WO2024021643A1 - 光伏清洗***及清洗方法 - Google Patents

光伏清洗***及清洗方法 Download PDF

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Publication number
WO2024021643A1
WO2024021643A1 PCT/CN2023/083346 CN2023083346W WO2024021643A1 WO 2024021643 A1 WO2024021643 A1 WO 2024021643A1 CN 2023083346 W CN2023083346 W CN 2023083346W WO 2024021643 A1 WO2024021643 A1 WO 2024021643A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
photovoltaic
cleaning robot
robot
photovoltaic module
Prior art date
Application number
PCT/CN2023/083346
Other languages
English (en)
French (fr)
Inventor
孙欣
于涛
白亮亮
Original Assignee
湖州丽天智能科技有限公司
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
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Application filed by 湖州丽天智能科技有限公司 filed Critical 湖州丽天智能科技有限公司
Publication of WO2024021643A1 publication Critical patent/WO2024021643A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • 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
    • B25J18/00—Arms
    • 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 present invention relates to the field of photovoltaics, and further relates to photovoltaic cleaning systems and cleaning methods.
  • Photovoltaic power generation is a technology that uses the photovoltaic effect at the semiconductor interface to directly convert light energy into electrical energy. It is mainly composed of three parts: solar panels (components), controllers and inverters. The main components are composed of electronic components. Solar cells are connected in series and then packaged and protected to form a large-area solar cell module. Together with power controllers and other components, a photovoltaic power generation device is formed.
  • photovoltaic power generation devices determine that they can only be set up in open-air environments such as outdoors during the power generation process. During the working process, dust, bird droppings, sand and gravel and other stains will inevitably accumulate on the photovoltaic glass panels. If the stains are not removed in time, Removal will significantly reduce power generation efficiency.
  • photovoltaic cleaning robots that use brush cleaning as the main method are usually used to remove stains accumulated on photovoltaic glass panels.
  • some photovoltaic power generation devices are laid on uneven sites such as hills and mountains.
  • existing photovoltaic cleaning robots are also unable to operate smoothly on photovoltaic supports with large spans and large angle changes.
  • Existing cleaning robots in the form of rolling brushes are usually unable to clean stains that are firmly adhered to the battery panels.
  • Embodiments of the present application provide a photovoltaic cleaning system and a cleaning method.
  • the mechanical arm is separated from the cleaning robot, and there is no hard connection between the two parts, which can reduce the jitter that the autonomous navigation mobile device will transmit to the cleaning robot when moving on uneven ground, and can improve the cleaning Smoothness during robot operation.
  • a photovoltaic cleaning system for cleaning photovoltaic modules, including:
  • a robotic arm has a connecting end and a carrying end, and the connecting end is connected to the autonomous navigation mobile device;
  • a cleaning robot, the carrying end of the mechanical arm is suitable for connection to the cleaning robot
  • the photovoltaic cleaning system has a cleaning state and a transportation state.
  • the cleaning robot In the cleaning state, the cleaning robot is suitable for cleaning the photovoltaic components, and the transportation end is separated from the cleaning robot; in the transportation state, The carrying end is adapted to be connected to the cleaning robot, and can carry the cleaning robot to a preset position of the photovoltaic component.
  • a visual recognition mechanism is also included.
  • the visual recognition mechanism includes a first image acquisition unit and a first image processing unit.
  • the first image acquisition unit is installed on the transport end for Obtaining first image data of the photovoltaic module
  • the first image processing unit can process the first image data based on a visual recognition algorithm to determine whether preset handling conditions are met between adjacent photovoltaic modules, When the preset carrying conditions are met, the carrying end of the robotic arm is connected to the cleaning robot, and the cleaning robot is carried to the adjacent photovoltaic module.
  • the photovoltaic cleaning system also includes an electronically controlled adsorption part installed on the transport end.
  • the cleaning robot is provided with an adsorption part adapted to the electronically controlled adsorption part at a preset position to control the electronically controlled adsorption part.
  • Controlling the power supply of the adsorption part can control the electronically controlled adsorption part to switch between the adsorption state and the release state.
  • the electronically controlled adsorption part adsorbs the adsorption part and can drive the cleaning robot.
  • Move; in the released state the electronically controlled adsorption part is separated from the adsorption part, and the mechanical arm is separated from the cleaning robot.
  • an identification mechanism is also included.
  • the identification mechanism includes a first identifier and a plurality of first identification marks.
  • the plurality of first identification marks are located at preset positions of the photovoltaic component.
  • a first identifier is installed on the carrying end of the robotic arm. The first identifier can identify the first identification mark and is used to determine the relative position of the carrying end on the plane where the photovoltaic module is located.
  • a flushing mechanism is also included.
  • the flushing mechanism includes a box, a flushing gun head and a connecting hose.
  • the box is installed on the autonomous navigation mobile device, and the flushing gun head Installed on the cleaning robot, one end of the connecting hose is connected to the box, and the other end is connected to the flushing gun head, through which the flushing liquid in the box can be extracted to flush the photovoltaic module. .
  • the flushing mechanism further includes a second image acquisition unit and a second image recognition unit.
  • the second image acquisition unit is installed on the cleaning robot and is used for cleaning the robot.
  • the second image data of the photovoltaic module is obtained during the cleaning operation of the photovoltaic module.
  • the second image recognition unit can process the second image data based on a visual recognition algorithm to identify the photovoltaic module.
  • the area to be flushed after the second image recognition unit identifies the area to be flushed, controls the flushing nozzle head to spray flushing liquid to the area to be flushed.
  • the judgment mechanism includes an infrared thermal imager and an infrared camera installed on the cleaning robot.
  • the infrared thermal imager is used to obtain the temperature data of the photovoltaic components.
  • the infrared camera is used to obtain three-dimensional image data of the photovoltaic module; the judgment mechanism can judge whether there is an abnormality in the photovoltaic module based on the temperature data and the three-dimensional image data.
  • the photovoltaic cleaning system also includes a cleaning arm.
  • the cleaning arm has a cleaning component.
  • the cleaning component is installed on the autonomous navigation mobile device.
  • the autonomous navigation mobile device is in two adjacent rows. The gap between the photovoltaic modules moves.
  • the cleaning arm is adapted to carry the cleaning module to clean the front of the photovoltaic modules in the other row. The back side of the photovoltaic module is cleaned.
  • photovoltaic cleaning system also includes an electronically controlled adsorption part installed on the carrying end of the robotic arm, and the electronically controlled adsorption part adsorbs the cleaning component to form the cleaning arm.
  • a cleaning method for a photovoltaic cleaning system including:
  • the first image data of the photovoltaic module is acquired through the first image unit installed on the carrying end of the robot arm, which is installed on the autonomous navigation mobile device;
  • the mechanical arm drives the cleaning robot to move, and after the cleaning robot moves to the adjacent photovoltaic module, the power supply of the electronically controlled adsorption part is controlled, so that the electronically controlled adsorption part is in contact with the cleaning robot. Separate, the robotic arm is separated from the cleaning robot.
  • the above-mentioned cleaning method of the photovoltaic cleaning system also includes:
  • the second image data is processed based on a visual recognition algorithm to identify the area to be rinsed of the photovoltaic module.
  • the rinse gun head installed on the cleaning robot is controlled to move toward the area to be rinsed.
  • the flushing area is sprayed with flushing liquid, wherein the flushing nozzle head is connected to the box installed on the autonomous navigation mobile device through a connecting hose.
