The present application provides a monitoring device and a method for determining the cleaning frequency of a photovoltaic panel, which are applied to a photovoltaic power station. The monitoring device comprises at least three test photovoltaic panels, a cleaning apparatus and a controller, and can obtain the optimal cleaning frequency of a photovoltaic power station, thereby maximizing the power generation income of the photovoltaic power station.
A cleaning apparatus and a robot, the cleaning apparatus being used to clean the surface of an object to be cleaned, and comprising a housing (200), a roller brush (800), a dirt collection bin (300), a flow guide plate (500), a blocking plate (610) and an opening/closing apparatus. The housing (200) is a cylindrical object, the roller brush (800) is rotatably connected inside the housing (200), the dirt collection bin (300) is connected to the housing (200), the dirt collection bin (300) comprises an opening and at least two first exhaust holes (321), the opening faces the roller brush (800), the first exhaust holes (321) are in communication with the outside of the dirt collection bin (300), the flow guide plate (500) is connected to a lower end portion of the opening and extends towards the bottom of the roller brush (800), the blocking plate (610) is connected to an upper end portion of the opening and is arranged opposite the flow guide plate (500), a channel for connecting the housing (200) and the dirt collection bin (300) is formed between the blocking plate (610) and the flow guide plate (500), and the opening/closing apparatus is the bottom of the dirt collection bin (300). When the dirt collection bin (300) is located on the surface of the object to be cleaned, the opening/closing apparatus is closed, and when the dirt collection bin (300) is located away from the surface of the object to be cleaned, the opening/closing apparatus can be opened, so as to solve the technical problem that robots are prone to slipping on inclined photovoltaic planes due to excessive loads.
B08B 15/04 - Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
The present application provides a cleaning robot, which comprises a robot body, a controller, a shell and a water tank, wherein the water tank is located above the shell, and the controller is located below the shell, so that the controller and the water tank are isolated from each other, thereby achieving a relatively good water isolation performance.
A robot (100) and a linear travel control method therefor. The robot (100) travels on a photovoltaic panel (20) along a straight line according to a preset route, and the position of a reference line is recognized from each obtained real-time image frame by means of an image recognition technology, such that the recognition accuracy of the reference lines is high. The robot (100) controls a vehicle body (1) to travel on the photovoltaic panel (20) along the straight line according to a relative position of each reference line and the vehicle body (1), and upon the vehicle body (1) deviates from the preset route in a travelling process, the vehicle body can automatically adjust the direction to return to the preset route, such that automation degree is high.
The present application discloses a robot, a method for judging a startup mode thereof and a data processing device. The robot selects a left startup mode or a right startup mode by means of a camera according to a judgment model, and after being placed on a photovoltaic panel, the robot can automatically select a startup mode for cleaning a panel array.
A suction type robot, comprising a vehicle body (10), a suction device (30), a negative pressure device (40) and a limiting column (33). A bottom surface of the vehicle body (10) is a bottom plate (41) with a through hole (411); the suction device (30) comprises a buffer frame (31) and a wind resistance frame (32), and a cavity is formed by being enclosed by the wind resistance frame (32), the buffer frame (31) and the bottom plate (411); the negative pressure device (40) comprises a vacuum pipeline (402) which is in communication with the cavity by means of the through hole (411); and the limiting column (33) protrudes out of a lower surface of the vehicle body (10) and is located in the cavity which is formed by being enclosed by the buffer frame (31). The suction type robot does not deform greatly during an advancing process, the situation where the robot slips due to air leakage at a joint of the wind resistance frame and a panel is prevented, and the situation where the suction device is dragged to cause an elastic failure and a suction failure is prevented, such that it is guaranteed that the suction type robot can advance on the panel with an inclination angle of 30 degrees or above (even 40 degrees or above) and can complete a cleaning operation.
B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
B62D 55/265 - Ground-engaging parts or elements having magnetic or pneumatic adhesion
A control method for a cleaning system, comprising the following steps: first control step—controlling a transfer robot to move a cleaning robot to a cleaning area; cleaning control step—controlling the cleaning robot to perform a cleaning operation on a upper surface of the cleaning area; second control step—controlling a transfer robot to move the cleaning robot away from the cleaning area.
