WO2024007641A1

WO2024007641A1 - Cleaning robot, photovoltaic tracking system and interactive cooperation method

Info

Publication number: WO2024007641A1
Application number: PCT/CN2023/086251
Authority: WO
Inventors: 于涛; 孙欣; 白亮亮
Original assignee: 湖州丽天智能科技有限公司
Priority date: 2022-07-07
Filing date: 2023-04-04
Publication date: 2024-01-11
Also published as: CN114866018B; CN114866018A

Abstract

Provided in the present application are a cleaning robot, a photovoltaic tracking system and an interactive cooperation method. The cleaning robot comprises: a cleaning apparatus, a walking apparatus, an inclination-angle measurement apparatus, a first communication apparatus and a control apparatus, wherein the first communication apparatus communicates with a photovoltaic tracking system of a photovoltaic panel and acquires an inclination angle of at least part of the photovoltaic tracking system on a cleaning path; and the control apparatus determines whether an inclination angle of the cleaning robot and the inclination angle of the photovoltaic tracking system meet a cleaning condition, and controls the walking apparatus and the cleaning apparatus to execute a cleaning operation. The photovoltaic tracking system is used for adjusting an inclination angle of the photovoltaic panel, and a second communication apparatus thereof sends the inclination angle to the cleaning robot. In the interactive cooperation method for a cleaning robot and a photovoltaic tracking system, by means of acquiring inclination angles of a cleaning robot and a photovoltaic tracking system on a cleaning path, a cleaning action of the cleaning robot is determined or the inclination angle of the photovoltaic tracking system is adjusted.

Description

A cleaning robot, photovoltaic tracking system and interactive collaboration method

Technical field

This application relates to the field of photovoltaic power generation technology, and in particular to a cleaning robot, a photovoltaic tracking system and an interactive collaboration method.

Background technique

Existing large-scale photovoltaic power stations generally install tracking control systems for photovoltaic supports to increase power generation. The tracking control system can rotate the photovoltaic panels so that they remain vertically facing the sun at all times, that is, the photovoltaic panels are at different inclinations at different times. angle. However, the constantly rotating photovoltaic panels will make it difficult for the cleaning robot to clean the photovoltaic panels, because if the tilt angle of two adjacent photovoltaic panels is too different, the connecting bridge may be twisted, or the cleaning robot cannot smoothly cross the gap or Through the bridge; in addition, if the inclination angle of the photovoltaic panel is too large, or the inclination angle between adjacent photovoltaic panels is too different, and the cleaning robot does not know this situation and still cleans it, the cleaning robot may run to the point of interruption. The opening may lead to falling or getting stuck, or the tilt angle of the cleaning robot is too large, causing the cleaning robot to be unable to clean smoothly or even falling from the photovoltaic bracket, thereby damaging the robot. It is also possible that the photovoltaic modules may be damaged due to the above situation. and the bracket is damaged.

Since the cleaning workload of large photovoltaic power plants is large and the cleaning system is required to have a high degree of automation, there is an urgent need for a cleaning robot or photovoltaic tracking system that can identify the above risks and take corresponding measures, as well as corresponding cleaning robots and photovoltaic tracking systems. methods of interaction and collaboration.

Contents of the invention

In view of the above shortcomings and actual needs of the existing technology, the purpose of this application is to provide a cleaning robot that can determine whether the inclination angle of the photovoltaic panel on the cleaning path meets the cleaning conditions, thereby preventing the situation of being unable to clean or damaging the equipment. , as well as the photovoltaic tracking system and the interactive collaboration method between the cleaning robot and the photovoltaic tracking system.

In order to achieve the above objectives, this application provides the following technical solutions.

A cleaning robot for automatically cleaning photovoltaic panels on multiple photovoltaic tracking systems, including: a cleaning device for cleaning the photovoltaic panels; a walking device for walking along a set cleaning path; a first communication device, Used to communicate with the photovoltaic tracking system and obtain the inclination angle of at least part of the photovoltaic tracking system on the cleaning path; a control device used to determine whether the inclination angle of the photovoltaic tracking system meets the cleaning conditions, and when the inclination angle of the photovoltaic tracking system meets the cleaning conditions Under cleaning conditions, the traveling device and the cleaning device are controlled to perform cleaning operations.

In some embodiments, an inclination angle measuring device is further included for measuring the inclination angle of the cleaning robot; the control device also determines whether cleaning conditions are met based on the inclination angle of the cleaning robot.

In some embodiments, the tilt angle measurement device includes an inertial acceleration sensor, and/or a gyroscope.

In some embodiments, a positioning device is further included for determining the real-time position of the cleaning robot on the cleaning path.

In some embodiments, the positioning device includes a walking distance sensor, a GPS sensor, a Wi-Fi positioning system, an ultrasonic sensor, and an RFID identifier matching the RFID tag (RFID refers to radio frequency identification technology) provided on the photovoltaic panel. , at least one or a combination of multiple devices in a two-dimensional code identifier configured to match the two-dimensional code provided on the photovoltaic panel.

In some embodiments, the control device obtains or checks the real-time position of the cleaning robot on the cleaning path by comparing the tilt angle of the cleaning robot with the tilt angles of multiple photovoltaic tracking systems.

This application also provides a photovoltaic tracking system for adjusting the tilt angles of multiple photovoltaic tracking systems, including: a second communication device for communicating with a cleaning robot. When the photovoltaic tracking system is located at the cleaning end of the cleaning robot When on the path, the second communication device sends the tilt angle to the cleaning robot for the cleaning robot to determine whether the cleaning conditions are met.

In some embodiments, the second communication device is further configured to receive an angle adjustment request from the cleaning robot, and the photovoltaic tracking system adjusts the tilt angle of the photovoltaic tracking system according to the angle adjustment request.

In some embodiments, the second communication device is also used to obtain the real-time position of the cleaning robot from the cleaning robot. During the cleaning operation of the cleaning robot, the photovoltaic tracking system also obtains the The real-time power generation of photovoltaic panels before and after cleaning is used to calculate the cleaning effect.

