transmission pipe 540. If atmospheric pressure is delivered to any one vacuum pressure transmission pipe, all the vacuum pressure transmission pipes are connected by a connecting hose 535, which may cause a fatal problem that cannot maintain the vacuum pressure in the caterpillar 220. Accordingly, the check valve 545 blocks atmospheric pressure transmitted to the piston 710.

The chain 550 rotates according to the power of the motor 560 transmitted through each gear 552 to 556 and makes each attachment unit 510 clockwise or counterclockwise. The chain 550 is connected to each attachment unit 510 included in the caterpillar 220, and rotates clockwise or counterclockwise depending on the power of the motor 560 transmitted by the gear. As the chain 550 rotates, the attachment units 510 connected to the chain 550 also rotate.

The gears 552 to 556 receive the rotational force of the motor 560 and transmit it to the chain 550. Each gear 552 to 556 is respectively connected to a motor 560, a gear or a chain 550, and transmits the rotational force of the motor 560 to the chain 550.

The motor 560 provides power to allow the chain 550 connected to itself through the gears 552 to 556 to rotate. The motor 560 applies the rotational force to the gear 556 connected to it, so that the rotational force is supplied to the chain 550 through the gears 554 and 552 so that the chain 550 can rotate.

The rail 570 contacts each attachment unit 510 and prevents the attachment unit 510 from being completely attached to the solar panel 110. The attachment unit 510 is connected to the chain 550, but when the attachment unit 510 is in contact with the solar panel 110, the chain 550 may be pushed backward (away from the solar panel). Can. As a result, the attachment unit 510 may not be in full contact with the solar panel 110 or may not be fully attached to the solar panel 110. This may cause the device 120 to depart from the solar panel 110, causing a fatal result. To prevent this problem, rails 570 are arranged. The rail 570 is fixed in the caterpillar 220 and contacts the auxiliary wheel 515 formed in each attachment unit 510. Even if the rail 570 is fixed, it does not affect the rotation of the attachment unit 510 to make contact with the auxiliary wheel 515. In addition, when the chain 550 is pushed to the rear (a direction away from the solar panel), the attachment wheel 515 can be prevented from being pushed backward because the auxiliary wheel 515 is in contact with the rail 570.

The rail 575 is disposed with the rail 570 with the auxiliary wheel 515 therebetween, and the rail 575 is in a direction close to the solar panel. The rail 570 is positioned in a direction away from the solar panel. However, the rails 575 are spaced apart by a predetermined distance from the auxiliary wheels 515 so that the auxiliary wheels 515 can rotate and proceed along the rails 570. The rail 575 is located on the opposite side of the rail 570 to prevent the attachment unit 510 from bending in a side direction from the vertical direction relative to the solar panel 110. If the attachment unit 510 is bent to the side in the vertical direction, there is a fear that the adsorption force of the attachment unit 510 is weak, and the entire load of the caterpillar 220 and the body 240 will be concentrated in an unspecified portion of the attachment unit. It may cause damage to the attachment unit. When the attachment unit 510 attempts to be bent to the side, the auxiliary wheels 515 contact all of the rails 570 and 575 and prevent the attachment unit 510 from bending.

14 is a diagram showing the configuration of an image processing unit according to an embodiment of the present invention.

Referring to FIG. 14, the image processing unit 270 according to an embodiment of the present invention includes a camera 1410, a pre-processing unit 1420, and a line sensing unit 1430.

The camera 1410 photographs the surface of the solar panel 110. The camera 1410 may be disposed at the center of the body 240. In order to photograph the solar panel 110, an environment in which lighting is present is suitable. Thus, the daytime in which the sun is floating is suitable, but there is a possibility that the camera 1410 cannot fully photograph the surface of the solar panel 110 due to the reflected light of the sunlight irradiated to the solar panel 110. To prevent this, the camera 1410 is disposed at the center of the body 240 to minimize the reception of reflected light. Furthermore, an awning film for blocking light may be installed outside the body 240. The image photographed by the camera 1410 is provided to the control unit 280 before passing through the pre-processing unit 1420, and is used to detect defects in the control unit 280.