Disclosed are a transfer robot (300) and a cleaning system. The transfer robot (300) comprises a vehicle body (310), a transfer device (320), and an angle adjusting device (330). The cleaning system comprises a cleaning area (500), a cleaning robot (200) and the transfer robot (300). The transfer robot (300) serves as a carrying tool for the cleaning robot (200), and transfers the cleaning robot (200) to a channel area (103) among a plurality of solar panel arrays (101), such that the cleaning robot (200) can complete cleaning work on the different solar panel arrays (101).
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A docking method for docking a cleaning robot between a plurality of solar panels includes a docking area setting step, an approaching cleaning area step, a docking platform adjustment step, a cleaning robot first control step, and a leaving cleaning area step. The present invention uses a cleaning robot to complete cleaning on the solar panels or a solar panel array, a docking robot to transfer the cleaning robot between the solar panels or multiple solar panel arrays, and a data processing system to realize dispatching and controlling of the cleaning robot and the docking robot, so that a number of cleaning robots and docking robots can be dispatched properly according to a number of the solar panels needing to be cleaned, and a cleaning operation on all solar panels and panel arrays can be completed in a photovoltaic power station in a shortest time.
A cleaning system and a cleaning method configured for cleaning task of solar panels are provided. The cleaning system includes an operation region, cleaning robots, shuttle robots, and a data processing system. The cleaning method includes a first carrying step, a cleaning step, and a second carrying step.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A robot scheduling method. Robots include a cleaning robot for performing cleaning operations in a cleaning region and a conveying robot for transporting the cleaning robot in an aisle region. The robot scheduling method includes a task generating step, a task issuing step, a route planning step, a travel controlling step, and a docking controlling step.
G01G 19/02 - Weighing apparatus or methods adapted for special purposes not provided for in groups for weighing wheeled or rolling bodies, e.g. vehicles
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B63H 25/00 - Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
An edge positioning apparatus for a solar panel cleaning robot, and a positioning method thereof. The solar panel cleaning robot comprises a car body (10) and an edge positioning apparatus, and the car body travels or is resident on at least one solar panel (200). The edge positioning apparatus comprises an image acquisition unit (13) and an image recognition and processing unit. The image acquisition unit is arranged on the car body and is used for acquiring surface image information about the solar panel on a walking line of the car body. The image recognition and processing unit is used for processing image information, and in turn judging whether the car body is walking at an edge area of the solar panel.
A control method for a cleaning system, comprising the following steps: a first control step, controlling a docking robot to carry a cleaning robot to a cleaning area; a cleaning control step, controlling the cleaning robot to clean up on the upper surface of the cleaning area; and a second control step, controlling the docking robot to carry the cleaning robot to leave the cleaning area.
Disclosed are a cleaning system and a cleaning method for the cleaning of a solar panel (102). The cleaning system comprises an operation area (100), cleaning robots (200), shuttling robots (300) and a data processing system (400). The cleaning method comprises a first conveying step (S3), a cleaning step (S4) and a second conveying step (S5). According to the cleaning system and the cleaning method, according to the cleaning workload, an appropriate number of cleaning robots (200) and the shuttling robots (300) are scheduled to complete cleaning, and the cleaning robots (200) are transferred for operation, such that the task of cleaning all solar panels (102) and panel arrays (101) can be completed in the shortest time.
Disclosed are a transfer robot (300) and a cleaning system. The transfer robot (300) comprises a vehicle body (310), a transfer device (320), and an angle adjusting device (330). The cleaning system comprises a cleaning area (500), a cleaning robot (200) and the transfer robot (300). The transfer robot (300) serves as a carrying tool for the cleaning robot (200), and transfers the cleaning robot (200) to a channel area (103) among a plurality of solar panel arrays (101), such that the cleaning robot (200) can complete cleaning work on the different solar panel arrays (101).
A robot scheduling method. A robot comprises a cleaning robot for performing cleaning operations in a cleaning area, and a conveying robot for transporting the cleaning robot in an aisle area. The robot scheduling method comprises a task generating step, a task issuing step, a route planning step, a travel controlling step, and a conveying controlling step.
A control method for a cleaning system, comprising the following steps: first control step - controlling a transfer robot to move a cleaning robot to a cleaning area; cleaning control step - controlling the cleaning robot to perform a cleaning operation on a upper surface of the cleaning area; second control step - controlling a transfer robot to move the cleaning robot away from the cleaning area.