In some embodiments, a cleaning robot sensing device is further included for obtaining or verifying the real-time position of the cleaning robot. During the cleaning operation of the cleaning robot, the photovoltaic tracking system also obtains the photovoltaic panel. The real-time power generation before and after cleaning is used to calculate the cleaning effect.

The application also provides a method for interactive cooperation between a cleaning robot and a photovoltaic tracking system, including the steps of: obtaining the tilt angle of the cleaning robot and its real-time position on the cleaning path; obtaining at least part of the photovoltaic tracking system on the cleaning path. Tilt angle; determine the next action of the cleaning robot based on the acquired tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system; repeat the above three steps at set time intervals until the cleaning robot completes all steps. The cleaning operation of the cleaning path or until the cleaning robot stops the cleaning operation.

In some embodiments, the step of determining the next step of the cleaning robot based on the acquired tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system specifically includes: when any two of the cleaning paths are When the difference in inclination angles of adjacent photovoltaic tracking systems exceeds the second set value, the cleaning robot terminates the cleaning operation; when the difference in inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path The difference does not exceed the second set value, and when the tilt angle of the cleaning robot is greater than the third set value, the cleaning robot suspends the cleaning operation and sends the angle to the photovoltaic tracking system where the cleaning robot is currently located. Adjustment request, the photovoltaic tracking system adjusts the tilt angle after receiving the angle adjustment request; when the tilt angle of the next photovoltaic tracking system on the cleaning path and the photovoltaic tracking where the cleaning robot is currently located When the difference in the tilt angle of the system is not greater than the first set value, the cleaning robot performs the cleaning operation; when the tilt angle of the next photovoltaic tracking system on the cleaning path and the current location of the cleaning robot When the difference in the tilt angle of the photovoltaic tracking system is greater than the first set value but does not exceed the second set value, the cleaning robot suspends the cleaning operation and moves to the next light. The photovoltaic tracking system sends an angle adjustment request, and the next photovoltaic tracking system adjusts the tilt angle after receiving the angle adjustment request.

In some embodiments, the cleaning robot obtains its real-time position on the cleaning path through a positioning device; and/or the cleaning robot obtains the real-time position by comparing its own inclination angle with that of the photovoltaic tracking system. The real-time position of the cleaning robot on the cleaning path.

In some embodiments, during the cleaning operation performed by the cleaning robot, the real-time power generation of the photovoltaic tracking system before and after cleaning is also obtained for calculating the cleaning effect.

This application also provides another cleaning robot for automatically cleaning photovoltaic panels on multiple photovoltaic tracking systems, including: a cleaning device for cleaning the photovoltaic panels; a walking device for walking along a set cleaning path ; The first communication device is used to communicate with the photovoltaic tracking system of the photovoltaic panel, and sends the cleaning path to the photovoltaic tracking system for the photovoltaic tracking system to determine the inclination of the photovoltaic tracking system on the cleaning path. Whether the angle meets the cleaning conditions of the cleaning robot. When the tilt angle of the photovoltaic tracking system does not meet the cleaning conditions, the first communication device requests the photovoltaic tracking system to temporarily adjust the tilt angle to meet the cleaning conditions. ; Control device for controlling the walking device and the cleaning device to perform cleaning operations.

In some embodiments, a positioning device is further included for determining the real-time position of the cleaning robot on the cleaning path; the first communication device is also used for sending the real-time position to the photovoltaic tracking system, It provides the photovoltaic tracking system that is about to be cleaned with priority to adjust the tilt angle, and allows the photovoltaic tracking system to calculate the cleaning effect based on the real-time power generation of its photovoltaic panel before and after cleaning.

This application also provides another method for interactive cooperation between a cleaning robot and a photovoltaic tracking system, including the steps of: obtaining the inclination angle of at least part of the photovoltaic tracking system on the cleaning path of the cleaning robot; determining the obtained inclination of the photovoltaic tracking system Whether the angle meets the cleaning conditions of the cleaning robot; adjust the tilt angle of the photovoltaic tracking system on the cleaning path as needed to meet the cleaning conditions.

In some embodiments, the method further includes the steps of: obtaining the real-time position of the cleaning robot, allowing the photovoltaic tracking system to prioritize the photovoltaic tracking system that is about to be cleaned, and allowing the photovoltaic tracking system to perform cleaning operations according to the photovoltaic tracking system. The real-time power generation before and after calculates the cleaning effect.

In some embodiments, the cleaning condition includes: the difference in the inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path does not exceed a first set value.

In some embodiments, the cleaning condition includes: the inclination angle of any one of the photovoltaic tracking systems on the cleaning path is not greater than a third set value.

Each embodiment of the present application has at least one of the following technical effects:

1. The cleaning robot obtains its own inclination angle by setting up an inclination angle measuring device, and stops cleaning when the inclination angle is too large to prevent the cleaning robot from having insufficient climbing ability to complete the cleaning operation smoothly, and to prevent the cleaning robot from falling off the photovoltaic bracket. fall;

2. The cleaning robot obtains the real-time angle distribution of the photovoltaic tracking system on the cleaning path and detects the abnormal angle difference between adjacent photovoltaic tracking systems to prevent the cleaning robot from crossing the gap between adjacent photovoltaic tracking systems or passing through the phase. The connecting bridge between adjacent photovoltaic tracking systems may become stuck or fall; at the same time, when the angle difference between adjacent photovoltaic tracking systems and the working conditions of the connecting bridge are abnormal, it can provide the photovoltaic tracking system or other upper-level systems with Alarm information;

3. The cleaning robot ensures the safety of the cleaning operation by confirming that the tilt angle of the photovoltaic tracking system on the cleaning path meets the cleaning conditions;

4. When the tilt angle of the photovoltaic tracking system on the cleaning path does not meet the cleaning conditions but does not reach the level of failure, send an angle adjustment request to the photovoltaic tracking system to make the tilt angle of the photovoltaic tracking system meet the cleaning conditions, and the cleaning operation can continue ;

5. Ensure that the cleaning robot accurately obtains its own real-time tilt angle through a high-precision tilt angle measurement device including an inertial sensor;

6. Ensure that the cleaning robot accurately obtains its real-time position on the cleaning path through one or more positioning devices;

7. The photovoltaic tracking system ensures the safety of the cleaning robot's cleaning operation by sending the tilt angle of the photovoltaic tracking system on the cleaning path to the cleaning robot, and adjusting the tilt angle of some photovoltaic tracking systems according to the cleaning robot's request when necessary;

8. The interactive collaboration method between the cleaning robot and the photovoltaic tracking system ensures the safety of the cleaning operation of the cleaning robot through the cooperation between the cleaning robot and the photovoltaic tracking system;

9. By obtaining the real-time power generation of the photovoltaic tracking system before and after cleaning, the cleaning effect can be accurately evaluated to help determine the appropriate cleaning frequency or cleaning strategy.

