WO2022267336A1 - Photovoltaic cleaning robot based on visual slam - Google Patents

Abstract

Disclosed is a photovoltaic cleaning robot based on visual SLAM. The photovoltaic cleaning robot comprises a robot body (100), a rolling brush cleaning assembly (200), and a continuous track driving device (300); the robot body (100) is provided with a photosensitive sensor, an anti-falling sensor, a wheel encoder, and an inertial measurement unit; the photosensitive sensor is disposed at the front side of the top part of the robot body (100); the photosensitive sensor is used for sensing a surface image of a photovoltaic panel in front of the robot body (100); the anti-falling sensor is used for sensing the edges of a photovoltaic panel below the robot body (100) to prevent falling; the wheel encoder is used for acquiring the rotational speed of the continuous track driving device (300) and obtaining wheel mileage; and the inertial measurement unit is disposed on the continuous track driving device (300) and is used for measuring pose information of the robot body (100), coupling the wheel mileage and the pose information for basic positioning of the photovoltaic cleaning robot, and performing global auxiliary positioning by using the surface images of the photovoltaic panels. The cleaning robot can improve the automation degree and applicability to reduce manpower and power station maintenance costs.

Description

A Photovoltaic Cleaning Robot Based on Visual SLAM technical field

The invention relates to a photovoltaic cleaning robot based on visual SLAM.

Background technique

The sustainable development and environmental protection of solar power make it one of the most ideal renewable energy technologies, among which photovoltaic power generation is the main one, and photovoltaic ash deposition effect is one of the biggest problems encountered in the large-scale application of photovoltaic power generation First, large-scale photovoltaic power plants are mostly built in areas with long sunshine hours and little rain. If they are not cleaned for a long time, the power generation will drop by 20%-30%, causing a lot of economic losses. Therefore, how to economically and reasonably solve the problem of dust accumulation has become a key task for the development of the photovoltaic industry.

When the photovoltaic mobile robot works autonomously, it needs to rely on the detection device to judge its position. At present, the market mainly relies on adding specific sensing devices or fixing devices to the photovoltaic array for positioning, and maintaining the walking, cleaning or monitoring of the machine on the photovoltaic array. Such an induction method of adding a specific induction device or a fixed device not only increases the equipment cost, but also is easily limited by the size and shape of the photovoltaic array, making it impossible to install additional devices, which seriously affects the operating efficiency and economic benefits.

Contents of the invention

In view of the above-mentioned problems existing in the prior art, the main purpose of the present invention is to provide a photovoltaic cleaning robot based on visual SLAM, which can improve the automation degree of the photovoltaic cleaning robot and improve the applicability of the photovoltaic cleaning robot to achieve photovoltaic array scenarios Autonomous operation and movement, ultimately saving manpower and reducing power station maintenance costs.

Technical scheme of the present invention is such:

A photovoltaic cleaning robot based on visual SLAM, the photovoltaic cleaning robot includes a car body, a roller brush cleaning assembly and a crawler drive device, the crawler drive device is arranged on both sides of the car body, and the photovoltaic cleaning robot is in the Driven by the above-mentioned crawler drive device, it is characterized in that: the front and rear outer walls of the car body are respectively provided with the rolling brush cleaning assembly, and the photovoltaic cleaning robot cleans the photovoltaic panel through the rolling brush cleaning assembly. For cleaning operations, a photosensitive sensor, an anti-drop sensor, a wheel encoder and an inertial measurement unit are arranged on the car body, the photosensitive sensor is arranged on the front side of the top of the car body, and the photosensitive sensor is used to sense the The surface image of the photovoltaic panel in front of the car body, the anti-drop sensors are arranged on the left and right sides of the car body, and are used to sense the edge of the photovoltaic panel under the car body in real time to prevent falling. The encoder is arranged on the crawler driving device, and is used to obtain the rotation speed of the crawler driving device and obtain the wheel mileage, and the inertial measurement unit is arranged on the crawler driving device, and is used to measure the posture of the vehicle body information, and then couple the wheeled mileage and attitude information as the basic positioning of the photovoltaic cleaning robot, and use the surface image of the photovoltaic panel for global auxiliary positioning.

The photosensitive sensor is a camera.

The camera is a 1080P 140-degree wide-angle camera with night vision depth.

The anti-drop sensor includes four ultrasonic anti-drop modules, and the four ultrasonic anti-drop modules are respectively located at the front and rear of the left end outer wall of the vehicle body and at the front of the right end outer wall of the vehicle body and rear.

The ultrasonic anti-drop module includes an ultrasonic installation and protection frame and an ultrasonic module. One or more ultrasonic modules are arranged in the ultrasonic installation and protection frame, and the ultrasonic installation and protection frame is fixed on the on the left and right outer walls of the vehicle body.

The ultrasonic installation and protection frame includes a first mounting plate, a connecting plate and a second mounting plate, the first mounting plate and the second mounting plate are horizontally arranged, and the lower end of the connecting plate is connected to the bottom of the first mounting plate. The upper surface of the left end is fixedly connected, the upper end of the connecting plate is fixedly connected with the lower surface of the left end of the second mounting plate, and the ultrasonic module is arranged on the upper surface of the first mounting plate through a mounting column.