The pre-processing unit 1420 performs pre-processing to facilitate the line sensing unit 1430 to detect a straight line in the solar panel 110 on the image captured by the camera 1410.

First, the pre-processing unit 1420 converts an image photographed by the camera 1410 into a gray scale. Subsequently, the pre-processing unit 1420 binarizes the image converted to gray scale and detects an edge in the image. Through this process, the line sensing unit 1430 can accurately detect a straight line in the image.

The line sensing unit 1430 detects a straight line in the image that has been preprocessed by the preprocessing unit 1420. The straight line does not necessarily exist in the image passed through the pre-processing unit 1420. Among the defects generated in the photovoltaic panel 110 in the image, a linear defect may exist. Even though the defect in the form of a straight line is pre-processed, it can be detected as an edge and remains in the image. The line sensing unit 1430 checks an image within a predetermined time before and after the edge-detected portion of the image captured by the camera 1410 in order to distinguish such a defect from a straight line in the image. Since the straight line in the solar panel 110 is a boundary between unit panels, it has a relatively long and wide width, whereas the scratches formed in the solar panel 110 have a relatively short and narrow width. According to this feature, a straight line is continuously detected for a predetermined time (predetermined time) before and after the straight line is detected in the image, while only a short time (within a preset time) is scratched before and after the flaw is detected in the image. Is found. The line sensing unit 1430 distinguishes whether the detected edge is a scratch or a straight line using this feature.

15 is a flowchart illustrating a method of detecting a straight line formed by a photovoltaic panel in an image obtained by an image processing unit according to an embodiment of the present invention.

The pre-processing unit 1420 converts the image captured by the camera to gray scale (S1510).

The pre-processing unit 1420 binarizes the converted image (S1520).

The pre-processing unit 1420 detects an edge in the binarized image (S1530).

The line sensing unit 1430 detects a straight line (S1540).

Referring to FIG. 14 again, the control unit 280 is based on a straight line sensed by the line sensing unit 1430, and whether the corresponding straight line is a straight line (parallel to the y-axis direction in FIG. 1) on the panel or in a horizontal direction. It is analyzed whether it is a straight line (parallel to the x-axis direction in FIG. 1). In the image, it is judged as a straight line, but it is not known in which direction, so the controller 280 analyzes the angle of the straight line and the roll/pitch values to analyze the direction of the straight line. The contents of the control unit 280 analyzing the direction of the straight line will be described with reference to FIGS. 17 to 20.

17 is a view showing an image obtained by the image processing unit according to an embodiment of the present invention and an angle at which a straight line included in the image is inclined.

The control unit 280 measures the angle of the first detected straight line to measure the direction of the straight line. Here, the angle of the straight line means the angle between the normal line of the straight line and the x-axis in the image, and the controller 280 measures the angle in the clockwise direction from the x-axis. For example, referring to the straight line shown in FIG. 17(a), as shown in FIG. 17(b), the normal of the straight line is equal to ρ, and the angle θ formed by ρ and the x-axis is the angle of the straight line.

If there is one detected straight line in the image, the control unit 280 measures its angle. When there are two detected straight lines in the image, the controller 280 measures the angles of both.

Thereafter, the controller 280 determines whether the angle formed by the straight line is large based on 45 degrees. The controller 280 classifies the straight lines into a group (first group) exceeding 45 degrees and a group (second group) that is 45 degrees or less, according to the angle of the straight line. When there is one detected straight line, the controller 280 classifies the straight line into a first group or a second group according to the angle of the straight line. Conversely, when there are two detected straight lines, the control unit 280 classifies straight lines with an angle of more than 45 degrees into a first group and straight lines with an angle of 45 degrees or less into a second group. Here, when two straight lines are detected, since they are straight lines in the horizontal direction and the vertical direction, both must form a right angle. Thus, unless the angles of the two are the same, the two must necessarily belong to different groups.