Description of the drawings

The following will describe the preferred embodiments in a clear and easy-to-understand manner with reference to the accompanying drawings, and further explain the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

Figure 1 is a flow chart of an embodiment of an interactive collaboration method between a cleaning robot and a photovoltaic tracking system;

Figure 2 is a flow chart for determining the next step of the cleaning robot based on the acquired tilt angle.

Detailed ways

In order to explain the embodiments of the present application or the technical solutions in the prior art more clearly, the specific implementation modes of the present application will be described below with reference to the accompanying drawings. The drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings and other implementations can be obtained without exerting creative efforts. Way.

In order to keep the drawings concise, only the parts related to the present application are schematically shown in each figure, and they do not represent the actual structure of the product. In some figures, only one of the components with the same structure or function is schematically illustrated or labeled. In this article, "a" not only means "only one", but can also mean "more than one". As used in this specification and the appended claims, the term "and/or" means and includes any and all possible combinations of one or more of the associated listed items. The terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance.

Unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood on a case-by-case basis.

At present, photovoltaic panel cleaning robots generally lack the collection of information such as the quality of the connection bridges between photovoltaic panels on the cleaning path, the tilt angle of the photovoltaic tracking system, and the tilt angle difference between adjacent photovoltaic tracking systems. If you run it directly without referring to these factors, it is considered that these conditions have been met. Because the above factors are not taken into consideration, the difference in inclination angle between adjacent photovoltaic tracking systems is so large that the connecting bridge is broken or the inclination angle is too large for a specific type of cleaning robot to perform cleaning operations. The cleaning robot cannot know the situation in advance. If it is still running, it will eventually fall from the break or the gap where the tilt angle is too different, or even get stuck in these positions, and then jam the photovoltaic tracking system when the photovoltaic tracking system is running, thereby damaging the photovoltaic tracking system and components; or because of the tilt angle If it is too large, the cleaning robot will fall or have insufficient climbing ability. This application obtains the tilt angle of the cleaning robot and adds interactive collaboration to the photovoltaic tracking system, that is, adding in the consideration of parameters such as the tilt angle of multiple photovoltaic tracking systems, and judging the connection bridge or photovoltaic tracking system between the photovoltaic tracking systems in real time. Is the angle adjustment function normal? The cleaning robot uses this information to determine whether to move forward or terminate the cleaning operation and return to the docking station to reduce the possibility of damage, and at the same time report to the backend maintenance personnel for fault detection. This application can also combine the photovoltaic power generation power of the photovoltaic tracking system before and after cleaning to calculate the cleaning degree, providing data support for the background to determine the cleaning frequency or cleaning strategy.

The photovoltaic tracking system includes photovoltaic panels and a photovoltaic spindle that controls the rotation of the photovoltaic panels. For the sake of clarity, it is specifically stated here that the inclination angle of the photovoltaic tracking system in this application refers to the inclination angle of its photovoltaic panel. The photovoltaic tracking system controls the photovoltaic main axis to adjust the inclination angle, and is provided with a measuring device that senses the inclination angle. The technologies for adjusting and sensing the tilt angle are all existing technologies and will not be described in detail in this application. The cleaning of the photovoltaic tracking system described in this application also refers to the cleaning of the photovoltaic panels of the photovoltaic tracking system. In order to facilitate the cleaning robot to clean the photovoltaic panels where multiple photovoltaic tracking systems independently control the rotation, a connecting bridge is usually set up between two adjacent photovoltaic tracking systems to facilitate the passage of the cleaning robot. When the gap between two adjacent photovoltaic tracking systems is not large and the cleaning robot has a certain spanning ability, the connecting bridge is not required. The connecting bridge has a rotating mechanism or a certain degree of flexibility to accommodate the tilt angle difference between the photovoltaic tracking systems on both sides of it. Regardless of whether a connecting bridge is set up, the angle difference between two adjacent photovoltaic tracking systems cannot be Exceed the set limit so that the cleaning robot can cross it smoothly or ensure that the connecting bridge is not damaged.

Example 1. The cleaning robot provided by this application is used to automatically clean photovoltaic panels of multiple photovoltaic tracking systems. This embodiment includes: a cleaning device for cleaning photovoltaic panels; a walking device for walking along a set cleaning path; and a tilt angle measuring device , used to measure the tilt angle of the cleaning robot; the first communication device is used to communicate with the photovoltaic tracking system and obtain the tilt angle of at least part of the photovoltaic tracking system on the cleaning path; the control device is used to determine the tilt angle of the cleaning robot and the above Whether the tilt angle of some photovoltaic tracking systems meets the cleaning conditions, and when the cleaning conditions are met, the traveling device and cleaning device are controlled to perform cleaning operations.

The specific structures of the cleaning device, walking device, tilt angle measuring device, first communication device and control device can adopt various existing settings in the prior art. For example, the first communication device can use a low-power local area network. The wireless platform (LORA) and communication protocol communicate with the photovoltaic tracking system in accordance with the industry standard serial communication protocol Modbus; and the invention of this application lies in the specific application of the above-mentioned multiple devices and the cooperation between them, so the use of these devices The specific structure and implementation will not be described in detail. The cleaning path is preset by the control device, or set according to the cleaning strategy through other host computers that have communication connections with the cleaning robot. The tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system (that is, the tilt angle of the photovoltaic panel) both refer to their tilt angle relative to the horizontal plane.