  • the above-mentioned cleaning method of the photovoltaic cleaning system also includes:
  • the carrying end of the mechanical arm can adsorb the cleaning component
  • the autonomous navigation mobile device When the cleaning robot moves in the gap between two adjacent rows of photovoltaic modules and performs cleaning operations on the front of one row of photovoltaic modules, the autonomous navigation mobile device is suitable for carrying the mechanical arm to adsorb The cleaning component performs cleaning operations on the back side of the photovoltaic components in another row.
  • the photovoltaic cleaning system and cleaning method provided by this application have at least one of the following beneficial effects:
  • the mechanical arm is separated from the cleaning robot, and there is no hard connection between the two parts. , can reduce the jitter transmitted to the cleaning robot when the autonomous navigation mobile device moves on uneven ground, and can improve the stability of the cleaning robot during operation;
  • the photovoltaic cleaning system and cleaning method provided by this application.
  • the photovoltaic cleaning system also includes a cleaning arm.
  • the cleaning arm has a cleaning component.
  • the cleaning component is installed on the autonomous navigation mobile device.
  • the navigation mobile device moves in the gap between two adjacent rows of photovoltaic modules.
  • the cleaning arm is suitable for carrying the cleaning module. Cleaning the backside of the photovoltaic modules in another row can achieve all-round cleaning of the photovoltaic modules from multiple angles.
  • Figure 1 is an application diagram of a photovoltaic cleaning system according to a preferred embodiment of the present invention
  • Figure 2 is a block diagram of a photovoltaic cleaning system according to a preferred embodiment of the present invention.
  • Figure 3 is a flow chart of the cleaning method of the photovoltaic cleaning system according to the preferred embodiment of the present invention.
  • FIG. 1 illustrates an application diagram of a photovoltaic cleaning system according to an embodiment of the present application
  • FIG. 2 illustrates a block diagram of a photovoltaic cleaning system according to an embodiment of the present application.
  • the photovoltaic cleaning system includes an autonomous navigation mobile device 10 , a robotic arm 20 and a cleaning robot 30 .
  • the robotic arm has a connecting end and a carrying end, and the connecting end is connected to the autonomous navigation mobile device 10 ; the carrying end of the robotic arm 20 is suitable for being connected to the cleaning robot 30 .
  • the photovoltaic cleaning system has a cleaning state and a transportation state. In the cleaning state, the cleaning robot 30 is suitable for cleaning the photovoltaic module G, and the transportation end is separated from the cleaning robot; in the transportation state, The carrying end is suitable for being connected to the cleaning robot 30 and can transport the cleaning robot 30 to a preset position of the photovoltaic module G.
  • the mechanical arm 20 is separated from the cleaning robot 30, and there is no hard connection between the two parts, which can reduce the
  • the autonomous navigation mobile device 10 will transmit jitters to the cleaning robot when moving on uneven ground, which can improve the stability of the cleaning robot 30 during operation.
  • the autonomous navigation mobile device 10 is equipped with laser radar, RTK (Real-time kinematic), Ultrasonic sensors and other necessary devices for realizing autonomous mapping, autonomous navigation and other autonomous operation without driving enable the autonomous navigation mobile device 10 to operate at the site where the photovoltaic module G is built in an autonomous manner.
  • RTK Real-time kinematic
  • the cleaning robot 30 includes an upper running wheel and a lower running wheel. During the working process, the cleaning robot 30 is adapted to the photovoltaic module G, and the upper running wheel and the lower running wheel can respectively overlap with the photovoltaic module G. By driving the running wheels at the upper and lower ends of the photovoltaic module G to rotate, the cleaning robot 30 can be controlled to move along the photovoltaic module G and perform cleaning operations on the photovoltaic module G.
  • the photovoltaic cleaning system also includes a visual identification mechanism 40 .
  • the visual recognition mechanism 40 includes a first image acquisition unit 41 and a first image processing unit 42.
  • the first image acquisition unit 41 is installed on the transport end and is used to acquire the first image data of the photovoltaic module, so
  • the first image processing unit 42 can process the first image data based on a visual recognition algorithm to determine whether preset handling conditions are met between adjacent photovoltaic modules.
  • the robotic arm The carrying end is connected to the cleaning robot and can transport the cleaning robot to the adjacent photovoltaic module.
  • the preset handling conditions are that the distance between adjacent photovoltaic modules is greater than the preset distance, the height difference between adjacent photovoltaic modules is greater than the preset distance, and it is necessary to complete cleaning of a row of photovoltaic modules. Transport the photovoltaic modules to the next row of photovoltaic modules, etc.
  • the first image acquisition unit 41 is a camera
  • the first image is an image and/or video data
  • the first image processing unit 42 can process the image and/or video data based on a visual recognition algorithm to determine whether the distance between adjacent photovoltaic modules is greater than a preset distance, or whether the height difference between adjacent photovoltaic modules is greater than The preset distance, or the photovoltaic modules in one row need to be transported to the next row of photovoltaic modules after cleaning.
  • the first image processing unit 42 processes the first image data and determines that the preset handling conditions are met between adjacent photovoltaic modules, feedback is given to the controller, and the controller controls the robotic arm 20 to generate action.
  • the photovoltaic cleaning system also includes an electronically controlled adsorption part 21 installed on the robotic arm 20.
  • the cleaning robot 30 is provided with an adsorption part adapted to the electronically controlled adsorption part 21 at a preset position, and controls The power supply of the electronically controlled adsorption part 21 can control the electronically controlled adsorption part 21 to switch between the adsorption state and the release state. In the adsorption state, the electronically controlled adsorption part 21 adsorbs the adsorption part, The cleaning robot 30 can be driven to move; in the released state, the electronically controlled adsorption part 21 is separated from the adsorption part, and the mechanical arm 20 is separated from the cleaning robot 30 .
  • the mechanical arm 20 is first moved to align with the cleaning robot 30, and then the electronically controlled adsorbing part 21 is energized, so that the electronically controlled adsorbing part 21 adsorbs the Clean the robot 30 and drive the cleaning robot 30 to move; after the cleaning robot 30 is transported to the next photovoltaic module through the mechanical arm 20, power supply to the electronically controlled adsorption member 21 is stopped, so that the The electronically controlled adsorption member 21 releases the cleaning robot 30 .
  • the electronically controlled adsorption part 21 is preferably a vacuum suction crane or an electromagnetic chuck.
  • the adsorption part of the cleaning robot 30 has a flat surface structure to facilitate the adsorption connection of the vacuum suction crane or the electromagnetic chuck.
  • the electronically controlled adsorption member 21 can also be provided on the cleaning robot 30 .
  • the electronically controlled adsorption part 21 is installed on both the carrying end of the robotic arm 20 and the cleaning robot 30 .
  • the photovoltaic cleaning system also includes an identification mechanism 50 .
  • the identification mechanism 50 includes a first identifier 51 and a plurality of first identification marks 52.
  • the plurality of first identification marks 52 are located at preset positions of the photovoltaic module.
  • the first identifier 51 is installed on the robotic arm. At the carrying end of 20, the first identifier 51 can identify the first identification mark 52, which is used to determine the relative position of the carrying end in the plane where the photovoltaic module is located.
  • the first image acquisition unit 41 is a 3D camera and is also used to measure the distance between the carrying end and the photovoltaic module.
  • the first identification mark 52 is an RFID (Radio Frequency Identification) tag
  • the first identifier 51 is an RFID identifier
  • the number of the first identification marks 52 is multiple, and they are distributed among all locations. Multiple locations of the photovoltaic modules are identified through the RFID
  • the first image acquisition unit 41 is a 3D camera and can also acquire depth data to measure the distance between the transport end and the photovoltaic module to facilitate controlling the robotic arm 20 to transport the cleaning robot.
