Nothing Special   »   [go: up one dir, main page]

WO2022267336A1 - Robot de nettoyage photovoltaïque à base de slam visuel - Google Patents

Robot de nettoyage photovoltaïque à base de slam visuel Download PDF

Info

Publication number
WO2022267336A1
WO2022267336A1 PCT/CN2021/133306 CN2021133306W WO2022267336A1 WO 2022267336 A1 WO2022267336 A1 WO 2022267336A1 CN 2021133306 W CN2021133306 W CN 2021133306W WO 2022267336 A1 WO2022267336 A1 WO 2022267336A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
photovoltaic
cleaning robot
track
installation
Prior art date
Application number
PCT/CN2021/133306
Other languages
English (en)
Chinese (zh)
Inventor
吴清健
陈应洪
Original Assignee
深圳怪虫机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳怪虫机器人有限公司 filed Critical 深圳怪虫机器人有限公司
Publication of WO2022267336A1 publication Critical patent/WO2022267336A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to a photovoltaic cleaning robot based on visual SLAM.
  • the photovoltaic mobile robot works autonomously, it needs to rely on the detection device to judge its position.
  • 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.
  • 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.
  • a photovoltaic cleaning robot based on visual SLAM 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.
  • 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
  • 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:
  • 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 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 photo
  • 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.
  • 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.
  • installation e.g., 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.
  • 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.
  • 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
  • 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
  • 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 .
  • 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.
  • 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.
  • the ultrasonic installation and protection frame is fixed by fastening bolts.
  • 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 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 is arranged on the first mounting column 402.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • 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.
  • the strip brush assembly 350 is arranged on the strip brush fixed In the frame 353 and connected with the fixed bracket.
  • 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;
  • 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.
  • 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
  • the lower side wall of the fixing block 375 is provided with a third chute. Chute 384.
  • 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.
  • 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 .
  • 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:
  • 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.
  • 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.
  • 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.
  • the photovoltaic cleaning robot Place the photovoltaic cleaning robot on the edge corner of the photovoltaic array and start the opening operation.
  • a 1080P 140-degree wide-angle night-vision depth camera that is, an external camera
  • 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.
  • 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.
  • 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.
  • 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.
  • IMU inertial measurement unit
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un robot de nettoyage photovoltaïque à base de SLAM visuel. Le robot de nettoyage photovoltaïque comprend un corps de robot (100), un ensemble de nettoyage à brosse roulante (200), et un dispositif d'entraînement de piste continue (300) ; le corps de robot (100) est pourvu d'un capteur photosensible, d'un capteur anti-chute, d'un codeur de roue et d'une unité de mesure inertielle ; le capteur photosensible est disposé sur le côté avant de la partie supérieure du corps de robot (100) ; le capteur photosensible est utilisé pour détecter une image de surface d'un panneau photovoltaïque devant le corps de robot (100) ; le capteur anti-chute est utilisé pour détecter les bords d'un panneau photovoltaïque sous le corps de robot (100) pour empêcher la chute ; le codeur de roue est utilisé pour acquérir la vitesse de rotation du dispositif d'entraînement de piste continue (300) et obtenir un kilométrage de roue ; et l'unité de mesure inertielle est disposée sur le dispositif d'entraînement de piste continue (300) et est utilisée pour mesurer des informations de pose du corps de robot (100), coupler le kilométrage de roue et des informations de pose pour le positionnement de base du robot de nettoyage photovoltaïque, et réaliser un positionnement auxiliaire global à l'aide des images de surface des panneaux photovoltaïques. Le robot de nettoyage peut améliorer le degré d'automatisation et l'applicabilité pour réduire les coûts de main-d'œuvre et d'entretien de la centrale électrique.
PCT/CN2021/133306 2021-06-20 2021-11-25 Robot de nettoyage photovoltaïque à base de slam visuel WO2022267336A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110682341.1 2021-06-20
CN202110682341.1A CN113414157A (zh) 2021-06-20 2021-06-20 一种基于视觉slam的光伏清洁机器人

Publications (1)