An objective of the present invention is to provide a method for determining and controlling a robot to move straightly on a sloping plane to solve a technical issue that a deviation of a conventional robot from a predetermined straight path is difficult to detect when the robot moves on a sloping plane and cannot be corrected, and moving on the straight path is difficult to guarantee.
A fault detection and positioning system for a cell panel in a large-scale photovoltaic array, includes a first photovoltaic panel fault detection and positioning system, a second photovoltaic panel fault detection and positioning system, and/or a third photovoltaic panel fault detection and positioning system. The detection and positioning system can detect faults of panels in the photovoltaic array in real time, especially accurately positioning a photovoltaic panel in which a fault occurs; the number of sensors can be minimized, so that the detection costs can be reduced; and the system can be easily implemented and mounted in existing power stations.
A robot cleaner comprising a vehicle body, a power system, a housing, and a power system mounting rack. The power system mounting rack comprises a first frame body (11) and a second frame body (12); the power system comprises a drive wheel axle (21), a main drive wheel, a driven wheel axle (23), a driven wheel and a track (3); the housing comprises a first housing and a second housing. The robot cleaner facilitates replacement of the track, thereby improving the efficiency of track replacement.
A straight-on determination apparatus for a solar panel cleaning robot, and a determination method thereof. The determination apparatus comprises an image acquisition unit (12) and an image recognition and processing unit. The image acquisition unit is arranged on a car body (10) of a solar panel cleaning robot and is used for acquiring surface image information about the solar panel on a walking line of the car body. The image recognition and processing unit is used for processing image information, and in turn judging whether the car body is walking in a straight line in a planned route on the solar panel.
An edge positioning apparatus for a solar panel cleaning robot, and a positioning method thereof. The solar panel cleaning robot comprises a car body (10) and an edge positioning apparatus, and the car body travels or is resident on at least one solar panel (200). The edge positioning apparatus comprises an image acquisition unit (13) and an image recognition and processing unit. The image acquisition unit is arranged on the car body and is used for acquiring surface image information about the solar panel on a walking line of the car body. The image recognition and processing unit is used for processing image information, and in turn judging whether the car body is walking at an edge area of the solar panel.
A track tension device and a track moving device are provided. The track tension device includes an upper transmission belt, a lower transmission belt, an upper tension portion, a lower compression portion and a resilient support portion. The track moving device includes the track tension device.
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A solar panel cleaning robot is provided and has a robot body. The robot body can move on at least one solar panel. A cleaning device, a power system, a control system and an electric power system are disposed on an internal or an external of the robot body.
Provided are a positioning device for a solar panel cleaning robot (100) and a positioning method thereof. The positioning device is used to obtain a real-time position of a vehicle body (10) on a solar panel (200). The positioning device comprises an image acquisition unit (11), a border recognition unit (12), a latitude and longitude recognition unit (13), a vehicle body position calculation unit (14), an image acquisition unit position calculation unit (15), a vehicle body center point position calculation unit (16), a GPS unit (17), a panel determination unit (18), a wireless communication unit (19) and a memory (20).
A navigation system for a solar panel cleaning robot (100) and a navigation method thereof. The navigation system comprises an optimized route planning unit (21), a positioning device (22) and a control system (23). The optimized route planning unit (21) is arranged inside of an external server (30), and is used for calculating and planning an optimized route of the cleaning robot (100); the positioning device (22) is arranged on a vehicle body (10) of the cleaning robot (100), and is used for obtaining the real-time position of the vehicle body (10); and the control system (23) is connected to the optimized path planning unit (21) and the positioning device (22) respectively, and is used for issuing at least one control instruction according to the optimized path and the real-time position of the vehicle body (10).
A liquid dispensing container and a cleaning robot. The cleaning robot (100) comprises the liquid dispensing container (25). The liquid dispensing container (25) comprises a columnar part (252); a conical part (253), the bottom surface thereof being connected to the lower bottom surface of the columnar part (252); and a liquid outlet (251), provided at the apex of the conical part (253), where the liquid dispensing container (25) is arranged on an inclined plane (300), the angle between the lateral surface of the conical part (253) and the bottom surface of the conical part (253) is greater than or equal to the angle between the inclined plane (300) and the horizontal plane. When in use, regardless of the direction in which the cleaning robot is traveling on the inclined plane, a liquid stored in the liquid dispensing container can be discharged completely and thus be fully utilized.