  • the first identification mark 52 is two-dimensional code information.
  • the two-dimensional code information can be obtained through the first image acquisition unit 41 and the two-dimensional code can be identified through the first image processing unit 42 Information is used to determine the relative position between the handling end and the photovoltaic module.
  • the distance between the transport end and the photovoltaic module can also be determined through the laser radar mounted on the autonomous navigation mobile device 10 .
  • a fixed coordinate system that is, a world coordinate system
  • the coordinate system of the autonomous navigation mobile device 10 is established with the center of the autonomous navigation mobile device 10 as the coordinate origin.
  • the robot arm coordinate system is established with the connection end of the robot arm 20 as the coordinate origin. Because the connection end of the robot arm 20 is fixed at the center of the autonomous navigation mobile device 10, the robot arm coordinate system The coordinate system coincides with the coordinate system of the autonomous navigation mobile device 10 .
  • a joint coordinate system is established with the rotation connection of each joint of the robot arm 20 as the coordinate origin.
  • each joint coordinate system and the robot arm coordinate system can be established. relation.
  • the electronically controlled adsorption part 21 is rotatably installed on the carrying end of the robotic arm, and an adsorption coordinate system is established with the rotational connection between the electronically controlled adsorbing part 21 and the carrying end as the coordinate origin.
  • a target coordinate system in which the photovoltaic module is located is established with reference to several first identification marks 52 on the photovoltaic module.
  • the center of the target coordinate system can be located at either the center of the photovoltaic module or the photovoltaic module. The edge of the component.
  • image recognition data is first obtained through the first image acquisition unit 41 to determine where the cleaning robot is.
  • the coordinates in the target coordinate system in a variant embodiment, the coordinates of the cleaning robot in the target coordinate system can also be equipped with a second identifier by the cleaning robot to identify several of the photovoltaic components.
  • the image acquisition unit 41 measures the distance between the carrying end and the photovoltaic module; calculates the angle at which each joint of the robotic arm 20 needs to rotate based on the distance, and controls the autonomous navigation mobile device 10 to drive the
  • the robotic arm 20 moves so that the carrying end of the robotic arm 20 coincides with the coordinates of the cleaning robot in the target coordinate system, and the movement of the robotic arm 20 is controlled to control the robotic arm 20 to move toward the cleaning robot.
  • the directional movement of the robot 30 causes the electronically controlled adsorption member 21 to contact and adsorb the cleaning robot; the mechanical arm 20 is controlled to carry the cleaning robot 30 to move in a direction away from the photovoltaic module, and then the autonomous navigation type is controlled.
  • the moving device 10 drives the robotic arm 20 to move the cleaning robot 30 to the next photovoltaic module or the next row of photovoltaic modules.
  • the photovoltaic cleaning system also includes a flushing mechanism 60.
  • the flushing mechanism 60 includes a box, a flushing gun head, and a connecting hose.
  • the box is installed on the autonomous navigation mobile device 10.
  • the flushing gun The head is installed on the cleaning robot, one end of the connecting hose is connected to the box, and the other end is connected to the flushing gun head, through which the flushing liquid in the box can be extracted to flush the photovoltaic components.
  • the flushing liquid stored in the box is water
  • the flushing gun head is a high-pressure water gun.
  • the flushing mechanism also includes a second image acquisition unit 61 and a second image recognition unit 62.
  • the second image acquisition unit 61 is installed on the cleaning robot 30 and is used for cleaning the cleaning robot 30.
  • the second image data of the photovoltaic module is obtained during the cleaning operation of the photovoltaic module, and the second image recognition unit 62 can analyze the second image data based on a visual recognition algorithm. Processing is performed to identify the area to be rinsed of the photovoltaic module. After identifying the area to be rinsed, the second image recognition unit controls the rinse gun head to spray rinse liquid to the area to be rinsed.
  • the second image data will be significantly different from the photovoltaic component in a clean state, and the visual recognition algorithm can identify the stain on the photovoltaic component.
  • the area with stains is marked as the area to be rinsed, and the area to be rinsed is rinsed through the rinse gun head.
  • the photovoltaic cleaning system also includes a judgment mechanism 70.
  • the judgment mechanism 70 includes an infrared thermal imager and an infrared camera installed on the cleaning robot 30.
  • the infrared thermal imager is used to obtain the temperature data of the photovoltaic module
  • the infrared camera is used to obtain three-dimensional image data of the photovoltaic module; the judgment mechanism 70 can judge whether there is an abnormality in the photovoltaic module based on the temperature data and the three-dimensional image data.
  • the judgment mechanism 70 can also be located on the carrying end of the robotic arm to better implement image capturing of the photovoltaic module.
  • the local temperature of the photovoltaic module may increase, and in severe cases, the photovoltaic module may be severely damaged.
  • the temperature data of the photovoltaic module is acquired through the infrared thermal imaging camera, and whether the internal circuit of the photovoltaic module is damaged can be detected.
  • the three-dimensional data of the photovoltaic module By acquiring the three-dimensional data of the photovoltaic module through the infrared camera, it is possible to detect whether there are internal defects such as cracks, fragments, false soldering, and broken grids inside the photovoltaic module.
  • the photovoltaic cleaning system also includes a cleaning arm.
  • the cleaning arm has a cleaning component.
  • the cleaning component is installed on the autonomous navigation mobile device 10.
  • the autonomous navigation mobile device 10 is in two adjacent rows. The gap between the photovoltaic modules moves.
  • the cleaning arm is adapted to carry the cleaning module to clean the photovoltaic modules in the other row. Cleaning operations are performed on the back of the module.
  • the cleaning component is a high-pressure air gun, or a high-pressure water gun, or a combination of a high-pressure air gun and a high-pressure water gun.
  • the cleaning component can also be a cleaning device such as a brush. As long as it can clean the back of the photovoltaic component, the cleaning component
  • the specific type shall not constitute a limitation on this application.
  • the electronically controlled adsorption part 21 at the carrying end of the robotic arm 20 adsorbs the cleaning component to form the cleaning arm.
  • the cleaning component has an adsorption part and is suitable for connecting with the electronically controlled adsorption part.
  • the adsorption piece is adsorbed.
  • the electronically controlled adsorption part 21 releases the cleaning assembly and adsorbs the cleaning robot 30; controlling the power supply of the electronically controlled adsorption part 21 can control the electronically controlled adsorption part 21 Switching between the adsorption state and the release state, in the adsorption state, the electronically controlled adsorption part 21 adsorbs the cleaning robot 30 or the cleaning component; in the release state, the electronically controlled adsorption part 21 Separate from the cleaning robot 30 or the cleaning assembly. That is to say, the mechanical arm 20 can adsorb both the cleaning robot 30 and the cleaning assembly.
  • the electronically controlled adsorption member 21 on the mechanical arm 20 The cleaning component can be adsorbed to clean the backside of another adjacent row of photovoltaic components.
  • FIG. 3 illustrates a flow chart of a cleaning method of a photovoltaic cleaning system according to an embodiment of the present application.
  • the cleaning method of the photovoltaic cleaning system includes:
  • the first image data of the photovoltaic module is obtained through the first image unit installed on the transport end of the robotic arm, which is installed on the autonomous navigation mobile device;
  • S102 process the first image data based on a visual recognition algorithm to determine whether preset handling conditions are met between adjacent photovoltaic modules;
  • the cleaning method of the photovoltaic cleaning system also includes:
  • S105 Process the second image data based on a visual recognition algorithm to identify the area to be rinsed of the photovoltaic module. In response to identifying the area to be rinsed, control the rinse gun head installed on the cleaning robot to move to the area. The area to be flushed is sprayed with flushing liquid, wherein the flushing gun head is connected to the box installed on the autonomous navigation mobile device through a connecting hose.