The connecting plate is arranged vertically, the first installing plate and the second installing plate are located on the same side of the connecting plate, the connecting plate and the first installing plate and the second installing plate are both One piece.

The left end and the right end of the ultrasonic module are respectively extended outwards with installation protrusions, and installation holes are arranged in the installation protrusions, and the upper surface of the first installation plate is extended upwards with the installation column, and the installation The protrusion is sleeved on the installation post through the installation hole.

The crawler drive device includes a crawler belt, a driving wheel, a driven wheel and a load-bearing wheel assembly. The drive wheel and the driven wheel are respectively located on both sides of the inside of the track, and the load-bearing wheel assembly is arranged inside the track and located on the between the driving wheel and the driven wheel, and at the same time, the load-bearing wheel assembly abuts against the inner wall of the crawler to make the crawler in a tight state, and the crawler is driven by the driving wheel to drive the photovoltaic robot to walk.

The crawler belt driving device also includes a track guard, the track guard is arranged above the track, and the two ends of the track guard are respectively extended outwards and provided with a first extension guard and a second extension guard, The first extension plate is located above the driven wheel and the shape of the first extension plate is arc-shaped, the second extension plate is located above the driving wheel and the second extension plate is The shape is arc-shaped.

The car body is also provided with a crawler self-cleaning assembly, the crawler self-cleaning assembly is arranged above the crawler driving device, and the lower end of the crawler self-cleaning assembly passes through the through hole on the crawler guard plate and leans against the The outer side wall of the track is cleaned by the track self-cleaning assembly.

The car body is also provided with a crawler self-cleaning assembly, the crawler self-cleaning assembly is arranged above the crawler driving device, and the lower end of the crawler self-cleaning assembly passes through the through hole on the crawler guard plate and leans against the The outer side wall of the track is cleaned by the track self-cleaning assembly.

The track self-cleaning assembly includes a fixed bracket, a strip brush assembly and a strip brush fixing frame, wherein the fixed bracket includes a first fixed plate and a second fixed plate arranged in parallel, and the rear end of the first fixed plate is downward A first mounting plate is extended, a second mounting plate is extended downwards from the rear end of the second fixing plate, and the first mounting plate and the second mounting plate are respectively fixed on the outer side wall of the vehicle body ;

The strip brush assembly is arranged in the strip brush fixing frame, one side of the strip brush fixing frame is connected with the first fixing plate through a first fastening screw, and the first fastening screw is sleeved with a first spring, and the first spring is located between the first fixing plate and the strip brush fixing frame, and the other side of the strip brush fixing frame is connected to the second fixing plate through a second fastening screw, A second spring is sheathed on the second fastening screw, and the second spring is located between the second fixing plate and the brush fixing frame.

The load-bearing wheel assembly includes a connecting seat, a load-bearing wheel, a third fixed plate and a fourth fixed plate, wherein:

The connection seat includes a first connection support plate and a second connection support plate, the first connection support plate is fixedly arranged on the outer side wall of the vehicle body, and one end of the second connection support plate is connected to the first connection support plate. The lower end of the connecting support plate is fixedly connected;

The third fixing plate and the fourth fixing plate are arranged in parallel and are located below the second connecting support plate. The inner side wall of the third fixing plate is provided with a plurality of first mounting brackets along the length direction. The three fixing plates are arranged below the second connecting support plate through the first mounting bracket, the inner side wall of the fourth fixing plate is provided with a plurality of second mounting brackets along the length direction, and the fourth fixing plate passes through The second mounting bracket is arranged under the second connecting support plate;

A plurality of load-bearing wheels are arranged between the third fixed plate and the fourth fixed plate, and a connection shaft is fixedly arranged in the load-bearing wheels, and the two ends of the connection shaft are respectively arranged on the third fixed plate The first fixing hole on the first fixing hole and the second fixing hole on the fourth fixing plate, and the load-bearing wheels abut against the inner side wall of the track.

The present invention has the following advantages and beneficial effects: the photovoltaic cleaning robot based on visual SLAM provided by the embodiment of the present invention, the photovoltaic cleaning robot includes a car body, a roller brush cleaning assembly and a crawler driving device, and the crawler driving device is arranged on the car body The photovoltaic cleaning robot walks under the drive of the crawler drive device. The front and rear outer walls of the vehicle body are respectively provided with the roller brush cleaning assembly. The photovoltaic cleaning robot passes the roller brush The cleaning component cleans the photovoltaic panel. The vehicle body is provided with a photosensitive sensor, an anti-drop sensor, a wheel encoder and an inertial measurement unit. The photosensitive sensor is arranged on the front side of the top of the vehicle body. The photosensitive sensor Used to perceive the surface image of the photovoltaic panel in front of the vehicle body, the anti-drop sensors are arranged on the left and right sides of the vehicle body, and are used to sense the edge of the photovoltaic panel under the vehicle body in real time to prevent falling , the wheel encoder is arranged on the crawler drive device for obtaining the speed of the crawler drive device and obtaining the wheel mileage, and the inertial measurement unit is arranged on the crawler drive device for measuring the Describe the posture information of the car body, and then couple the wheeled mileage and posture information as the basic positioning of the photovoltaic cleaning robot, and use the surface image of the photovoltaic panel to perform global auxiliary positioning, that is, use RGB semantics to segment images or end-to-end The terminal extracts the outline of the cell area and the map for pairing correction and auxiliary positioning; according to the real-time map with the characteristics of photovoltaic modules, the navigation points and paths are planned in real time according to the default specific rules and artificial settings, and the work on the photovoltaic array is completed.