Publication Number Publication Date
WO2022267336A1 true WO2022267336A1 (fr) 2022-12-29

Family

ID=77789219

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/133306 WO2022267336A1 (fr) 2021-06-20 2021-11-25 Robot de nettoyage photovoltaïque à base de slam visuel

Country Status (2)

Country Link
CN (1) CN113414157A (fr)
WO (1) WO2022267336A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116360467A (zh) * 2023-06-01 2023-06-30 中国科学院自动化研究所 光伏板列无人清扫装置自主巡行系统及自主巡行方法
CN117439534A (zh) * 2023-12-20 2024-01-23 厦门蓝旭科技有限公司 一种基于视觉导航移动的清洗机器人及其导航系统
CN118392070A (zh) * 2024-04-23 2024-07-26 苏州鑫瀚杰精密机械科技有限公司 一种高精度三维视觉测量装置及其测量系统

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113414157A (zh) * 2021-06-20 2021-09-21 深圳怪虫机器人有限公司 一种基于视觉slam的光伏清洁机器人
WO2023075687A2 (fr) * 2021-10-29 2023-05-04 National University Of Singapore Manipulation et alignement de robot
CN118699020A (zh) * 2024-08-27 2024-09-27 杭州际峰智能科技有限公司 一种大角度作业的光伏清洁机器人

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160033615A (ko) * 2014-09-16 2016-03-28 성균관대학교산학협력단 태양광 패널용 세척 로봇 및 이를 이용한 태양광 패널의 세척방법
CN106379406A (zh) * 2016-11-17 2017-02-08 浙江国自机器人技术有限公司 一种移动设备及光伏组件清洗机器人
US20180241343A1 (en) * 2016-09-21 2018-08-23 Suzhou Radiant Photovoltaic Technology Co., Ltd. Solar panel cleaning robot
CN109379040A (zh) * 2018-11-26 2019-02-22 武汉理工大学 基于机器视觉的光伏电站巡检清洁无人机及其清洁方法
CN109625109A (zh) * 2019-01-10 2019-04-16 深圳先进储能技术有限公司 一种用于清洁光伏组件表面的机器人
CN209448698U (zh) * 2019-01-04 2019-09-27 东莞市旗胜光电有限公司 一种光伏组件清洁及检测的自动机器人
CN112476433A (zh) * 2020-11-23 2021-03-12 深圳怪虫机器人有限公司 一种基于识别阵列边界的移动机器人定位方法
CN113414157A (zh) * 2021-06-20 2021-09-21 深圳怪虫机器人有限公司 一种基于视觉slam的光伏清洁机器人

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012139792A (ja) * 2011-01-05 2012-07-26 Mitsui Eng & Shipbuild Co Ltd 清掃ロボットシステム及びその制御方法
CN203473042U (zh) * 2013-09-27 2014-03-12 森新产业（中国）有限公司 履带式行走装置及履带式翻堆机
WO2015199198A1 (fr) * 2014-06-25 2015-12-30 株式会社未来機械 Robot automoteur
CN107032086B (zh) * 2017-06-08 2019-03-08 郑州旭飞光电科技有限公司 玻璃基板输送系统及用于清洁输送皮带的清洁装置
KR20190130941A (ko) * 2018-05-15 2019-11-25 안재욱 태양광 패널 청소 로봇 시스템
CN208635291U (zh) * 2018-06-26 2019-03-22 青岛海尔空调电子有限公司 一种保护套、传感器及空调
US11500075B2 (en) * 2019-02-01 2022-11-15 Zoox, Inc. Identifying and/or removing ghost detections from lidar sensor output
CN110882968B (zh) * 2019-11-22 2024-10-25 深圳怪虫机器人有限公司 一种光伏清洁机器人