  • the cleaning method of the photovoltaic cleaning system also includes:
  • S108 Determine whether there is an abnormality in the photovoltaic module based on the temperature data and the three-dimensional image data.
  • the carrying end of the robotic arm can adsorb cleaning components, and the autonomous navigation mobile device is in the gap between two adjacent rows of photovoltaic components.
  • the autonomous navigation mobile device is adapted to carry the mechanical arm to adsorb the cleaning module to the photovoltaic modules in the other row. Perform cleaning operations on the back.
  • the photovoltaic cleaning system according to the embodiment of the present application can be implemented in various wireless terminals. In the end, such as servers for photovoltaic cleaning systems, etc.
  • the photovoltaic cleaning system according to the embodiment of the present application can be integrated into the wireless terminal as a software module and/or hardware module.
  • the photovoltaic cleaning system can be a software module in the operating system of the wireless terminal, or it can be an application program developed for the wireless terminal; of course, the photovoltaic cleaning system can also be many pieces of hardware of the wireless terminal.
  • the photovoltaic cleaning system and the wireless terminal can also be separate devices, and the photovoltaic cleaning system can be connected to the wireless terminal through a wired and/or wireless network, and according to an agreed data format. Transmit interactive information.
  • embodiments of the present application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to execute the “exemplary method” described above in this specification.
  • the steps in the cleaning method of the photovoltaic cleaning system according to various embodiments of the present application are described in the section.
  • the computer program product can be used to write program codes for performing the operations of the embodiments of the present application in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, etc. , also includes conventional procedural programming languages, such as the "C" language or similar programming languages.
  • the program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
  • embodiments of the present application may also be a computer-readable storage medium having computer program instructions stored thereon.
  • the computer program instructions When the computer program instructions are run by a processor, the computer program instructions cause the processor to execute the above-mentioned "example method" part of this specification. The steps in the cleaning method of the photovoltaic cleaning system according to various embodiments of the present application are described.
  • the computer-readable storage medium may be any combination of one or more readable media.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may include, for example, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connection with one or more conductors, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • each component or each step can be decomposed and/or recombined. These decompositions and/or recombinations shall be considered equivalent versions of this application.

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

Abstract