The cleaning path consists of multiple adjacent photovoltaic tracking systems. Each photovoltaic tracking system includes at least one planar photovoltaic panel. The photovoltaic panels of the same photovoltaic tracking system rotate at the same time, so the tilt of the photovoltaic panels of the same photovoltaic tracking system The angle is always the same. However, since the rotations of different photovoltaic tracking systems are independent of each other, the tilt angles of different photovoltaic tracking systems are not necessarily the same depending on the specific control strategy of the photovoltaic tracking system. Since there is no difference in the angle of sunlight, under normal circumstances, the difference in tilt angle between different photovoltaic tracking systems will not be too large, making it difficult for the cleaning robot to clean multiple photovoltaic tracking systems located in the same row. possible.

Combined with the cleaning robot connecting aisles between different rows of photovoltaic tracking systems, or combined with the cleaning robot's handling equipment, the same cleaning robot can also be used to clean multiple rows of photovoltaic tracking systems. All photovoltaic tracking systems that need to be cleaned by the same cleaning robot constitute the cleaning robot. Wash the path. During the cleaning process, the cleaning robot can obtain the inclination angle of the current photovoltaic tracking system through its own inclination angle measurement device, and then obtain the inclination angle of the next photovoltaic tracking system on the cleaning path, and then calculate the inclination angle difference. And the cleaning robot's crossing ability is used to know whether it can safely cross from the current photovoltaic tracking system to the next photovoltaic tracking system.

Example 2. As a variation of the first embodiment, the inclination angle measuring device of the cleaning robot may not be provided, for example, when a cleaning robot that can perform cleaning at any angle is used. At this time, the cleaning robot only needs to judge whether the cleaning conditions are met through the tilt angle of the photovoltaic tracking system on the cleaning path.

Example three. Based on the first embodiment, the tilt angle measurement device specifically includes an inertial acceleration sensor or a gyroscope or a combination thereof. The inertial acceleration sensor usually consists of an inertial mass piece and an elastic element. When there is an inclination angle between the inertial acceleration sensor and the horizontal plane, the gravity of the inertial mass piece deforms the elastic element, and the above deformation is directly related to the inclination angle, so the inertial acceleration sensor Can be used to measure the tilt angle of the cleaning robot. Inertial navigation sensors on the market usually include orthogonally arranged multi-axis acceleration sensors. Some high-precision products also include single-axis or multi-axis gyroscopes, single-axis or multi-axis magnetometers and other sensing units. By filtering the measurement data of these sensing units and performing fusion calculations on multiple measurement values, more accurate tilt angle measurements can be obtained. The above-mentioned specific sensing units and filter fusion algorithms are all existing technologies, so they will not be described in detail.

Example 4. On the basis of the foregoing embodiments, the cleaning robot of this embodiment further includes a positioning device for determining the real-time position of the cleaning robot on the cleaning path.

Example 5. On the basis of the fourth embodiment, the positioning device can specifically use a walking distance sensor, a GPS sensor, a Wi-Fi positioning system, an ultrasonic sensor, an RFID identifier that matches the RFID tag set on the photovoltaic panel, and an RFID tag set on the photovoltaic panel. One or more combinations of QR code recognizers configured for QR code matching are used to determine the real-time position of the cleaning robot on the cleaning path. For example, the low-power local area network wireless platform (LORA) mentioned above is a type of Wi-Fi system that can roughly position the cleaning robot. Since photovoltaic tracking systems usually have large dimensions in the length direction, cleaning robots do not have high requirements for positioning accuracy. Positioning requirements can usually be met by any one or a combination of two of the above technical means. The positioning device can be arranged on the walking device or other positions of the cleaning robot. Of course, it can also be done through photovoltaic and A cleaning robot sensing device, such as various proximity switches, is installed on the tracking system or photovoltaic panel to obtain the real-time position of the cleaning robot, and then the cleaning robot obtains it from the photovoltaic tracking system through the first communication device. The real-time position of the cleaning robot refers to which photovoltaic tracking system the cleaning robot is currently located in, or between which two photovoltaic tracking systems it is located, that is, it is completing the bridge crossing action, etc.

Embodiment 6. On the basis of the foregoing embodiments, the control device of the cleaning robot in this embodiment obtains or checks the real-time position of the cleaning robot on the cleaning path by comparing the inclination angle of the cleaning robot with the inclination angles of multiple photovoltaic tracking systems on the cleaning path. Location. As mentioned above, there will be certain differences in the tilt angles between different photovoltaic tracking systems. When using a tilt angle measurement device including a high-precision inertial navigation unit, the angle measurement accuracy of the cleaning robot is sufficient to determine the position of the cleaning robot. For example, when the tilt angle measurement device includes a high-precision gyroscope, the tilt angle measurement accuracy can reach 0.1° level, and the tilt angle difference between different photovoltaic tracking systems can usually reach 1 to 2° or even greater, so cleaning robots Based on its own tilt angle, the tilt angles of all photovoltaic tracking systems on the cleaning path, completed cleaning path data and other information, it can determine its current position on the cleaning path. The above technical means can also be used in conjunction with the positioning device of the cleaning robot to assist in obtaining the current position or verifying the measurement results of the positioning device.

Embodiment 7. The cleaning robot of this embodiment is used to automatically clean multiple photovoltaic tracking systems, including: a cleaning device for cleaning photovoltaic panels of the photovoltaic tracking system; a walking device for walking along a set cleaning path; a first communication device for It communicates with the photovoltaic tracking system and sends the cleaning path to the photovoltaic tracking system, so that the photovoltaic tracking system on the cleaning path can determine whether its tilt angle meets the cleaning conditions of the cleaning robot, and adjust its tilt angle as needed to meet the cleaning conditions; control device , used to control the traveling device and cleaning device to perform cleaning operations. The cleaning robot can also simultaneously send its cleaning conditions to the photovoltaic tracking system through the first communication device, or send its model to the photovoltaic tracking system for it to query the cleaning conditions from the database.