After classifying the group, the control unit 280 compares the size of the roll value and the pitch value to classify whether the corresponding straight line is a horizontal line or a vertical line. First, when the roll value is greater than the pitch value, since the device 120 is moving in the horizontal direction or close thereto, a straight line classified into the first group is a straight line in the vertical direction, and a straight line classified into the second group is in the horizontal direction. It corresponds to a straight line. Conversely, when the roll value is smaller than the pitch value, since the device 120 is moving in the vertical direction or close thereto, a straight line classified into the first group is a horizontal straight line, and a straight line classified into the second group is a vertical direction. It corresponds to a straight line. On the other hand, when the roll value and the pitch value are the same, the result varies depending on whether the product of the roll value and the pitch value is positive or negative. When the product of the roll value and the pitch value is positive, a straight line classified into the first group corresponds to a straight line in the horizontal direction and a straight line classified into the second group corresponds to a straight line in the vertical direction. On the other hand, a straight line classified into the first group corresponds to a straight line in the vertical direction, and a straight line classified into the second group corresponds to a straight line in the horizontal direction. Examples in which the straight line is determined in accordance with the group, roll value and pitch value are shown in FIGS. 18 to 21.

18 to 21 are views illustrating an image obtained according to a position on a panel of a solar panel cleaning apparatus according to an embodiment of the present invention.

FIG. 18(a) shows how the device 120 moves on the solar panel, and FIG. 18(b) shows an image of the solar panel taken by the camera in the image processing unit.

Referring to FIG. 18(a), while the pitch value of the device 120 is 0 or close to 0, the roll value has a constant value, which corresponds to a case where the roll value is greater than the pitch value. Since the angle of the straight line 1820 is 90 degrees, the straight line 1820 is classified into a first group, and the corresponding straight line 1820 corresponds to a vertical straight line. Conversely, since the angle of the straight line 1810 is 0, the straight line 1810 is classified into a second group, and the straight line 1810 corresponds to a straight line in the horizontal direction.

Referring to FIG. 19, it can be confirmed that the roll value of the device 120 is greater than the pitch value. Accordingly, the straight line 1920 having a large angle is classified into a first group and corresponds to a straight line in the vertical direction. Conversely, a straight line 1910 having a small angle is classified into a second group, and corresponds to a horizontal straight line.

Referring to FIG. 20, this corresponds to a case in which the pitch value of the device 120 is larger than the roll value. Since the angle of the straight line 2010 detected in the image is greater than 45 degrees, the straight line 2010 is classified into a first group. Therefore, the straight line 2010 corresponds to a straight line in the horizontal direction.

Referring to FIG. 21, it corresponds to a case where the pitch value and the roll value of the device 120 are the same. Accordingly, the control unit 280 checks the product of the pitch value and the roll value. In the case of FIG. 21(a), the product of the pitch value and the roll value is positive (the upper left and lower right directions are positive). While the angle of the straight line 2110 is 135°, the angle of the straight line 2120 corresponds to 45°, so the straight line 2110 is classified into a first group, and the angle of the straight line 2120 is classified into a second group. Accordingly, the straight line 2110 corresponds to a straight line in the horizontal direction, and the straight line 2120 corresponds to a straight line in the vertical direction.

As described above, the controller 280 analyzes the direction of the detected straight line in the image. Accordingly, the control unit 280 analyzes the direction of the detected straight line in the image captured by the image processing unit 270, and analyzes how many unit panels have been moved from the initial position. As described above, the control unit 280 may perform machine learning to detect defects in the image, and at the same time, to analyze how many unit panels have been moved from the initial position, the controller 280 may analyze the exact position of the unit panels in which the defects are detected. The controller 280 stores the location of the unit panel where the analyzed defect is present and the type of the defect in the memory unit 290, and may transmit it to the terminal (not shown) of the manager using a communication unit (not shown).

12, 13, 15 and 16 are described as sequentially executing each process, this is merely illustrative of the technical idea of an embodiment of the present invention. In other words, a person having ordinary knowledge in the technical field to which one embodiment of the present invention belongs may execute or change one or more of each process by changing the order described in each drawing without departing from the essential characteristics of one embodiment of the present invention. 12, 13, 15, and 16 are not limited to the time-series order, as various modifications and variations can be applied by executing in parallel.