公开了一种光伏清洗***及清洗方法，光伏清洗***包括：自主导航式移动装置（10）；机械臂（20），具有连接端和搬运端，连接端连接于自主导航式移动装置（10）；清洗机器人（30），机械臂（20）的搬运端适于连接于清洗机器人（30）；光伏清洗***具有清洗状态和搬运状态，在清洗状态，清洗机器人（30）适于对光伏组件进行清洗作业，搬运端与清洗机器人（30）分离；在搬运状态，搬运端适于连接于清洗机器人（30），并能够搬运清洗机器人（30）至光伏组件的预设位置。在清洗作业的过程中，机械臂（20）与清洗机器人（30）相分离，两部分之间没有硬连接，能够提高清洗机器人（30）运行过程中的平稳性。

Description

光伏清洗***及清洗方法 技术领域
本发明涉及光伏领域，进一步地涉及光伏清洗***及清洗方法。
背景技术
光伏发电是利用半导体界面的光生伏特效应而将光能直接转变为电能的一种技术。主要由太阳电池板(组件)、控制器和逆变器三大部分组成，主要部件由电子元器件构成。太阳能电池经过串联后进行封装保护可形成大面积的太阳电池组件，再配合上功率控制器等部件就形成了光伏发电装置。
光伏发电装置的发电特性决定了其在发电过程中只能够设置在野外等露天环境，在工作过程中光伏玻璃面板上不可避免地会积聚灰尘、鸟粪、砂石等污渍，污渍如果不能够及时清除将会极大地降低发电效率。
目前，通常使用以毛刷清洁为主要方式的光伏清洗机器人对光伏玻璃面板上积聚的污渍进行清除。在实际使用过程中，一些光伏发电装置的铺设场地是丘陵、山地等不平整的场地，相邻光伏支架之间不可避免地会存在高度落差，影响光伏清洗机器人运行的稳定性。另一方面，现有的光伏清洗机器人同样无法在大跨度、大角度变化的光伏支架上平稳运行。现有的以滚动毛刷形式的清洗机器人通常不能够对电池板上粘附较为牢固的污渍进行清洗。
另一方面，现有的光伏清洗***通常只能够对光伏玻璃面板的正面进行清洗，其不能够有效地对光伏玻璃面板的背面进行清洗。
发明内容
为了解决上述技术问题，提出了本申请。本申请的实施例提供了光伏清洗***及清洗方法，在所述清洗机器人对所述光伏组件进行清洗作业的过程中， 所述机械臂与所述清洗机器人相分离，两部分之间没有硬连接，能够降低所述自主导航式移动装置在不平整地面移动时会将抖动传递至所述清洗机器人，能够提高所述清洗机器人运行过程中的平稳性。
根据本申请的一个方面，提供了光伏清洗***，用于对光伏组件进行清洗作业，包括：
自主导航式移动装置；
机械臂，具有连接端和搬运端，所述连接端连接于所述自主导航式移动装置；
清洗机器人，所述机械臂的所述搬运端适于连接于所述清洗机器人；
所述光伏清洗***具有清洗状态和搬运状态，在所述清洗状态，所述清洗机器人适于对所述光伏组件进行清洗作业，所述搬运端与所述清洗机器人分离；在所述搬运状态，所述搬运端适于连接于所述清洗机器人，并能够搬运所述清洗机器人至所述光伏组件的预设位置。
在上述所述的光伏清洗***中，还包括视觉识别机构，所述视觉识别机构包括第一图像获取单元和第一图像处理单元，所述第一图像获取单元安装于所述搬运端，用于获取所述光伏组件的第一图像数据，所述第一图像处理单元能够基于视觉识别算法对所述第一图像数据进行处理，以确定相邻所述光伏组件之间是否满足预设搬运条件，当满足预设搬运条件，所述机械臂的所述搬运端连接于所述清洗机器人，并将所述清洗机器人搬运至相邻所述光伏组件。
在上述所述的光伏清洗***中，还包括安装于所述搬运端的电控吸附件，所述清洗机器人的预设位置设有适配于所述电控吸附件的吸附部，控制所述电控吸附件的电量供应能够控制所述电控吸附件在吸附状态和松开状态之间切换，在所述吸附状态时，所述电控吸附件吸附所述吸附部，能够带动所述清洗机器人移动；在所述松开状态时，所述电控吸附件与所述吸附部分离，所述机械臂与所述清洗机器人分离。
在上述所述的光伏清洗***中，还包括识别机构，所述识别机构包括第一识别器和若干第一识别标记，若干所述第一识别标记位于所述光伏组件的预设位置，所述第一识别器安装于所述机械臂的所述搬运端，所述第一识别器能够识别所述第一识别标记，用于确定所述搬运端在所述光伏组件所在平面的相对位置。
在上述所述的光伏清洗***中，还包括冲洗机构，所述冲洗机构包括箱体、冲洗枪头以及连接软管，所述箱体安装于所述自主导航式移动装置，所述冲洗枪头安装于所述清洗机器人，所述连接软管的一端连通所述箱体，另一端连通所述冲洗枪头，通过所述冲洗枪头能够抽取所述箱体中的冲洗液体冲洗所述光伏组件。
在上述所述的光伏清洗***中，所述冲洗机构还包括第二图像获取单元和第二图像识别单元，所述第二图像获取单元安装于所述清洗机器人，用于在所述清洗机器人对所述光伏组件进行清洗作业的过程中获取所述光伏组件的第二图像数据，所述第二图像识别单元能够基于视觉识别算法对所述第二图像数据进行处理，以识别所述光伏组件的待冲洗区域，所述第二图像识别单元识别所述待冲洗区域后，控制所述冲洗枪头向所述待冲洗区域喷洒冲洗液体。
在上述所述的光伏清洗***中，还包括判断机构，所述判断机构包括安装于所述清洗机器人的红外热像仪和红外相机，所述红外热像仪用于获取光伏组件的温度数据，所述红外相机用于获取所述光伏组件的三维影像数据；所述判断机构能够基于所述温度数据和所述三维影像数据判断所述光伏组件是否存在异常。
在上述所述的光伏清洗***中，还包括清洗臂，所述清洗臂具有清洗组件，所述清洗组件安装于所述自主导航式移动装置，在所述自主导航式移动装置在相邻两排所述光伏组件之间的间隙移动，所述清洗机器人对其中一排的所述光伏组件的正面进行清洗作业时，所述清洗臂适于携带所述清洗组件对另一排的 所述光伏组件的背面进行清洗作业。
在上述所述的光伏清洗***中，还包括安装于所述机械臂的所述搬运端的电控吸附件，所述电控吸附件吸附所述清洗组件形成所述清洗臂。
根据本申请的另一方面，进一步提供光伏清洗***的清洗方法，包括：
在清洗机器人对光伏组件进行清洗作业的过程中，通过安装于机械臂的搬运端的第一图像单元获取所述光伏组件的第一图像数据，所述机械臂安装于自主导航式移动装置；
基于视觉识别算法对所述第一图像数据进行处理，以确定相邻所述光伏组件之间是否满足预设搬运条件；
响应于相邻所述光伏组件之间的距离满足预设搬运条件，控制对安装于所述机械臂的所述搬运端的电控吸附件的电量供应使得所述电控吸附件吸附所述清洗机器人，所述机械臂带动所述清洗机器人移动，在所述清洗机器人移动至相邻所述光伏组件后，控制所述电控吸附件的电量供应，使得所述电控吸附件与所述清洗机器人分离，所述机械臂与所述清洗机器人分离。
在上述所述的光伏清洗***的清洗方法中，还包括：
通过安装于所述清洗机器人的第二图像获取单元获取所述光伏组件的第二图像数据；
基于视觉识别算法对所述第二图像数据进行处理，以识别所述光伏组件的待冲洗区域，响应于识别到所述待冲洗区域，控制安装于所述清洗机器人的冲洗枪头向所述待冲洗区域喷洒冲洗液体，其中所述冲洗枪头通过连接软管与安装于所述自主导航式移动装置的箱体连通。
在上述所述的光伏清洗***的清洗方法中，还包括：
通过安装于所述清洗机器人的红外热像仪获取所述光伏组件的温度数据；
通过安装于所述清洗机器人的红外相机获取所述光伏组件的三维影像数据；
基于所述温度数据和所述三维影像数据判断所述光伏组件是否存在异常。
在上述所述的光伏清洗***的清洗方法中，在所述机械臂与所述清洗机器人处于分离状态时，所述机械臂的所述搬运端能够吸附清洗组件，在所述自主导航式移动装置在相邻两排所述光伏组件之间的间隙移动，所述清洗机器人对其中一排的所述光伏组件的正面进行清洗作业时，所述自主导航式移动装置适于携带所述机械臂吸附所述清洗组件对另一排的所述光伏组件的背面进行清洗作业。
与现有技术相比，本申请提供的光伏清洗***及清洗方法具有以下至少一项有益效果：
1.本申请所提供的光伏清洗***及清洗方法，在所述清洗机器人对所述光伏组件进行清洗作业的过程中，所述机械臂与所述清洗机器人相分离，两部分之间没有硬连接，能够降低所述自主导航式移动装置在不平整地面移动时会将抖动传递至所述清洗机器人，能够提高所述清洗机器人运行过程中的平稳性；
2.本申请所提供的光伏清洗***及清洗方法，所述光伏清洗***还包括清洗臂，所述清洗臂具有清洗组件，所述清洗组件安装于所述自主导航式移动装置，在所述自主导航式移动装置在相邻两排所述光伏组件之间的间隙移动，所述清洗机器人对其中一排的所述光伏组件的正面进行清洗作业时，所述清洗臂适于携带所述清洗组件对另一排的所述光伏组件的背面进行清洗作业，能够从多角度实现对所述光伏组件的全方位清洗。