Embodiment 8. On the basis of the seventh embodiment, the cleaning robot of this embodiment further includes a positioning device for determining the real-time position of the cleaning robot on the cleaning path; the first communication device is also used to send the real-time position to the photovoltaic tracking system for The photovoltaic tracking system that is about to be cleaned on the cleaning path promptly determines whether its tilt angle meets the cleaning conditions, and adjusts its tilt angle in a timely manner when necessary. And for the photovoltaic tracking system to calculate the cleaning effect based on the real-time power generation of the photovoltaic panel before and after cleaning.

Example 9. This embodiment is an embodiment of the photovoltaic tracking system provided by this application and is used to adjust the tilt angles of multiple photovoltaic tracking systems. This embodiment includes a second communication device for communicating with the cleaning robot. The photovoltaic tracking system obtains the cleaning path of the cleaning robot from the host computer, or obtains the cleaning path from the cleaning robot through the second communication device. When the photovoltaic tracking system is located at the cleaning robot When on the cleaning path, the tilt angle is sent to the cleaning robot through the second communication device, so that the cleaning robot can determine whether its cleaning conditions are met based on its own tilt angle. The second communication device can be configured to match and communicate with the first communication device of the cleaning robot. The cleaning path of the cleaning robot can be obtained from the cleaning robot or from other host computers. When the cleaning robot is suitable for cleaning at any tilt angle, the cleaning robot only needs to determine whether the cleaning conditions are met based on the tilt angle information obtained from the photovoltaic tracking system.

Example 10. On the basis of the ninth embodiment, the second communication device of this embodiment is also used to receive an angle adjustment request of the cleaning robot, and adjust its own tilt angle according to the angle adjustment request. As described in some embodiments of the cleaning robot above, it can be known based on the inclination angle of the photovoltaic tracking system, the inclination angle of the cleaning robot itself, and the inclination angle difference between adjacent photovoltaic tracking systems, whether the current state of the cleaning path is There are faults or abnormalities that require alarm and request for intervention, whether normal cleaning operations can be performed, or normal cleaning operations cannot be performed but no faults or abnormalities requiring intervention have occurred. In the last case, the cleaning robot can pause the cleaning operation and send an angle adjustment request to the photovoltaic tracking system, requesting to fine-tune the tilt angle of part of the photovoltaic tracking system to meet the requirements of normal cleaning operations. After the relevant photovoltaic tracking system responds to the request and adjusts its tilt angle, the cleaning robot can resume cleaning operations. Since cleaning operations are infrequent, the current photovoltaic tracking system can resume normal operation after the cleaning robot moves to the next photovoltaic tracking system. Therefore, the above temporary angle adjustment will not significantly affect the normal power generation operation of the photovoltaic tracking system.

Example 11. Based on the ninth or tenth embodiment, the second communication device of this embodiment is also used to obtain the real-time position of the cleaning robot from the cleaning robot, and when the cleaning robot performs the cleaning operation During the process, the photovoltaic tracking system also obtains the real-time power generation of the photovoltaic panels before and after cleaning, which is used to calculate the cleaning effect.

Example 12. On the basis of the ninth, tenth or eleventh embodiment, the photovoltaic tracking system of this embodiment also includes a cleaning robot sensing device for obtaining or checking the real-time position of the cleaning robot. During the cleaning operation of the cleaning robot, the photovoltaic The tracking system is also used to calculate the cleaning effect by obtaining the real-time power generation of photovoltaic panels before and after cleaning. That is to say, the photovoltaic tracking system can either obtain its real-time position from the cleaning robot through the second communication device, or it can detect and obtain the real-time position of the cleaning robot by setting up a sensing device such as a proximity switch, and detect and obtain the real-time position of the cleaning robot according to the position of the cleaning robot during the cleaning operation. The real-time location information knows whether a specific photovoltaic panel has not been cleaned or whether it has been cleaned, and accordingly the real-time power generation power of the photovoltaic panel before and after cleaning is obtained to calculate the cleaning effect. When photovoltaic panels are heavily dusted, the real-time power generation before and after cleaning will change significantly. Based on these data, the most economical and effective cleaning strategy can be determined.

Embodiment 13. As shown in Figure 1, this embodiment is an embodiment of the interactive cooperation method between the cleaning robot and the photovoltaic tracking system provided by the present application. This embodiment can be implemented by the cleaning robot or the controller of each photovoltaic tracking system, or a certain part of the photovoltaic power station. Control system implementation. This embodiment includes steps:

S100. The cleaning robot obtains its own tilt angle;

S200. Obtain the inclination angle of at least part of the photovoltaic tracking system on the cleaning path of the cleaning robot;

S300. Determine the next action of the cleaning robot based on the obtained tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system;

S400. Repeat the above three steps at set time intervals until the cleaning robot completes the cleaning operation of the cleaning path or until the cleaning robot terminates the cleaning operation.

In step S200, this method can obtain the inclination angles of all photovoltaic tracking systems on the cleaning path of the cleaning robot at once, or can only obtain the inclination angles of the part of the photovoltaic tracking systems closest to the cleaning robot on the cleaning path, that is, the ones that are about to be cleaned. The tilt angle of part of the photovoltaic tracking system, and the tilt angle of the remaining photovoltaic tracking system is gradually obtained during the subsequent cleaning process. Similarly, if the cleaning robot is suitable for cleaning at any tilt angle, step S100 can be omitted, and in step S100 In S300, the next action of the cleaning robot is determined only based on the tilt angle of the photovoltaic tracking system on the cleaning path.