Description of drawings

Fig. 1 is a schematic diagram of a three-dimensional structure of a photovoltaic cleaning robot based on visual SLAM provided by an embodiment of the present invention.

Fig. 2 is a schematic diagram of a front view structure of a photovoltaic cleaning robot based on visual SLAM provided by an embodiment of the present invention.

Fig. 3 is a schematic side view structure diagram of a photovoltaic cleaning robot based on visual SLAM provided by an embodiment of the present invention.

Fig. 4 is an enlarged three-dimensional structural schematic diagram of the ultrasonic anti-drop module provided by the embodiment of the present invention.

Fig. 5 is an enlarged three-dimensional structural schematic view of the crawler drive device provided by the embodiment of the present invention.

Fig. 6 is an enlarged three-dimensional schematic diagram of one direction of the track self-cleaning assembly provided by the embodiment of the present invention.

Fig. 7 is an enlarged three-dimensional structural schematic view of another direction of the track self-cleaning assembly provided by the embodiment of the present invention.

Fig. 8 is an enlarged exploded schematic view of the track self-cleaning assembly provided by the embodiment of the present invention.

Fig. 9 is a schematic diagram of an enlarged three-dimensional structure of a strip brush assembly provided by an embodiment of the present invention.

Fig. 10 is an enlarged structural schematic diagram of the strip brush fixing frame provided by the embodiment of the present invention.

Fig. 11 is an enlarged three-dimensional structural schematic diagram of the load-carrying wheel assembly provided by the embodiment of the present invention.

Fig. 12 is an enlarged exploded schematic view of the load-carrying wheel assembly provided by the embodiment of the present invention.

Fig. 13 is an enlarged three-dimensional structural diagram of a third fixing plate provided by an embodiment of the present invention.

Fig. 14 is an enlarged three-dimensional structural diagram of the first mounting bracket provided by the embodiment of the present invention.

Fig. 15 is an enlarged three-dimensional structural diagram of a fourth fixing plate provided by an embodiment of the present invention.

Fig. 16 is an enlarged three-dimensional structural diagram of a second mounting bracket provided by an embodiment of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 to 16: a photovoltaic cleaning robot based on visual SLAM provided by an embodiment of the present invention, the photovoltaic cleaning robot includes a car body 100, a roller brush cleaning assembly 200 and a crawler drive device 300, the crawler drive device 300 are arranged on both sides of the car body 100, and the photovoltaic cleaning robot is driven by the crawler drive device 300 to walk, and the front and rear outer walls of the car body 100 are respectively provided with the roller brushes for cleaning. Assembly 200, that is, by setting roller brush cleaning assemblies 200 at the front end and rear end of the vehicle body 100 respectively, the cleaning efficiency of the photovoltaic cleaning robot can be greatly improved. For cleaning operations, a photosensitive sensor, an anti-drop sensor, a wheel encoder and an inertial measurement unit are arranged on the car body 100. The photosensitive sensor is arranged on the front side of the top of the car body 100, and the photosensitive sensor is used to sense The surface image of the photovoltaic panel in front of the vehicle body 100, the anti-drop sensor is arranged on the left and right sides of the vehicle body 100, and is used to sense the edge of the photovoltaic panel under the vehicle body 100 in real time to prevent falling, The wheel encoder is arranged on the crawler drive device 300 for acquiring the rotation speed of the crawler drive device 300 and obtaining the wheel mileage, and the inertial measurement unit is arranged on the crawler drive device 300 for Measure the attitude information of the vehicle body 100, then couple the wheeled mileage and attitude information as the basic positioning of the photovoltaic cleaning robot, and use the surface image of the photovoltaic panel for global auxiliary positioning, that is, use RGB images for semantic segmentation Extract the outline of the cell area and the map for pairing correction and auxiliary positioning; according to the real-time map with the characteristics of photovoltaic modules, the navigation points and paths are planned in real time according to the default specific rules and artificial settings, and the work on the photovoltaic array is completed.

When the photovoltaic cleaning robot of the present invention cleans the photovoltaic panels in the photovoltaic array, the photovoltaic cleaning robot only needs to be placed on the edge of the photovoltaic array, and one-key start can autonomously build a real-time map and position plan in the photovoltaic array to achieve cleaning operations. Effect, that is, a photovoltaic cleaning robot can be applied to photovoltaic array scenarios with different types of distribution and obstacles.