附图说明
通过结合附图对本申请实施例进行更详细的描述，本申请的上述以及其他目的、特征和优势将变得更加明显。附图用来提供对本申请实施例的进一步理解，并且构成说明书的一部分，与本申请实施例一起用于解释本申请，并不构成对本申请的限制。在附图中，相同的参考标号通常代表相同部件或步骤。
图1是本发明的优选实施例的光伏清洗***的应用图；
图2是本发明的优选实施例的光伏清洗***的框图；
图3是本发明的优选实施例的光伏清洗***的清洗方法的流程图。
具体实施方式
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对照附图说明本发明的具体实施方式。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图，并获得其他的实施方式。
示例性***
图1图示了根据本申请实施例的光伏清洗***的应用图，图2图示了根据本申请实施例的光伏清洗***的框图。
如图1和图2所示，所述光伏清洗***包括自主导航式移动装置10、机械臂20以及清洗机器人30。所述机械臂具有连接端和搬运端，所述连接端连接于所述自主导航式移动装置10；所述机械臂20的所述搬运端适于连接于所述清洗机器人30。所述光伏清洗***具有清洗状态和搬运状态，在所述清洗状态，所述清洗机器人30适于对光伏组件G进行清洗作业，所述搬运端与所述清洗机器人分离；在所述搬运状态，所述搬运端适于连接于所述清洗机器人30，并能够搬运所述清洗机器人30至所述光伏组件G的预设位置。
在本申请中，在所述清洗机器人30对所述光伏组件G进行清洗作业的过程中，所述机械臂20与所述清洗机器人30相分离，两部分之间没有硬连接，能够降低所述自主导航式移动装置10在不平整地面移动时会将抖动传递至所述清洗机器人，能够提高所述清洗机器人30运行过程中的平稳性。
所述自主导航式移动装置10搭载有激光雷达、RTK(Real-time kinematic)、 超声波传感器等实现自主建图、自主导航以及其他实现无人驾驶的自主运行的必要器件，使得所述自主导航式移动装置10能够通过无人驾驶的方式在搭建光伏组件G的场地运行。
所述清洗机器人30包括上端行走轮和下端行走轮，在工作过程中，所述清洗机器人30适配于所述光伏组件G，所述上端行走轮和所述下端行走轮能够分别搭接于所述光伏组件G的上下两端，驱动行走轮转动就能够控制所述清洗机器人30沿所述光伏组件G移动，并对所述光伏组件G进行清洗作业。
具体地，所述光伏清洗***还包括视觉识别机构40。所述视觉识别机构40包括第一图像获取单元41和第一图像处理单元42，所述第一图像获取单元41安装于所述搬运端，用于获取所述光伏组件的第一图像数据，所述第一图像处理单元42能够基于视觉识别算法对所述第一图像数据进行处理，以确定相邻所述光伏组件之间是否满足预设搬运条件，当满足预设搬运条件，所述机械臂的所述搬运端连接于所述清洗机器人，并能够将所述清洗机器人搬运至相邻所述光伏组件。
示例地，所述预设搬运条件是相邻所述光伏组件之间的距离大于预设距离、相邻所述光伏组件之间的高度差大于预设距离、一排所述光伏组件清洗完毕需要将所述光伏组件搬运至下一排所述光伏组件等。
优选地，所述第一图像获取单元41是相机，所述第一图像是图像和/或视频数据，基于所述相机获取的所述光伏组件的图像或视频数据，所述第一图像处理单元42能够基于视觉识别算法对所述图像和/或视频数据进行处理，以判断相邻所述光伏组件之间的距离是否大于预设距离，或相邻所述光伏组件之间的高度差是否大于预设距离，或是一排所述光伏组件清洗完毕需要将所述光伏组件搬运至下一排所述光伏组件。当所述第一图像处理单元42对所述第一图像数据进行处理后确定相邻所述光伏组件之间满足预设搬运条件，则反馈至控制器，由控制器控制所述机械臂20产生动作。
具体地，所述光伏清洗***还包括安装于所述机械臂20的电控吸附件21，所述清洗机器人30的预设位置设有适配于所述电控吸附件21的吸附部，控制所述电控吸附件21的电量供应能够控制所述电控吸附件21在吸附状态和松开状态之间切换，在所述吸附状态时，所述电控吸附件21吸附所述吸附部，能够带动所述清洗机器人30移动；在所述松开状态时，所述电控吸附件21与所述吸附部分离，所述机械臂20与所述清洗机器人30分离。示例地，当需要搬运所述清洗机器人30时，先移动所述机械臂20对准所述清洗机器人30，然后向所述电控吸附件21通电，使得所述电控吸附件21吸附所述清洗机器人30，并带动所述清洗机器人30移动；在通过所述机械臂20将所述清洗机器人30搬运至下一所述光伏组件后，停止向所述电控吸附件21供电，使得所述电控吸附件21松开所述清洗机器人30。
所述电控吸附件21优选是真空吸吊机或电磁吸盘。所述清洗机器人30的所述吸附部是具有平整表面的结构，以便于所述真空吸吊机或所述电磁吸盘吸附连接。在一变形实施方式中，所述电控吸附件21还能够设于所述清洗机器人30。在另一变形实施方式中，所述机械臂20的所述搬运端和所述清洗机器人30上均安装有所述电控吸附件21。
所述光伏清洗***还包括识别机构50。所述识别机构50包括第一识别器51和若干第一识别标记52，若干所述第一识别标记52位于所述光伏组件的预设位置，所述第一识别器51安装于所述机械臂20的所述搬运端，所述第一识别器51能够识别所述第一识别标记52，用于确定所述搬运端在所述光伏组件所在平面的相对位置。可选地，所述第一图像获取单元41是3D相机，还用于测量所述搬运端与所述光伏组件之间的距离。
优选地，所述第一识别标记52是RFID(RFID:Radio Frequency Identification)标签，所述第一识别器51是RFID识别器，所述第一识别标记52的数量是多个，并且分布于所述光伏组件的多个位置，通过所述RFID识别 器识别所述第一识别标记52能够确定所述机械臂20的所述搬运端相对于所述光伏组件的位置。所述第一图像获取单元41是3D相机，还能够获取深度数据，从而测量所述搬运端与所述光伏组件之间的距离，便于控制所述机械臂20搬运所述清洗机器人。
可选地，所述第一识别标记52是二维码信息，通过所述第一图像获取单元41能够获取所述二维码信息，通过所述第一图像处理单元42识别所述二维码信息以确定所述搬运端与所述光伏组件之间的相对位置。可选地，还能够通过所述自主导航式移动装置10搭载的激光雷达确定所述搬运端与所述光伏组件之间的距离。
具体地，以所述自主导航式移动装置10行走的地面为基准面建立固定坐标系，即世界坐标系，世界坐标系是静止的。以所述自主导航式移动装置10的中心为坐标原点建立自主导航式移动装置10的坐标系，能够通过自主导航式移动装置10在地面的移动推算所述自主导航式移动装置10的坐标系和所述世界坐标系之间的对应关系。以所述机械臂20的所述连接端为坐标原点建立机械臂坐标系，因为所述机械臂20的所述连接端固定在所述自主导航式移动装置10的中心，所以所述机械臂坐标系与所述自主导航式移动装置10的坐标系重合。以所述机械臂20的各个关节的转动连接处为坐标原点分别建立关节坐标系，基于所述机械臂20的各个关节的长度能够建立各个关节坐标系与所述机械臂坐标系之间的对应关系。所述电控吸附件21可转动地安装于所述机械臂的所述搬运端，以所述电控吸附件21与所述搬运端的转动连接处为坐标原点建立吸附坐标系。参考所述光伏组件上的若干所述第一识别标记52建立所述光伏组件所处的目标坐标系，所述目标坐标系的中心既能够位于所述光伏组件的中心，也能够位于所述光伏组件的边缘。