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160033615A (ko) * 2014-09-16 2016-03-28 성균관대학교산학협력단 태양광 패널용 세척 로봇 및 이를 이용한 태양광 패널의 세척방법
US20180241343A1 (en) * 2016-09-21 2018-08-23 Suzhou Radiant Photovoltaic Technology Co., Ltd. Solar panel cleaning robot
CN106379406A (zh) * 2016-11-17 2017-02-08 浙江国自机器人技术有限公司 一种移动设备及光伏组件清洗机器人
CN109379040A (zh) * 2018-11-26 2019-02-22 武汉理工大学 基于机器视觉的光伏电站巡检清洁无人机及其清洁方法
CN209448698U (zh) * 2019-01-04 2019-09-27 东莞市旗胜光电有限公司 一种光伏组件清洁及检测的自动机器人
CN109625109A (zh) * 2019-01-10 2019-04-16 深圳先进储能技术有限公司 一种用于清洁光伏组件表面的机器人
CN112476433A (zh) * 2020-11-23 2021-03-12 深圳怪虫机器人有限公司 一种基于识别阵列边界的移动机器人定位方法
CN113414157A (zh) * 2021-06-20 2021-09-21 深圳怪虫机器人有限公司 一种基于视觉slam的光伏清洁机器人

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116360467A (zh) * 2023-06-01 2023-06-30 中国科学院自动化研究所 光伏板列无人清扫装置自主巡行系统及自主巡行方法
CN116360467B (zh) * 2023-06-01 2023-08-15 中国科学院自动化研究所 光伏板列无人清扫装置自主巡行系统及自主巡行方法
CN117439534A (zh) * 2023-12-20 2024-01-23 厦门蓝旭科技有限公司 一种基于视觉导航移动的清洗机器人及其导航系统
CN117439534B (zh) * 2023-12-20 2024-03-22 厦门蓝旭科技有限公司 一种基于视觉导航移动的清洗机器人及其导航系统
CN118392070A (zh) * 2024-04-23 2024-07-26 苏州鑫瀚杰精密机械科技有限公司 一种高精度三维视觉测量装置及其测量系统

Also Published As

Publication number Publication date
CN113414157A (zh) 2021-09-21

Similar Documents

Publication Publication Date Title
WO2022267336A1 (fr) Robot de nettoyage photovoltaïque à base de slam visuel
US10498288B2 (en) Waterless cleaning system and method for solar trackers using an autonomous robot
US9655292B2 (en) Methods of making photovoltaic arrays and rail systems
US10797636B2 (en) Waterless cleaning system and method for solar trackers using an autonomous robot
CN106873587B (zh) 用于太阳能面板清扫机器人的导航系统及其导航方法
JP6409252B2 (ja) ソーラーパネル清掃装置
CN214315184U (zh) 一种光伏电站清洁机器人
WO2018145631A1 (fr) Dispositif de positionnement de robot de nettoyage de panneau solaire et son procédé de positionnement
CN212313502U (zh) 一种行走式无人洗车设备
CN108111118B (zh) 一种光伏组件清扫机器人及其控制方法
US11201583B2 (en) Waterless cleaning system and method for solar trackers using an autonomous robot
CN111547015A (zh) 一种行走式无人洗车设备
CN214918506U (zh) 一种可自动返航以及续航的光伏清洁机器人
CN216460346U (zh) 一种基于视觉slam的光伏清洁机器人
CN117026803A (zh) 一种桥梁结构数据检测收集装置及方法
WO2022156356A1 (fr) Appareil de détection et de localisation de haute précision pour détecter un ensemble photovoltaïque
CN110000816B (zh) 一种巡线机器人新型充电方法
CN210910043U (zh) 一种遥控走线机器人防风装置
CN216731824U (zh) 一种具有检测光伏面板底纹类型的光伏清洁机器人
CN113628405A (zh) 一种用于智慧社区的稳固性高的安防巡逻装置
CN112947418A (zh) 一种智慧城市公共空间巡检装置
CN221862951U (zh) 一种可调节的取证抓拍装置
CN219152895U (zh) 一种机器人及机器人定位系统
CN219871800U (zh) 一种工地巡检装置及系统
CN221467667U (zh) 一种清洁机器人用驱动装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21946814

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21946814

Country of ref document: EP

Kind code of ref document: A1