The photosensitive sensor is a camera 101 . Through the above design, the photosensitive sensor is designed as the camera 101 as the main channel for the photovoltaic cleaning robot to perceive the external environment, and then the surface image of the photovoltaic panel sensed by the camera, that is, the RGB image, is used for semantic segmentation to extract the cells of the photovoltaic array The area, regardless of the gap between the metal grid lines in the cell and the cell, is included in the cell area of the extracted photovoltaic array. Specifically, the RGB image is used for semantic segmentation to extract the outline of the cell area, matching the common photovoltaic array size as a feasible area, and the depth image is used to identify edges and obstacles for mapping.

The camera 101 is a 1080P 140-degree wide-angle camera capable of night vision depth.

The anti-drop sensor includes four ultrasonic anti-drop modules 400, and the four ultrasonic anti-drop modules 400 are respectively located at the front and rear of the left side wall of the vehicle body 100 and the right side outside of the vehicle body 100. The front and back of the wall.

The ultrasonic anti-drop module 400 includes an ultrasonic installation and protection frame and an ultrasonic module 401. One or more than one ultrasonic modules 401 are arranged in the ultrasonic installation and protection frame, and the ultrasonic installation and protection frame is fixed by fastening bolts. On the left and right outer walls of the vehicle body 100 .

The ultrasonic installation and protection frame includes a first mounting plate 411, a connecting plate 413 and a second mounting plate 412, the first mounting plate 411 and the second mounting plate 412 are horizontally arranged, and the lower end of the connecting plate 413 is in contact with the second mounting plate 412. The upper surface of the left end of the first mounting plate 411 is fixedly connected, the upper end of the connecting plate 413 is fixedly connected with the lower surface of the left end of the second mounting plate 412, and the ultrasonic module 401 is arranged on the first mounting column 402. The upper surface of the mounting plate 411 . Through the above design, that is, the ultrasonic installation and protection frame includes a first mounting plate 411, a connecting plate 413 and a second mounting plate 412, and the upper end and the lower end of the connecting plate 413 are respectively fixedly connected to the second mounting plate 412 and the first mounting plate 411 , while the ultrasonic module 401 is arranged on the upper surface of the first mounting plate 412 and below the second mounting plate 412, that is, the ultrasonic module 401 is protected by the first mounting plate 411, the connecting plate 413 and the second mounting plate 412, In order to achieve the purpose of prolonging its life.

The connecting plate 413 is vertically arranged, the first mounting plate 411 and the second mounting plate 412 are located on the same side of the connecting plate 413, and the connecting plate 413 is connected to the first mounting plate 411 and the second mounting plate 412. The second mounting boards 412 are integrally formed. Through the above design, that is, the connecting plate 413 is vertically arranged, the left end of the first mounting plate 411 is fixedly connected to the lower end of the connecting plate 413, and the left end of the second mounting plate 412 is fixedly connected to the upper end of the connecting plate 413 , while the first connecting plate 411 and the second connecting plate 412 are located on the same side of the connecting plate 413, and the first connecting plate 411 and the second connecting plate 412 are integrally formed with the connecting plate 413, so the first connecting plate can be improved. 411 and the second connection plate 412 are firmly combined with the connection plate 413 to achieve the purpose of improving the service life of the ultrasonic installation protection frame, that is, to better protect the ultrasonic module 401 in the ultrasonic installation protection plate. At the same time, since the first mounting plate 411 and the second mounting plate 412 are integrally formed with the connecting plate 413, the firmness of the combination of the first mounting plate 411 and the second mounting plate 412 with the connecting plate 413 is improved, and the safety and reliability are improved. been greatly improved.

The two ends of the ultrasonic module 401 are respectively extended outwardly with a first mounting protrusion 421 and a second mounting protrusion 422, the first mounting protrusion 421 is provided with a first mounting hole 431, and the second mounting The convex part 422 is provided with a second mounting hole 432, and the upper surface of the first mounting plate 411 is extended upward with a plurality of mounting columns 402, and the first mounting convex part 421 passes through the first mounting hole 431. It is sleeved on one of the installation columns 402 , and the second installation protrusion 422 is sleeved on the other installation column 402 through the second installation hole 432 . Through the above design, that is, the first mounting protrusion 421 and the second mounting protrusion 422 are integrally formed outwardly at both ends of the ultrasonic module 401, and at the same time, a plurality of mounting protrusions are extended upward on the upper surface of the first mounting plate 411. Column 402, the first installation hole 431 on the first installation protrusion 421 is sleeved on one installation column 402, and the second installation hole 432 on the second installation protrusion 422 is sleeved on another installation column 402, so The ultrasonic module 401 is fixedly arranged on the upper surface of the first mounting plate 411 through the cooperation of the first mounting convex portion 421 and the second mounting convex portion 422 with the mounting column 402, which can make the combination of the ultrasonic module 401 and the first mounting plate 411 more efficient. It is strong and convenient for early assembly and later maintenance.

The track driving device 300 includes a track 301, a driving wheel 302, a driven wheel 303, and a load-bearing wheel assembly 304. The drive wheel 302 and the driven wheel 303 are respectively located on both sides of the track 301, and the load-bearing wheel assembly 304 is set Inside the track 301 and between the driving wheel 302 and the driven wheel 303, the load wheel assembly 304 abuts against the inner side wall of the track 301 so that the track 301 is in a tight state, so Driven by the driving wheels 302, the crawler belt 301 drives the photovoltaic robot to walk.