在工作过程中，当需要通过所述机械臂20搬运所述清洗机器人时，首先通过所述第一图像获取单元41获取图像识别数据，以确定所述清洗机器人在 所述目标坐标系内的坐标；在一变形实施方式中，所述清洗机器人在所述目标坐标系内的坐标还能够由所述清洗机器人搭载第二识别器，识别所述光伏组件上的若干所述第一识别标记52来确定；接着通过所述第一识别器51识别若干所述第一识别标记52以确定所述机械臂20在所述目标坐标系内的目标；通过所述第一图像获取单元41测量所述搬运端与所述光伏组件之间的距离；基于所述距离计算所述机械臂20的各个关节需要转动的角度，并控制所述自主导航式移动装置10带动所述机械臂20移动，使得所述机械臂20的所述搬运端在所述目标坐标系内与所述清洗机器人的坐标重合，控制所述机械臂20动作以控制所述机械臂20向所述清洗机器人30的方向运动，使得电控吸附件21与所述清洗机器人接触并吸附；控制所述机械臂20携带所述清洗机器人30向远离所述光伏组件的方向运动，然后控制所述自主导航式移动装置10带动所述机械臂20移动以将所述清洗机器人30搬运至下一所述光伏组件或下一排所述光伏组件。
进一步地，所述光伏清洗***还包括冲洗机构60，所述冲洗机构60包括箱体、冲洗枪头以及连接软管，所述箱体安装于所述自主导航式移动装置10，所述冲洗枪头安装于所述清洗机器人，所述连接软管的一端连通所述箱体，另一端连通所述冲洗枪头，通过所述冲洗枪头能够抽取所述箱体中的冲洗液体冲洗所述光伏组件。优选地，所述箱体中存储的冲洗液体是水，所述冲洗枪头是高压水枪。通过向所述光伏组件喷洒冲洗液体的方式能够清除所述光伏组件上通过刷头无法清除的污渍，提高清洗效率。在一变形实施方式中，所述冲洗枪头还能够安装于所述机械臂20。
具体地，所述冲洗机构还包括第二图像获取单元61和第二图像识别单元62，所述第二图像获取单元61安装于所述清洗机器人30，用于在所述清洗机器人30对所述光伏组件进行清洗作业的过程中获取所述光伏组件的第二图像数据，所述第二图像识别单元62能够基于视觉识别算法对所述第二图像数据 进行处理，以识别所述光伏组件的待冲洗区域，所述第二图像识别单元识别所述待冲洗区域后，控制所述冲洗枪头向所述待冲洗区域喷洒冲洗液体。
示例地，当所述光伏组件上存在较为顽固的污渍时，在所述第二图像数据中会与清洁状态的所述光伏组件具有较大的差别，基于视觉识别算法能够识别所述光伏组件上具有污渍的区域标记为所述待冲洗区域，并通过所述冲洗枪头对所述待冲洗区域进行冲洗。通过先检测所述光伏组件上的所述待冲洗区域，仅对所述光伏组件上的所述待冲洗区域进行冲洗，能够节约冲洗液体，降低冲洗液体的用量。
所述光伏清洗***还包括判断机构70，所述判断机构70包括安装于所述清洗机器人30的红外热像仪和红外相机，所述红外热像仪用于获取所述光伏组件的温度数据，所述红外相机用于获取所述光伏组件的三维影像数据；所述判断机构70能够基于所述温度数据和所述三维影像数据判断所述光伏组件是否存在异常。在一变形实施方式中，所述判断机构70还可以位于所述机械臂的搬运端上，以便更好的实施对所述光伏组件的影像拍摄。
示例地，当所述光伏组件的内部电路发生损坏或电池异常时，可能会造成所述光伏组件的局部温度升高，严重时会对所述光伏组件造成极大的损坏。在所述清洗机器人30运行的过程中，通过所述红外热像仪获取所述光伏组件的温度数据，能够检测所述光伏组件的内部电路是否发生了损坏。通过所述红外相机获取所述光伏组件的三维数据，能够检测所述光伏组件的内部是否存在隐裂、碎片、虚焊以及断栅等内部缺陷。
进一步地，所述光伏清洗***还包括清洗臂，所述清洗臂具有清洗组件，所述清洗组件安装于所述自主导航式移动装置10，在所述自主导航式移动装置10在相邻两排所述光伏组件之间的间隙移动，所述清洗机器人30对其中一排的所述光伏组件的正面进行清洗作业时，所述清洗臂适于携带所述清洗组件对另一排的所述光伏组件的背面进行清洗作业。
所述清洗组件是高压***，或高压水枪，或高压***和高压水***合，所述清洗组件还能够是毛刷等清洗装置，只要能够实现对所述光伏组件背面的清洗，所述清洗组件的具体类型不应当构成对本申请的限制。
在一变形实施方式中，所述机械臂20的所述搬运端的所述电控吸附件21吸附所述清洗组件形成所述清洗臂，所述清洗组件具有吸附部，适于与所述电控吸附件吸附。当需要搬运所述清洗机器人时，所述电控吸附件21松开所述清洗组件并吸附所述清洗机器人30；控制所述电控吸附件21的电量供应能够控制所述电控吸附件21在吸附状态和松开状态之间切换，在所述吸附状态，所述电控吸附件21吸附所述清洗机器人30或所述清洗组件；在所述松开状态，所述电控吸附件21与所述清洗机器人30或所述清洗组件分离。也就是说，所述机械臂20既能够吸附所述清洗机器人30也能够吸附所述清洗组件，在不需要搬运所述清洗机器人30时，所述机械臂20上的所述电控吸附件21能够吸附所述清洗组件对相邻另一排所述光伏组件的背面进行清洗。
示例性方法
图3图示了根据本申请实施例的光伏清洗***的清洗方法的流程图。
如图3所示，所述光伏清洗***的清洗方法，包括：
S101，在清洗机器人对光伏组件进行清洗作业的过程中，通过安装于机械臂的搬运端的第一图像单元获取所述光伏组件的第一图像数据，所述机械臂安装于自主导航式移动装置；
S102，基于视觉识别算法对所述第一图像数据进行处理，以确定相邻所述光伏组件之间是否满足预设搬运条件；
S103，响应于相邻所述光伏组件之间的距离满足预设搬运条件，控制对安装于所述机械臂的所述搬运端的电控吸附件的电量供应使得所述电控吸附件吸附所述清洗机器人，所述机械臂带动所述清洗机器人移动，在所述清洗机器 人移动至相邻所述光伏组件后，控制所述电控吸附件的电量供应，使得所述电控吸附件与所述清洗机器人分离，所述机械臂与所述清洗机器人分离。
所述光伏清洗***的清洗方法，还包括：
S104，通过安装于所述清洗机器人的第二图像获取单元获取所述光伏组件的第二图像数据；
S105，基于视觉识别算法对所述第二图像数据进行处理，以识别所述光伏组件的待冲洗区域，响应于识别到所述待冲洗区域，控制安装于所述清洗机器人的冲洗枪头向所述待冲洗区域喷洒冲洗液体，其中所述冲洗枪头通过连接软管与安装于所述自主导航式移动装置的箱体连通。
所述光伏清洗***的清洗方法，还包括：
S106，通过安装于所述清洗机器人的红外热像仪获取所述光伏组件的温度数据；
S107，通过安装于所述清洗机器人的红外热相机获取所述光伏组件的三维影像数据；
S108，基于所述温度数据和所述三维影像数据判断所述光伏组件是否存在异常。
在所述机械臂与所述清洗机器人处于分离状态时，所述机械臂的所述搬运端能够吸附清洗组件，在所述自主导航式移动装置在相邻两排所述光伏组件之间的间隙移动，所述清洗机器人对其中一排的所述光伏组件的正面进行清洗作业时，所述自主导航式移动装置适于携带所述机械臂吸附所述清洗组件对另一排的所述光伏组件的背面进行清洗作业。
这里，本领域技术人员可以理解，上述光伏清洗***的清洗方法中的各个步骤已经在上面的光伏清洗***的描述中得到了详细介绍，并因此，将省略其重复描述。
如上所述，根据本申请实施例的光伏清洗***可以实现在各种无线终 端中，例如用于光伏清洗***的服务器等。在一个示例中，根据本申请实施例的光伏清洗***可以作为一个软件模块和/或硬件模块而集成到无线终端中。例如，该光伏清洗***可以是该无线终端的操作***中的一个软件模块，或者可以是针对于该无线终端所开发的一个应用程序；当然，该光伏清洗***同样可以是该无线终端的众多硬件模块之一。
替换地，在另一示例中，该光伏清洗***与该无线终端也可以是分立的设备，并且该光伏清洗***可以通过有线和/或无线网络连接到该无线终端，并且按照约定的数据格式来传输交互信息。
示例性计算机程序产品和计算机可读存储介质
除了上述方法和设备以外，本申请的实施例还可以是计算机程序产品，其包括计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性方法”部分中描述的根据本申请各种实施例的光伏清洗***的清洗方法中的步骤。
所述计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例操作的程序代码，所述程序设计语言包括面向对象的程序设计语言，诸如Java、C++等，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。
此外，本申请的实施例还可以是计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性方法”部分中描述的根据本申请各种实施例的光伏清洗***的清洗方法中的步骤。