Meanwhile, the processes shown in FIGS. 12, 13, 15 and 16 can be implemented as computer readable codes on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data readable by a computer system is stored. That is, the computer-readable recording medium includes a magnetic storage medium (eg, ROM, floppy disk, hard disk, etc.) and an optical reading medium (eg, CD-ROM, DVD, etc.). In addition, the computer-readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

The above description is merely illustrative of the technical idea of the present embodiment, and those skilled in the art to which this embodiment belongs may be capable of various modifications and variations without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical spirit of the present embodiment, but to explain, and the scope of the technical spirit of the present embodiment is not limited by these embodiments. The protection scope of the present embodiment should be interpreted by the claims below, and all technical spirits within the equivalent range should be interpreted as being included in the scope of the present embodiment.

110: solar panel 120: solar panel cleaning device
210: brush part 220: caterpillar
230: sensor unit 240: body
250: battery 260: vacuum pump
270: image processing unit 280: control unit
290: memory unit 410: brush
420, 515: auxiliary wheel 430: connection
510: Attachment unit 520: Rotary joint
530: spring hose 535: connecting hose
540: vacuum pressure transmission pipe 545: check valve
550: Chain 552, 554, 556: Gear
560: motor 570, 575: rail
710: piston 712: upper piston
714: outlet hole 716: lower piston
718: inlet 720: spring
730, 1124: vacuum pad 740: slide valve
744, 748: seal 750, 1130: frame
1010: pressure sensor 1020: distance sensor
1030: inertial measurement sensor 1110: elevating / descending unit
1120: support unit 1122: compression spring
1410: camera 1420: preprocessor
1430: line sensing unit
1810, 1820, 1910, 1920, 2010, 2110, 2120: straight

Claims (5)

In the solar panel cleaning apparatus for detecting a defect of the solar panel while moving the solar panel to remove foreign matter on the solar panel,
A brush unit in contact with the solar panel to remove foreign matter on the solar panel;
A vacuum pump providing vacuum pressure;
Caterpillar moving on the solar panel by varying the attachment unit to be attached or detached, including a plurality of attachment units detachable from the solar panel receiving the vacuum pressure provided from the vacuum pump;
A sensor unit configured to sense whether a solar panel is located under the vacuum pressure and the solar panel cleaning device and sense the posture of the solar panel cleaning device;
A motor that supplies power to allow the caterpillar to move;
A body that fixes the caterpillar and the brush portion and changes the directions of the caterpillar and the brush portion;
A control unit controlling the operation of the caterpillar and the body according to the sensing value of the sensor unit; And
It includes a battery for supplying power to enable each component in the solar panel cleaning device to operate,
The attachment unit,
A frame, an upper piston that transfers the vacuum pressure provided from the vacuum pump and which rises and falls according to the external pressure, is formed at an end of the upper piston and discharges the first vacuum pressure to the outside, in contact with the solar panel, When a vacuum pressure is provided, a vacuum pad adhered to the photovoltaic panel, a lower piston transferring vacuum pressure or atmospheric pressure to the vacuum pad, and formed at an end of the lower piston to introduce vacuum pressure or atmospheric pressure from the outside to the lower piston A solar panel comprising an inlet hole, a slide valve that moves up and down together with the frame in the frame and determines the inflow of atmospheric pressure into the inlet hole according to an operation, and a spring disposed between the frame and the vacuum pad. Cleaning device. delete According to claim 1,
The slide valve,
When the load of the caterpillar or the body is applied, the solar panel cleaning apparatus characterized in that the discharge hole and the inlet hole is pneumatically connected. According to claim 1,
The slide valve,
When the load of the caterpillar or the body is not applied, the solar panel cleaning device, characterized in that the spring away from the vacuum pad by the spring and pneumatically separating the discharge hole and the inlet hole. According to claim 1,
The caterpillar,
By attaching a predetermined number of attachment units of the plurality of attachment units to the solar panel, the solar panel cleaning device, characterized in that to prevent the solar panel cleaning device from falling off on the solar panel.

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