The track driving device 300 also includes a track guard 306, which is arranged above the track 301, and the two ends of the track guard 306 are respectively extended outwardly provided with a first extension guard 307 and a The second extension guard plate 308, the first extension guard plate 307 is located above the driven wheel 303 and the shape of the first extension plate 307 is arc-shaped, and the second extension plate 308 is located on the driving wheel 302 and the shape of the second extension guard 308 is an arc. Through the above design, that is, a track guard 306 is provided above the crawler belt 301, and a first extension plate 307 and a second extension plate 308 are respectively provided at both ends of the track guard 306, and the first extension plate 307 is located from The top of the driving wheel 303 and the second extension plate 308 are located above the driving wheel 302, so that the crawler belt 301 is protected in all directions through the track guard plate 306, the first extension guard plate 307 and the second extension guard plate 308, and the crawler belt 301 is prevented from Objects above cause damage to the crawler belt 301 , thereby achieving the purpose of prolonging the service life of the crawler belt 301 . In addition, since the track guard 306 , the first extension plate 307 and the second extension plate 308 are integrally formed, the firmness of the combination of the first extension plate 307 and the second extension plate 308 with the track guard 306 can be improved.

The car body 100 is also provided with a crawler self-cleaning assembly 305, and the crawler self-cleaning assembly 305 is arranged above the crawler driving device, that is, the crawler self-cleaning assembly 305 is arranged above the crawler 301, and the crawler The lower end of the self-cleaning component passes through the through hole on the track guard and abuts against the outer side wall of the track, and the outer side wall of the track is cleaned by the track self-cleaning component to clean the outer side wall of the track 301 dust or sundries on the track to improve the cleanliness of the outer sidewall of the track 301, thereby achieving the purpose of improving the cleanliness of the photovoltaic cleaning robot.

The track self-cleaning assembly 305 includes a fixed bracket, a strip brush assembly 350 and a strip brush fixed frame 353, wherein the fixed bracket includes a first fixed plate 351 and a second fixed plate 352 arranged in parallel, and the first fixed plate The rear end of 351 extends downwards with a first mounting plate 391, and the rear end of the second fixing plate 352 extends downwards with a second mounting plate 392. The first mounting plate 391 and the second mounting plate 392 are respectively It is fixedly arranged on the outer side wall of the vehicle body 100, that is, the first fixing plate 351 is fixedly connected with the outer side wall of the vehicle body 100 through the first mounting plate 391, and the second fixing plate 352 is connected to the outer side wall of the vehicle body 100 through the second mounting plate 392. The outer wall of the body 100 is fixedly connected, so the firmness of the combination of the first fixing plate 351 and the second fixing plate 352 with the vehicle body 100 can be improved, and the safety and reliability can be improved;

The strip brush assembly 350 is arranged in the strip brush fixing frame 353, one side of the strip brush fixing frame 353 is connected with the first fixing plate 351 by the first fastening screw 354, and the first fastening The screw 354 is covered with a first spring 355, and the first spring 355 is located between the first fixing plate 351 and the brush fixing frame 353, and the other side of the brush fixing frame 353 passes through the second tight The fastening screw 356 is connected with the second fixing plate 352, the second fastening screw 356 is covered with a second spring 357, and the second spring 357 is located between the second fixing plate 352 and the brush fixing frame. 353, that is, by adjusting the fixing block 353 under the cooperation of the first fastening screw 354 and the first spring 355 and the second fastening screw 356 and the second spring 357, the strip brush assembly 350 is arranged on the strip brush fixed In the frame 353 and connected with the fixed bracket.

At the same time, the first fastening screw 354 is tightly connected with the first fixing plate 351 through the first fastening nut 358, so as to improve the firmness of the combination of the first fastening screw 354 and the first fixing plate 351, and the first fastening The screw 354 is tightly connected with the brush fixing frame 353 through the second fastening nut 359, so as to improve the firmness of the combination of the first fastening screw 354 and the brush fixing frame 353; in addition, the second fastening screw 356 passes through The third fastening nut 360 is tightly connected with the second fixed plate 352 to improve the firmness of the combination of the second fastening screw 356 and the first fixed plate 352, and the second fastening screw 356 passes through the fourth fastening nut 361 Fastened with the brush fixing frame 353 to improve the firmness of the combination of the second fastening screw 356 and the fixing frame 353 of the brush, so that the safety and reliability can be improved.