所述计算机可读存储介质可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以包括但不限于电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
以上结合具体实施例描述了本申请的基本原理，但是，需要指出的是，在本申请中提及的优点、优势、效果等仅是示例而非限制，不能认为这些优点、优势、效果等是本申请的各个实施例必须具备的。另外，上述公开的具体细节仅是为了示例的作用和便于理解的作用，而非限制，上述细节并不限制本申请为必须采用上述具体的细节来实现。
本申请中涉及的器件、装置、设备、***的方框图仅作为例示性的例子并且不意图要求或暗示必须按照方框图示出的方式进行连接、布置、配置。如本领域技术人员将认识到的，可以按任意方式连接、布置、配置这些器件、装置、设备、***。诸如“包括”、“包含”、“具有”等等的词语是开放性词汇，指“包括但不限于”，且可与其互换使用。这里所使用的词汇“或”和“和”指词汇“和/或”，且可与其互换使用，除非上下文明确指示不是如此。这里所使用的词汇“诸如”指词组“诸如但不限于”，且可与其互换使用。
还需要指出的是，在本申请的装置、设备和方法中，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本申请的等效方案。
提供所公开的方面的以上描述以使本领域的任何技术人员能够做出 或者使用本申请。对这些方面的各种修改对于本领域技术人员而言是非常显而易见的，并且在此定义的一般原理可以应用于其他方面而不脱离本申请的范围。因此，本申请不意图被限制到在此示出的方面，而是按照与在此公开的原理和新颖的特征一致的最宽范围。
为了例示和描述的目的已经给出了以上描述。此外，此描述不意图将本申请的实施例限制到在此公开的形式。尽管以上已经讨论了多个示例方面和实施例，但是本领域技术人员将认识到其某些变型、修改、改变、添加和子组合。

Claims (13)

  1. 光伏清洗***，用于对光伏组件进行清洗作业，其特征在于，包括：
    自主导航式移动装置；
    机械臂，具有连接端和搬运端，所述连接端连接于所述自主导航式移动装置；
    清洗机器人，所述机械臂的所述搬运端适于连接于所述清洗机器人；
    所述光伏清洗***具有清洗状态和搬运状态，在所述清洗状态，所述清洗机器人适于对所述光伏组件进行清洗作业，所述搬运端与所述清洗机器人分离；在所述搬运状态，所述搬运端适于连接于所述清洗机器人，并能够搬运所述清洗机器人至所述光伏组件的预设位置。
  2. 根据权利要求1所述的光伏清洗***，其特征在于，还包括视觉识别机构，所述视觉识别机构包括第一图像获取单元和第一图像处理单元，所述第一图像获取单元安装于所述搬运端，用于获取所述光伏组件的第一图像数据，所述第一图像处理单元能够基于视觉识别算法对所述第一图像数据进行处理，以确定相邻所述光伏组件之间是否满足预设搬运条件，当满足预设搬运条件，所述机械臂的所述搬运端连接于所述清洗机器人，并将所述清洗机器人搬运至相邻所述光伏组件。
  3. 根据权利要求2所述的光伏清洗***，其特征在于，还包括安装于所述搬运端的电控吸附件，所述清洗机器人的预设位置设有适配于所述电控吸附件的吸附部，控制所述电控吸附件的电量供应能够控制所述电控吸附件在吸附状态和松开状态之间切换，在所述吸附状态时，所述电控吸附件吸附所述吸附部，能够带动所述清洗机器人移动；在所述松开状态时，所述电控吸附件与所述吸附部分离，所述机械臂与所述清洗机器人分离。
  4. 根据权利要求3所述的光伏清洗***，其特征在于，还包括识别机构，所述识别机构包括第一识别器和若干第一识别标记，若干所述第一识别标记位于所述光伏组件的预设位置，所述第一识别器安装于所述机械臂的所述搬运端，所述第一识别器能够识别所述第一识别标记，用于确定所述搬运端在所述光伏组件所在平面的相对位置。
  5. 根据权利要求1所述的光伏清洗***，其特征在于，还包括冲洗机构，所述冲洗机构包括箱体、冲洗枪头以及连接软管，所述箱体安装于所述自主导航式移动装置，所述冲洗枪头安装于所述清洗机器人，所述连接软管的一端连通所述箱体，另一端连通所述冲洗枪头，通过所述冲洗枪头能够抽取所述箱体中的冲洗液体冲洗所述光伏组件。
  6. 根据权利要求5所述的光伏清洗***，其特征在于，所述冲洗机构还包括第二图像获取单元和第二图像识别单元，所述第二图像获取单元安装于所述清洗机器人，用于在所述清洗机器人对所述光伏组件进行清洗作业的过程中获取所述光伏组件的第二图像数据，所述第二图像识别单元能够基于视觉识别算法对所述第二图像数据进行处理，以识别所述光伏组件的待冲洗区域，所述第二图像识别单元识别所述待冲洗区域后，控制所述冲洗枪头向所述待冲洗区域喷洒冲洗液体。
  7. 根据权利要求6所述的光伏清洗***，其特征在于，还包括判断机构，所述判断机构包括安装于所述清洗机器人的红外热像仪和红外相机，所述红外热像仪用于获取光伏组件的温度数据，所述红外相机用于获取所述光伏组件的三维影像数据；所述判断机构能够基于所述温度数据和所述三维影像数据判断所述光伏组件是否存在异常。
  8. 根据权利要求1所述的光伏清洗***，其特征在于，还包括清洗臂，所述清洗臂具有清洗组件，所述清洗组件安装于所述自主导航式移动装置，在所述自主导航式移动装置在相邻两排所述光伏组件之间的间隙移动，所述清洗机器人对其中一排的所述光伏组件的正面进行清洗作业时，所述清洗臂适于携带所述清洗组件对另一排的所述光伏组件的背面进行清洗作业。
  9. 根据权利要求8所述的光伏清洗***，其特征在于，还包括安装于所述机械臂的所述搬运端的电控吸附件，所述电控吸附件吸附所述清洗组件形成所述清洗臂。
  10. 光伏清洗***的清洗方法，其特征在于，包括：
    在清洗机器人对光伏组件进行清洗作业的过程中，通过安装于机械臂的搬运端的第一图像单元获取所述光伏组件的第一图像数据，所述机械臂安装于自主导航式移动装置；
    基于视觉识别算法对所述第一图像数据进行处理，以确定相邻所述光伏组件之间是否满足预设搬运条件；
    响应于相邻所述光伏组件之间的距离满足预设搬运条件，控制对安装于所述机械臂的所述搬运端的电控吸附件的电量供应使得所述电控吸附件吸附所述清洗机器人，所述机械臂带动所述清洗机器人移动，在所述清洗机器人移动至相邻所述光伏组件后，控制所述电控吸附件的电量供应，使得所述电控吸附件与所述清洗机器人分离，所述机械臂与所述清洗机器人分离。
  11. 根据权利要求10所述的光伏清洗***的清洗方法，其特征在于，还包括：
    通过安装于所述清洗机器人的第二图像获取单元获取所述光伏组件的第二图像数据；
    基于视觉识别算法对所述第二图像数据进行处理，以识别所述光伏组件的待冲洗区域，响应于识别到所述待冲洗区域，控制安装于所述清洗机器人的冲洗枪头向所述待冲洗区域喷洒冲洗液体，其中所述冲洗枪头通过连接软管与安装于所述自主导航式移动装置的箱体连通。
  12. 根据权利要求11所述的光伏清洗***的清洗方法，其特征在于，还包括：
    通过安装于所述清洗机器人的红外热像仪获取所述光伏组件的温度数据；
    通过安装于所述清洗机器人的红外相机获取所述光伏组件的三维影像数据；
    基于所述温度数据和所述三维影像数据判断所述光伏组件是否存在异常。
  13. 根据权利要求10所述的光伏清洗***，其特征在于，在所述机械臂与所述清洗机器人处于分离状态时，所述机械臂的所述搬运端能够吸附清洗组件，在所述自主导航式移动装置在相邻两排所述光伏组件之间的间隙移动，所述清洗机器人对其中一排的所述光伏组件的正面进行清洗作业时，所述自主导航式移动装置适于携带所述机械臂吸附所述清洗组件对另一排的所述光伏组件的背面进行清洗作业。
PCT/CN2023/083346 2022-07-27 2023-03-23 光伏清洗***及清洗方法 WO2024021643A1 (zh)

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