Example 14. Based on Embodiment 13, as shown in Figure 2, step S300 of this embodiment specifically includes the following steps:

S310. When the difference in the inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path exceeds the second set value J, it can be determined that the connecting bridge there is damaged or cannot be safely passed, and the cleaning robot terminates the cleaning operation and alarms and request human intervention;

S320. When the tilt angle of the cleaning robot is greater than the third set value K, the cleaning robot cannot safely perform the cleaning operation due to its own capabilities. The cleaning robot suspends the cleaning operation and sends an angle adjustment request to the current photovoltaic tracking system. The photovoltaic tracking system Adjust its tilt angle after receiving an angle adjustment request;

S330. When the difference between the inclination angle of the next photovoltaic tracking system on the cleaning path and the inclination angle of the photovoltaic tracking system where the cleaning robot is currently located is not greater than the first set value I, the cleaning robot can pass safely and the cleaning robot performs the cleaning operation. ; When the difference between the inclination angle of the next photovoltaic tracking system on the cleaning path and the inclination angle of the photovoltaic tracking system where the cleaning robot is currently located is greater than the first set value I but does not exceed the second set value J, cleaning is not satisfied. When the condition reaches the point where the connecting bridge may have been damaged, the cleaning robot suspends the cleaning operation and sends an angle adjustment request to the current or next photovoltaic tracking system. The corresponding photovoltaic tracking system adjusts its tilt angle after receiving the angle adjustment request. , so that the difference in the above-mentioned tilt angle is not greater than the first set value I.

Specifically, the cleaning robot communicates with the photovoltaic tracking system on the cleaning path, obtains the tilt angle of some or all photovoltaic tracking systems on the cleaning path every 1 second, and collects it into a data table. For example, at time T ₁ : the tilt angle of photovoltaic tracking system No. 1 is z ₁ , the tilt angle of photovoltaic tracking system No. 2 is z ₂ , the tilt angle of photovoltaic tracking system No. 3 is z ₃ ,..., photovoltaic tracking system No. n The tilt angle of the system is z _n . Adjacent PV tracking systems are connected using connecting bridges. In step S310, if the inclination angles of adjacent photovoltaic tracking systems, such as z _n and z _n-1, are too different, the connecting bridge may be damaged, or the cleaning robot may fall or get stuck when crossing over. .

Therefore, in step S310, it is necessary to calculate the inclination angle difference s ₁ =|z ₂ –z ₁ | of the No. 1 and No. 2 photovoltaic tracking systems at time T ₁ and the inclination angle difference of the No. 2 and No. 3 photovoltaic tracking systems. s ₂ = |z ₃ –z ₂ |, the angle difference between n-1 and n photovoltaic tracking systems s _n-1 = |z _n –z _n-1 |. That is, a difference table T [s ₁ , s ₂ , s ₃ ,..., s _n-1 ] is calculated at each set time. According to the acceptable torsion angle of the connecting bridge, combined with the maximum tilt angle difference that the cleaning robot can successfully span, determine the first setting value I; or in other words, the tilt angle difference between adjacent photovoltaic tracking systems does not exceed the first setting Only when the value is I can the normal function of the connecting bridge be ensured and the cleaning robot can cross it smoothly. And based on the torsion angle at which the connecting bridge may break, combined with the inclination angle difference at which the cleaning robot may fall or get stuck when crossing, determine the second set value J; or, in other words, the inclination angle difference between adjacent photovoltaic tracking systems. When the second set value J is exceeded, the connecting bridge may be deformed and broken, or the cleaning robot may fall and get stuck.

At the same time, the data of the difference table T [s ₁ , s ₂ , s ₃ ,..., _sn-1 ] at time T ₁ is compared with the second set value J. When s _i >J (i=1~n-1), it is considered that the difference in tilt angle between adjacent photovoltaic tracking systems is too large, which has caused excessive deformation or breakage of the connecting bridge, or the angle adjustment function of the photovoltaic tracking system has become abnormal. ; If the cleaning robot is running, it will stop the cleaning operation immediately, return to the docking station if possible, and report it to the background maintenance personnel for fault inspection. If the cleaning robot is not running, subsequent cleaning operations will be canceled and reported to background maintenance personnel for fault inspection.

Further, if the situation in step S310 does not occur, step S320 is used to determine whether the inclination angle r of the cleaning robot itself is greater than the third set value K. The third set value K is the maximum inclination angle of the cleaning robot suitable for cleaning. The third setting value K is related to the specific structure and performance parameters of the cleaning robot. If the tilt angle r of the cleaning robot is greater than the third set value K, the cleaning task will not be performed. If it is running, it will stop running and return to the docking station, or the cleaning task will be suspended and the current photovoltaic tracking system will be requested to adjust its tilt angle. Because when the inclination angle of the cleaning robot itself is too large, it will cause the walking device to get stuck or the climbing ability to decrease, causing malfunction. Usually the third set value K is related to the performance of the cleaning robot. When the design parameters of the cleaning robot allow it to perform cleaning operations at a large tilt angle, or when the cleaning robot is suitable for performing cleaning operations at any cleaning tilt angle, that is, the third set value K is greater than or equal to what may occur in the photovoltaic tracking system. When the tilt angle is the maximum, there is no need to perform the judgment in step S320.

Further, if the situation in step S310 and step S320 does not occur, in step S330, combined with the above information, the difference table T[s ₁ , s ₂ , s ₃ ,..., s _n at time T ₁ is generated _-1 ] data Compare with the first set value I. When s _i >I (i=1～n-1), that is, the difference in inclination angle of adjacent photovoltaic tracking systems has tended to the situation where the connecting bridge is broken or the cleaning robot may fall (that is, it is close to the second set value J ), the cleaning robot immediately stops the cleaning operation and communicates with the current or next photovoltaic tracking system to inform the situation and send an angle adjustment request; the corresponding photovoltaic tracking system controls its photovoltaic panel to adjust the angle and waits for the above-mentioned tilt angle difference to return to normal Then allow the cleaning robot to perform cleaning operations, which can effectively prevent the connecting bridge from breaking and the cleaning robot from falling or getting stuck. Finally, when the difference in tilt angles of adjacent photovoltaic tracking systems is less than the first set value I, the cleaning robot can perform the cleaning operation normally.