The brush fixing frame 353 includes a first brush fixing plate 371, a second brush fixing plate 372, a third brush fixing plate 373, a fourth brush fixing plate 374 and a fixing block 375. Both ends of the fixing plate 371 are respectively fixedly connected with one end of the third brush fixing plate 371 and one end of the fourth brush fixing plate 374, and the two ends of the second brush fixing plate 372 are respectively connected with the third brush fixing plate 374. The other end of the brush fixing plate 373 and the other end of the fourth brush fixing plate 374 are fixedly connected, and the first brush fixing plate 371, the second brush fixing plate 372, the third brush fixing plate 373, the Four brush fixing plates 374 form an installation space, the brush assembly 350 is installed in the installation space, and the first fastening screws 354 pass through the first through hole 378 on the first fixing plate 351 and the first strip in turn. The second through hole 379 on the brush fixing plate 371 is used to connect the first fixing plate 351 and the first brush fixing plate 371; the second fastening screw 356 passes through the third through hole on the second fixing plate 352 in turn 380 is connected to the fourth through hole 381 on the second brush fixing plate 372, and the second fixing plate 352 is connected to the second brush fixing plate 372; in addition, one end of the fixing block 375 is connected to the first connecting protrusion 376 The first brush fixing plate 371 is fixedly connected, and the other end of the fixing block 375 is fixedly connected to the second brush fixing plate 372 through the second connecting convex portion 377, and the first connecting convex portion 376 and the second connecting The protrusions 377 are integrally formed with the fixing block 375 , so the firmness of the combination of the first connecting protrusion 376 and the second connecting protrusion 377 and the fixing block 375 can be improved.

In addition, the inner side wall of the third brush fixing plate 373 is provided with a first chute 382, the inner side wall of the fourth brush fixing plate 374 is provided with a second chute 383, and the lower side wall of the fixing block 375 is provided with a third chute. Chute 384. At the same time, the brush assembly 350 may include a brush mounting plate 385 and a brush 386. The lower surface of the brush mounting plate 385 is concavely formed in the elongation direction to form a plurality of mounting grooves 388 parallel to each other. The strip brushes 386 are movably installed in the grooves 388, that is, the strip brushes 386 can move freely in the installation grooves 388, and the upper surface of the strip brush mounting plate 385 extends upward along the length direction to form a plurality of limit positions. plate 387, the limiting plate 387 corresponds to the first chute 382, the second chute 383 and the third chute 384 one by one, that is, the two ends of the limiting plate 387 are located at the first in the chute 382 and the second chute 383, and the upper end of the limiting plate 387 is located in the third chute 384, and at the same time, the limiting plate 387 move, while the limit plate 387 moves up and down along the third chute 384, that is, the strip brush assembly 350 moves freely along the first chute 383 and the second chute 384, and moves up and down along the third chute 385 to improve the strip brush assembly 350. The applicability and flexibility of the brush assembly 350 can achieve the purpose of improving the cleaning efficiency of the crawler belt 301 .

Since the first mounting plate 351 and the first mounting plate 391 are integrally formed, the firmness of the combination of the first mounting plate 391 and the first mounting plate 351 can be improved; at the same time, the second mounting plate 352 and the second mounting plate 392 is integrally formed, which can improve the firmness of the combination of the second mounting plate 392 and the second fixing plate 352, thus improving the safety and reliability of the fixing bracket and prolonging the service life of the fixing bracket.

The bearing wheel assembly 304 includes a connection seat 310, a bearing wheel 315, a third fixing plate 313 and a fourth fixing plate 314, wherein:

The connection base 310 includes a first connection support plate 311 and a second connection support plate 312, the first connection support plate 311 is fixedly arranged on the outer side wall of the vehicle body 100, and the second connection support plate 312 One end is fixedly connected to the lower end of the first connecting support plate 311;

The third fixing plate 313 and the fourth fixing plate 314 are arranged in parallel and are located below the second connecting support plate 312, and the inner side wall of the third fixing plate 313 is provided with a plurality of first mounting brackets along the length direction. 111, the third fixing plate 313 is set under the second connecting support plate 312 through the first mounting bracket 111, and the inner side wall of the fourth fixing plate 314 is provided with a plurality of second mounting brackets along the length direction. bracket 112, the fourth fixing plate 314 is arranged below the second connecting support plate 312 through the second mounting bracket 112, that is, the third fixing plate 313 is fixedly arranged on the The bottom of the second connection support plate 312, and the fourth fixed plate 314 is fixedly arranged under the second connection support plate 312 through a plurality of second mounting brackets 112;

A plurality of bearing wheels 315 are arranged between the third fixing plate 313 and the fourth fixing plate 314, and a connecting shaft 316 is fixedly arranged in the bearing wheel 315, and the two ends of the connecting shaft 316 are respectively arranged on the The first fixing hole 317 on the third fixing plate 313 and the second fixing hole 318 on the fourth fixing plate 314 , and the bearing wheel 315 abuts against the inner side wall of the track.

The above-mentioned first connection support plate 311 and the second connection support plate 312 are integrally formed, so the strength of the connection seat 310 can be improved, and the service life of the connection seat 310 can be extended.

The above-mentioned first mounting bracket 111 includes a first mounting portion 121 and a second mounting portion 122, the first mounting portion 121 is fixedly arranged on the inner side wall of the third mounting plate 313, and one end of the second mounting portion 122 fixedly arranged on the upper end of the first installation part 121, and the second installation part 122 is fixedly arranged on the lower surface of the second connecting support plate 312; in addition, the first installation part 121 and the second installation part 122 are It is integrally formed, so the strength of the first mounting bracket 111 can be improved to achieve the purpose of prolonging the service life of the first mounting bracket 111 , and the safety and reliability are improved.