A control system of a solar panel cleaning robot, for use in the solar panel cleaning robot. The control system comprises a data collection unit used for collecting at least one working parameter during proceeding of the cleaning robot; a processor connected to the data collection unit and used for sending a proceeding control instruction or a cleaning control instruction; and a storage unit connected to the processor and used for storing the working parameter of the cleaning robot during proceeding. The robot control system ensures that the robot can walk through all space of a panel without any repetition and would not fall from the edge of the panel. Therefore, the cleaning effect and the working efficiency are guaranteed.
A solar panel cleaning robot, comprising a vehicle body (1) which is capable of driving on at least one solar panel (200); a cleaning device (2), a driving force system (3), a control system (4) and an electric power system (5) are provided inside or outside the vehicle body (1); the cleaning device (2) is configured to clean the solar panel; the driving force system (3) is configured to adjust the traveling direction and driving speed of the vehicle body (1) on the solar panel (200); the control system (4) is connected to the driving force system (3) and the cleaning device (2), respectively; the electric power system (5) is connected to the driving force system (3), the cleaning device (2) and the control system (4), respectively, and is configured to provide power for the driving force system (3), the cleaning device (2) and the control system (4). The solar panel cleaning robot can freely operate on the solar panel, efficiently removing dust and other matter stuck to the panel.
Provided are a crawler tensioning device and a crawler traveling device, wherein, the crawler tensioning device comprises an upper driving belt, a lower driving belt, an upper tensioning part (391), a lower pressing part (392) and an elastic supporting part (393); and the crawler traveling device comprises the crawler tensioning device.
The present invention provides a wireless charging system and wireless charging method for a solar panel cleaning robot. The wireless charging system comprises at least one solar panel, a cleaning robot, a rechargeable battery, at least one wireless power transmitting device, and a wireless power receiving device.
A determining method and control method for straight running of a robot (100) on a slope plane (300), used for determining whether the robot (100) deviates from a set straight path by determining whether a real-time score vector (gxm1) of the acceleration of gravity (g) in the x-axis direction is the same as a standard score vector (gxm0), so as to solve the technical problem that straight running is hard to guarantee as a robot's deviation from a set straight path on a slope plane (300) is hard to find and cannot be corrected in time.
A path navigation method for a robot running on a rectangular slope, comprising the following steps: setting a corner of a rectangular slope as a starting point of navigation; controlling a robot to run from the starting point of navigation; detecting whether the robot reaches a destination or not; controlling the robot to turn 90 degrees; continuing detection; and controlling the robot to perform U-shaped turning. The path navigation method can scan each corner of a rectangular slope within the shortest time so that the traveling path covers the whole rectangular slope. High working efficiency and a good cleaning effect are achieved.
06 - Common metals and ores; objects made of metal
07 - Machines and machine tools
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Props of metal; sheets and plates of metal; reinforcing
materials of metal for pipes; steel tubes; reinforcing
materials of metal for building; ropes of metal; belts of
metal for handling loads; slings of metal for handling
loads; bottles [metal containers] for compressed gas or
liquid air; loading pallets of metal. Dust exhausting installations for cleaning purposes;
hydraulic turbines; washing apparatus; cleaning appliances
utilizing steam; dynamos; machine wheels; rinsing machines;
machines and apparatus for cleaning, electric; dust removing
installations for cleaning purposes; filtering machines. Inverters [electricity]; junction boxes [electricity];
voltage stabilizers; switches, electric; distance measuring
apparatus; laser pointers; materials for electricity mains
[wires, cables]; solar batteries; battery chargers. Rental of construction equipment; rental of cleaning
machines; roofing services; cleaning of buildings [exterior
surface]; electric appliance installation and repair;
machinery installation, maintenance and repair; rebuilding
machines that have been worn or partially destroyed;
rustproofing. Technical research; technical project studies; research and
development of new products for others; consultancy in the
field of energy-saving; research in the field of
environmental protection; material testing; mechanical
research; industrial design.