Example 15. Based on the thirteenth or fourteenth embodiment, in this embodiment, the cleaning robot obtains the real-time position on the cleaning path through the positioning device; or the cleaning robot can also track all the photovoltaics on the cleaning path through its own tilt angle and The real-time tilt angle comparison of the system can obtain the real-time position of the cleaning robot on the cleaning path; the above two methods can also be combined to determine the real-time position of the cleaning robot through mutual verification. The real-time position of the cleaning robot refers to which photovoltaic tracking system the cleaning robot is on, or when the cleaning robot crosses the gap or connecting bridge between two photovoltaic tracking systems, the real-time position refers to which photovoltaic tracking system the cleaning robot is between. For a specific method of obtaining the real-time position of the cleaning robot by comparing the positioning device and the tilt angle, see the aforementioned cleaning robot embodiment.

Example 16. Based on the thirteenth, fourteenth or fifteenth embodiment, in this embodiment, when the cleaning robot performs the cleaning operation, the cleaning robot or the photovoltaic tracking system also obtains the real-time power generation of the photovoltaic panel before and after cleaning, using To calculate the cleaning effect. It can be acquired one or more times before cleaning and one or more times after cleaning. When multiple data are acquired, the cleaning effect can be calculated more accurately by averaging or curve fitting. By calculating the cleaning effect, the degree of dust accumulation and power generation reduction of photovoltaic panels under a specific cleaning frequency can be collected. The calculation results can be used to determine and adjust the cleaning frequency or cleaning strategy. For example, in dusty seasons or areas, increase the amount appropriately based on the calculation results. Cleaning frequency.

Example 17. The interactive cooperation method between a cleaning robot and a photovoltaic tracking system in this embodiment includes the steps of: obtaining the tilt angle of at least part of the photovoltaic tracking system on the cleaning path of the cleaning robot; and determining whether the obtained tilt angle of the photovoltaic tracking system meets the cleaning conditions of the cleaning robot. ; Adjust the tilt angle of the photovoltaic tracking system on the cleaning path as needed to meet the cleaning conditions. The difference between this embodiment and Embodiment 13 is that the cleaning robot does not need to determine whether the cleaning path meets the cleaning conditions. Instead, the photovoltaic tracking system on the cleaning path monitors its inclination angle in real time during the cleaning process, and detects when the inclination angle does not meet the cleaning requirements. The robot's cleaning conditions are automatically adjusted in advance. When the cleaning conditions are not met, the photovoltaic tracking system can notify the cleaning robot to suspend the cleaning operation and resume the cleaning operation after the adjustment is completed.

Example 18. On the basis of Embodiment 17, this embodiment also includes the steps of: obtaining the real-time position of the cleaning robot, so that the photovoltaic tracking system to be cleaned can determine whether their tilt angle meets the cleaning conditions, and adjust it in time as needed; and The photovoltaic tracking system calculates the cleaning effect based on the real-time power generation of photovoltaic panels before and after cleaning. The calculation method of this embodiment is similar to that of Embodiment 11.

Example 19. Based on the seventeenth or eighteenth embodiment, the cleaning conditions of this embodiment specifically include: the difference in the inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path does not exceed the first set value I. For the specific setting method of the first setting value I, please refer to Embodiment 14. When the real-time position of the cleaning robot is obtained at the same time, the cleaning conditions can also reduce the requirements, that is, at least meet: the difference in tilt angle between the photovoltaic tracking system to be cleaned on the cleaning path and the photovoltaic tracking system where the cleaning robot is currently located does not exceed At the first setting value I, the cleaning robot can continue to perform cleaning operations. If there are photovoltaic tracking systems on the cleaning path that do not meet the above conditions, the cleaning angles of these photovoltaic tracking systems can be adjusted simultaneously during the cleaning operation so that they meet the cleaning conditions before the cleaning robot arrives.

Example 20. On the basis of Embodiment 17, 18 or 19, the cleaning conditions of this embodiment also include: the inclination angle of any photovoltaic tracking system on the cleaning path is not greater than the third set value K. For the specific setting method of the third setting value K, please refer to Embodiment 14. Similarly, as described in Embodiment 19, when the real-time position of the cleaning robot is obtained at the same time, the above cleaning conditions can also reduce the requirements, that is, as long as the tilt angle of the photovoltaic tracking system to be cleaned meets the requirements, the cleaning operation can be continued.

The above are only the preferred embodiments of the present application and the technical principles used therein. Various obvious changes, readjustments and substitutions can be made without departing from the concept of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. this application It can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of this application. The above embodiments and features in the embodiments may be combined with each other without conflict.

Claims

A cleaning robot used to automatically clean photovoltaic panels on multiple photovoltaic tracking systems, which is characterized by including:

Cleaning device for cleaning the photovoltaic panel;

Walking device, used to walk along the set cleaning path;

A first communication device configured to communicate with the photovoltaic tracking system and obtain the inclination angle of at least part of the photovoltaic tracking system on the cleaning path;

A control device used to determine whether the inclination angle of the photovoltaic tracking system meets the cleaning conditions, and to control the walking device and the cleaning device to perform cleaning operations when the cleaning conditions are met.
The cleaning robot according to claim 1, characterized in that:

It also includes an inclination angle measuring device for measuring the inclination angle of the cleaning robot;

The control device also determines whether cleaning conditions are met based on the tilt angle of the cleaning robot.
The cleaning robot according to claim 2, characterized in that:

The tilt angle measuring device includes an inertial acceleration sensor and/or a gyroscope.
The cleaning robot according to any one of claims 1 to 3, characterized in that,

It also includes a positioning device for determining the real-time position of the cleaning robot on the cleaning path.
The cleaning robot according to claim 4, characterized in that:

The positioning device includes a walking distance sensor, a GPS sensor, a Wi-Fi positioning system, an ultrasonic sensor, an RFID identifier that matches the RFID tag set on the photovoltaic panel, and a QR code that matches the photovoltaic panel. At least one or a combination of multiple devices in the provided two-dimensional code recognizer.
The cleaning robot according to claim 2 or 3, characterized in that,