The second mounting bracket 112 includes a third mounting portion 123 and a fourth mounting portion 124, the third mounting portion 123 is fixedly arranged on the inner side wall of the fourth mounting plate 314, and one end of the fourth mounting portion 124 fixedly disposed on the upper end of the third mounting portion 123, and the fourth mounting portion 124 is fixedly disposed on the lower surface of the second connecting support plate 312; in addition, the third mounting portion 123 and the fourth mounting portion 124 are It is integrally formed, so the strength of the second mounting bracket 112 can be improved to achieve the purpose of prolonging the service life of the second mounting bracket 112, and the safety and reliability are improved.

Place the photovoltaic cleaning robot on the edge corner of the photovoltaic array and start the opening operation. By installing a 1080P 140-degree wide-angle night-vision depth camera (that is, an external camera) in front of the top of the photovoltaic cleaning robot's car body 100, as the main channel for external environment perception, the surface image of the photovoltaic panel perceived by the external camera is also That is, RGB images are subjected to semantic segmentation, instance segmentation, or end-to-end learning methods, using deep learning models to extract real-time photovoltaic array cell area or boundary data, without distinguishing between the metal grid lines in the cells and the gaps between cells, all included in Take the photovoltaic array cell area, so that even the photovoltaic array of shingled technology can also cause the extraction area. When the cell area is extracted, the boundary data of the area also needs to be extracted; when the cell area boundary is obtained, the data is image coordinate data at this time, and the area boundary data needs to be projected to match the size of common photovoltaic arrays and expand as feasible area, and updated on the map. Use the depth image of the external camera to identify the edges of the photovoltaic array and obstacles with height differences as obstacles for mapping. In addition, ultrasonic anti-drop modules 400 are installed on both sides of the car body 100 as anti-drop sensors to sense the edges of the photovoltaic array as obstacles in real time and prevent them from falling.

At the same time, the wheel encoder obtains the speed of the crawler drive device 300, and converts the wheel mileage according to the mechanical structure, and then performs tight coupling with the attitude information of the photovoltaic cleaning robot measured by the inertial measurement unit (IMU) as the basic positioning. Use the projected RGB image to extract the boundary data of the cell area and match it with the boundary data of the photovoltaic array cell area in the map coordinate system constructed in real time, calculate the re-projection error, and then obtain the visual mileage that minimizes the re-projection error through nonlinear optimization Finally, the final pose of the photovoltaic cleaning robot can be obtained by fusing the visual mileage and the wheel mileage by extending the Kalman filter, and a global accurate positioning system can be obtained by visual pairing correction assisted positioning.

According to the law of photovoltaic array placement, the long side of most photovoltaic arrays is horizontal. The default setting is to climb to the top of the photovoltaic array after the photovoltaic cleaning robot is started, and then start to plan the navigation points and paths in real time along the horizontal direction, and turn around at the end of the photovoltaic array. Start the next line of horizontal work until the full coverage of the photovoltaic array is completed. The photovoltaic cleaning robot can set the final parking position after completing the operation according to its own needs. The optional terminal parking modes are starting point parking, adjacent corner parking and custom terminal parking.

Finally, it should be noted that: the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand : It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention range.

Claims (13)