The control device obtains or checks the real-time position of the cleaning robot on the cleaning path by comparing the tilt angle of the cleaning robot with the tilt angles of multiple photovoltaic tracking systems.
A cleaning robot used to automatically clean photovoltaic panels on multiple photovoltaic tracking systems, which is characterized by including:

Cleaning device for cleaning the photovoltaic panel;

Walking device, used to walk along the set cleaning path;

The first communication device is used to communicate with the photovoltaic tracking system of the photovoltaic panel, and sends the cleaning path to the photovoltaic tracking system, so that the photovoltaic tracking system can determine the inclination angle of the photovoltaic tracking system on the cleaning path. Whether the cleaning conditions of the cleaning robot are met; when the tilt angle of the photovoltaic tracking system does not meet the cleaning conditions, the first communication device requests the photovoltaic tracking system to temporarily adjust the tilt angle to meet the cleaning conditions;

A control device used to control the walking device and the cleaning device to perform cleaning operations.
The cleaning robot according to claim 7, characterized in that:

It also includes a positioning device for determining the real-time position of the cleaning robot on the cleaning path;

The first communication device is also used to send the real-time position of the cleaning robot to the photovoltaic tracking system, so that the photovoltaic tracking system can calculate the cleaning effect based on the real-time power generation before and after cleaning.
A photovoltaic tracking system for adjusting the tilt angle of photovoltaic panels, which is characterized by including:

The second communication device is used to communicate with the cleaning robot. When the photovoltaic tracking system is located on the cleaning path of the cleaning robot, the second communication device sends the tilt angle to the cleaning robot for the The cleaning robot determines whether the cleaning conditions are met.
The photovoltaic tracking system according to claim 9, characterized in that:

The second communication device is also used to obtain the real-time position of the cleaning robot from the cleaning robot. During the cleaning operation of the cleaning robot, the photovoltaic tracking system also obtains the real-time power generation power before and after cleaning, using To calculate the cleaning effect.
The photovoltaic tracking system according to claim 9, characterized in that:

It also includes a cleaning robot sensing device for obtaining or checking the real-time position of the cleaning robot. During the cleaning operation of the cleaning robot, the photovoltaic tracking system also obtains the real-time power generation of the photovoltaic panel before and after cleaning. Power, used to calculate cleaning effect.
An interactive collaboration method between a cleaning robot and a photovoltaic tracking system, which is characterized by including the steps:

Obtain the tilt angle and real-time position of the cleaning robot on the cleaning path;

Obtaining the tilt angle of at least part of the photovoltaic tracking system on the cleaning path;

Determine the next action of the cleaning robot according to the obtained tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system;

Repeat the above three steps at set time intervals until the cleaning robot completes the cleaning operation of the cleaning path or until the cleaning robot stops the cleaning operation.
The cleaning robot and photovoltaic tracking system interactive cooperation method according to claim 12, characterized in that:

The step of determining the next step of the cleaning robot based on the acquired tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system specifically includes:

When the difference in the inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path exceeds the second set value, the cleaning robot terminates the cleaning operation;

When the difference in the inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path does not exceed the second set value, and when the inclination angle of the cleaning robot is greater than the third set value, the The cleaning robot suspends the cleaning operation and sends an angle adjustment request to the photovoltaic tracking system where the cleaning robot is currently located. The photovoltaic tracking system adjusts the tilt angle after receiving the angle adjustment request;

When the difference between the inclination angle of the next photovoltaic tracking system on the cleaning path and the inclination angle of the photovoltaic tracking system where the cleaning robot is currently located is not greater than the first set value, the cleaning robot performs cleaning operate;

When the difference between the inclination angle of the next photovoltaic tracking system on the cleaning path and the inclination angle of the photovoltaic tracking system where the cleaning robot is currently located is greater than the first set value but does not exceed the second When setting the value, the cleaning robot suspends the cleaning operation and sends an angle adjustment request to the photovoltaic tracking system where the cleaning robot is currently located or the next photovoltaic tracking system. After receiving the angle adjustment request, the photovoltaic tracking system Adjust the tilt angle so that the difference in tilt angle between the photovoltaic tracking system where the cleaning robot is currently located and the next photovoltaic tracking system is not greater than the first set value.
The cleaning robot and photovoltaic tracking system interactive cooperation method according to claim 12, characterized in that:

The cleaning robot obtains its real-time position on the cleaning path through a positioning device;

And/or, the cleaning robot obtains the real-time position of the cleaning robot on the cleaning path by comparing its own tilt angle with the tilt angle of the photovoltaic tracking system.
The interactive cooperation method between a cleaning robot and a photovoltaic tracking system according to any one of claims 12 to 14, characterized in that:

During the cleaning operation of the cleaning robot, the real-time power generation power of the photovoltaic tracking system before and after cleaning is also obtained for calculating the cleaning effect.
An interactive collaboration method between a cleaning robot and a photovoltaic tracking system, which is characterized by including the steps:

Obtaining the tilt angle of at least part of the photovoltaic tracking system on the cleaning path of the cleaning robot;

Determine whether the obtained tilt angle of the photovoltaic tracking system meets the cleaning conditions of the cleaning robot;

Adjust the tilt angle of the photovoltaic tracking system on the cleaning path as needed to meet the cleaning conditions.
The cleaning robot and photovoltaic tracking system interactive cooperation method according to claim 16, characterized in that:

It also includes the steps of: obtaining the real-time position of the cleaning robot, allowing the photovoltaic tracking system to be cleaned to preferentially adjust the tilt angle, and allowing the photovoltaic tracking system to calculate the cleaning effect based on the real-time power generation power before and after cleaning.
The cleaning robot and photovoltaic tracking system interactive cooperation method according to claim 16, characterized in that:

The cleaning conditions include: the difference in the inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path does not exceed the first set value.
The interactive cooperation method between a cleaning robot and a photovoltaic tracking system according to any one of claims 16 to 18, characterized in that:

The cleaning conditions include: the inclination angle of any one of the photovoltaic tracking systems on the cleaning path is not greater than the third set value.