A photovoltaic cleaning robot based on visual SLAM, the photovoltaic cleaning robot includes a car body, a roller brush cleaning assembly and a crawler drive device, the crawler drive device is arranged on both sides of the car body, and the photovoltaic cleaning robot is in the Driven by the above-mentioned crawler drive device, it is characterized in that: the front and rear outer walls of the car body are respectively provided with the rolling brush cleaning assembly, and the photovoltaic cleaning robot cleans the photovoltaic panel through the rolling brush cleaning assembly. For cleaning operations, a photosensitive sensor, an anti-drop sensor, a wheel encoder and an inertial measurement unit are arranged on the car body, the photosensitive sensor is arranged on the front side of the top of the car body, and the photosensitive sensor is used to sense the The surface image of the photovoltaic panel in front of the car body, the anti-drop sensors are arranged on the left and right sides of the car body, and are used to sense the edge of the photovoltaic panel under the car body in real time to prevent falling. The encoder is arranged on the crawler driving device, and is used to obtain the rotation speed of the crawler driving device and obtain the wheel mileage, and the inertial measurement unit is arranged on the crawler driving device, and is used to measure the posture of the vehicle body information, and then couple the wheeled mileage and attitude information as the basic positioning of the photovoltaic cleaning robot, and use the surface image of the photovoltaic panel for global auxiliary positioning. The photovoltaic cleaning robot based on visual SLAM according to claim 1, wherein the photosensitive sensor is a camera. The photovoltaic cleaning robot based on visual SLAM according to claim 2, wherein the camera is a 1080P 140-degree wide-angle night vision depth camera. The photovoltaic cleaning robot based on visual SLAM according to any one of claims 1-3, wherein the anti-drop sensor includes four ultrasonic anti-drop modules, and the four ultrasonic anti-drop modules are respectively located in the The front and rear of the left end outer wall of the vehicle body and the front and rear of the right end outer wall of the vehicle body. The photovoltaic cleaning robot based on visual SLAM according to claim 4, wherein the ultrasonic anti-drop module includes an ultrasonic installation and protection frame and an ultrasonic module, and one or more than one of the ultrasonic installation and protection frames are provided with An ultrasonic module, and the ultrasonic installation and protection frame is fixedly arranged on the left and right outer walls of the vehicle body through fastening bolts. The photovoltaic cleaning robot based on visual SLAM according to claim 5, wherein the ultrasonic installation and protection frame includes a first installation board, a connecting board and a second installation board, and the first installation board and the second installation board are all arranged horizontally, the lower end of the connecting plate is fixedly connected to the upper surface of the left end of the first mounting plate, the upper end of the connecting plate is fixedly connected to the lower surface of the left end of the second mounting plate, and the ultrasonic module passes through The mounting posts are arranged on the upper surface of the first mounting plate. The photovoltaic cleaning robot based on visual SLAM according to claim 6, wherein the connecting plate is arranged vertically, and the first mounting plate and the second mounting plate are located on the same side of the connecting plate , the connecting plate is integrally formed with the first mounting plate and the second mounting plate. The photovoltaic cleaning robot based on visual SLAM according to claim 6, characterized in that, the left end and the right end of the ultrasonic module are respectively extended outwards with installation protrusions, and installation holes are arranged in the installation protrusions, the The upper surface of the first installation plate is extended upwards with the installation column, and the installation protrusion is sleeved on the installation column through the installation hole. The photovoltaic cleaning robot based on visual SLAM according to claim 4, wherein the crawler drive device includes a crawler track, a driving wheel, a driven wheel and a load-bearing wheel assembly, and the driving wheel and the driven wheel are respectively located inside the track On both sides of the track, the load-bearing wheel assembly is arranged inside the track and between the driving wheel and the driven wheel, and at the same time, the load-bearing wheel assembly abuts against the inner side wall of the track so that the track is in tension. In the tight state, the track is driven by the drive wheel to drive the photovoltaic robot to walk. The photovoltaic cleaning robot based on visual SLAM according to claim 9, wherein the track driving device further comprises a track guard, and the track guard is arranged above the track, and the two sides of the track guard are A first extension guard and a second extension guard are respectively extended outwards from the ends. The first extension guard is located above the driven wheel and the shape of the first extension is an arc. Two extension plates are located above the driving wheel, and the shape of the second extension guard plate is arc-shaped. The photovoltaic cleaning robot based on visual SLAM according to claim 10, wherein the car body is also provided with a crawler self-cleaning assembly, the crawler self-cleaning assembly is arranged above the crawler driving device, and the crawler The lower end of the self-cleaning component passes through the through hole on the track guard and abuts against the outer side wall of the track, and the outer side wall of the track is cleaned by the track self-cleaning component. The photovoltaic cleaning robot based on visual SLAM according to claim 11, wherein the crawler self-cleaning assembly includes a fixed bracket, a strip brush assembly and a strip brush fixing frame, wherein the fixed bracket includes a first parallel arrangement. A fixed plate and a second fixed plate, the rear end of the first fixed plate extends downwards to provide a first mounting plate, the rear end of the second fixed plate extends downwards to provide a second mounting plate, the first The mounting plate and the second mounting plate are respectively fixed on the outer side wall of the vehicle body; The strip brush assembly is arranged in the strip brush fixing frame, one side of the strip brush fixing frame is connected with the first fixing plate through a first fastening screw, and the first fastening screw is sleeved with a first spring, and the first spring is located between the first fixing plate and the strip brush fixing frame, and the other side of the strip brush fixing frame is connected to the second fixing plate through a second fastening screw, A second spring is sheathed on the second fastening screw, and the second spring is located between the second fixing plate and the brush fixing frame. The photovoltaic cleaning robot based on visual SLAM according to claim 9, wherein the load-bearing wheel assembly includes a connecting seat, load-bearing wheels, a third fixed plate and a fourth fixed plate, wherein: The connection seat includes a first connection support plate and a second connection support plate, the first connection support plate is fixedly arranged on the outer side wall of the vehicle body, and one end of the second connection support plate is connected to the first connection support plate. The lower end of the connecting support plate is fixedly connected; The third fixing plate and the fourth fixing plate are arranged in parallel and are located below the second connecting support plate. The inner side wall of the third fixing plate is provided with a plurality of first mounting brackets along the length direction. The three fixing plates are arranged below the second connecting support plate through the first mounting bracket, the inner side wall of the fourth fixing plate is provided with a plurality of second mounting brackets along the length direction, and the fourth fixing plate passes through The second mounting bracket is arranged under the second connecting support plate; A plurality of load-bearing wheels are arranged between the third fixed plate and the fourth fixed plate, and a connection shaft is fixedly arranged in the load-bearing wheels, and the two ends of the connection shaft are respectively arranged on the third fixed plate The first fixing hole on the first fixing hole and the second fixing hole on the fourth fixing plate, and the load-bearing wheels abut against the inner side wall of the track.

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