WO2020094143A1 - 接驳机器人及清洁系统 - Google Patents

接驳机器人及清洁系统 Download PDF

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Publication number
WO2020094143A1
WO2020094143A1 PCT/CN2019/116912 CN2019116912W WO2020094143A1 WO 2020094143 A1 WO2020094143 A1 WO 2020094143A1 CN 2019116912 W CN2019116912 W CN 2019116912W WO 2020094143 A1 WO2020094143 A1 WO 2020094143A1
Authority
WO
WIPO (PCT)
Prior art keywords
connection
telescopic rod
cleaning
robot
vehicle body
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2019/116912
Other languages
English (en)
French (fr)
Inventor
蒋昌胜
路建乡
齐献山
汪志祥
徐建荣
徐斐
刘宇
缪晓丽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Radiant Photovoltaic Technology Co Ltd
Original Assignee
Suzhou Radiant Photovoltaic Technology Co Ltd
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 Suzhou Radiant Photovoltaic Technology Co Ltd filed Critical Suzhou Radiant Photovoltaic Technology Co Ltd
Priority to EP19882416.1A priority Critical patent/EP3879699A4/en
Priority to JP2021517566A priority patent/JP7185961B2/ja
Priority to KR1020217015905A priority patent/KR20210080527A/ko
Priority to US17/277,419 priority patent/US12117847B2/en
Publication of WO2020094143A1 publication Critical patent/WO2020094143A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • 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
    • 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
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    • B25J13/00—Controls for manipulators
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    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J18/00—Arms
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—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
    • B66F9/063—Automatically guided
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
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    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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Definitions

  • the invention relates to a vehicle, in particular to a connecting robot, and a cleaning system including the connecting robot.
  • the server is used to remotely dispatch and control the cleaning robot to efficiently complete the cleaning work on different panel arrays.
  • An object of the present invention is to provide a connection scheme to solve the technical problem of the transfer and scheduling of cleaning robots between multiple solar panel arrays.
  • the present invention provides a docking robot, which includes a vehicle body, a docking device, and an angle adjustment device: the docking device includes a docking platform, which is rotatably connected to the top or upper part of the vehicle body; The angle adjusting device is provided between the vehicle body and the docking platform to adjust the angle of the docking platform.
  • the present invention provides another connection robot, including a vehicle body, a height adjustment device, a connection device, and an angle adjustment device: the height adjustment device is installed on the top or upper part of the vehicle body; the connection The docking device includes a docking platform rotatably connected to the top of the height adjustment device; the angle adjustment device is provided between the vehicle body and the docking platform to adjust the angle of the docking platform .
  • the present invention provides a cleaning system, including a cleaning area, a cleaning robot, and any of the aforementioned connection robots.
  • the cleaning area includes a solar panel or a solar panel array; the cleaning robot is used to A cleaning operation is performed on the cleaning area; the connecting robot is used to carry the cleaning robot.
  • the advantage of the present invention is to provide a connecting robot as a cleaning robot's vehicle to transfer the cleaning robot in the passage area between multiple solar panel arrays, so that the cleaning robot can be used in different
  • the cleaning work is completed on the solar panel array; the inclination angle of the docking platform of the docking robot can be adjusted so that the docking platform and the solar panel are fully docked.
  • FIG. 1 is a schematic diagram of the working area according to Embodiment 1 or 2 of the present invention.
  • FIG. 2 is a schematic diagram of the working state of the cleaning system according to Embodiment 1 or 2 of the present invention.
  • FIG. 3 is a schematic structural diagram of a cleaning system according to Embodiment 1 or 2 of the present invention.
  • FIG. 4 is a schematic view of the structure of the cleaning zone according to Embodiment 1 or 2 of the present invention.
  • FIG. 5 is a schematic structural view of the connecting robot according to Embodiment 1 of the present invention when the connecting platform is in a flat state;
  • FIG. 6 is a schematic structural view of the connecting robot according to Embodiment 1 of the present invention when the connecting platform is tilted;
  • FIG. 7 is a schematic structural view of the top of the connection device according to Embodiment 1 of the present invention.
  • FIG. 8 is a schematic structural view of the bottom of the connection device in one direction according to Embodiment 1 of the present invention.
  • FIG. 9 is a schematic structural view of the bottom of the connection device in another direction of Embodiment 1 of the present invention.
  • Example 10 is a schematic structural view of the vehicle body according to Example 1 of the present invention.
  • FIG. 11 is a schematic structural view of the angle adjusting device according to Embodiment 1 of the present invention.
  • FIG. 12 is a schematic diagram of functional modules of electronic devices of the cleaning system according to Embodiment 1 of the present invention.
  • FIG. 13 is a schematic structural view of the connecting robot according to Embodiment 2 of the present invention when the connecting platform is in a flat state;
  • FIG. 14 is a schematic structural view of the connecting robot according to Embodiment 2 of the present invention when the connecting platform is tilted;
  • FIG. 15 is a schematic structural view of a height adjustment device according to Embodiment 2 of the present invention in an expanded state;
  • FIG. 16 is a schematic exploded view of the height adjustment device according to Embodiment 2 of the present invention in an expanded state;
  • FIG. 17 is a schematic structural view of a height adjustment device according to Embodiment 2 of the present invention in a folded state
  • FIG. 18 is a schematic diagram of functional modules of electronic devices of the cleaning system according to Embodiment 2 of the present invention.
  • 100 working area 200 cleaning robot, 300 connecting robot, 400 data processing system, 500 cleaning area;
  • 324 anti-collision parts 325a, 325b sliding shaft base, 325c, 325d first chute;
  • 601 through-beam sensor 601a transmitter, 601b receiver; 602 distance sensor, 603 tilt sensor,
  • 604 positioning device 605 electronic compass; 606 image sensor, 607 lighting device, 608 obstacle avoidance sensor;
  • a solar power station is provided with a working area 100, which includes a plurality of solar panel arrays 101 (referred to as panel arrays for short), and each solar panel array 101 has an inclination angle of 15 to 45 from the horizontal plane At a certain angle in degrees, try to ensure that more sunlight directly hits the solar panel.
  • the tilt angle of all solar panels relative to the horizontal plane referred to as the panel tilt angle or tilt angle
  • the tilt angle of different solar panels may be different, Even the tilt angle of some panels is adjustable or variable.
  • each solar panel array 101 (referred to as panel array) includes a plurality of solar panels 102 (referred to as panels) spliced together. Multiple solar panel arrays 101 and / or multiple solar panels 102 may be arranged in a matrix A channel region 103 is formed between any two adjacent solar panel arrays 101 or solar panels 102. In this embodiment, a plurality of channel regions 103 that cross each other to form a crisscross channel network.
  • this embodiment provides a cleaning system including a cleaning robot 200, a connecting robot 300, and a data processing system 400.
  • the working area 100 is for the cleaning robot 200 and the connecting robot 300 to complete the solar panel cleaning operation.
  • the work area includes the cleaning area 500 and the passage area 103.
  • each solar panel 102 or solar panel array 101 that needs to be cleaned is the cleaning area 500.
  • the cleaning robot 100 can complete the cleaning operation on the solar panel 102 or the solar panel array 101, and can effectively clean every area on the panel 102 or the panel array 101.
  • the connecting robot 300 can carry the cleaning robot 200 from the cleaning robot 200 to the upper surface of a cleaning area 500 (the panel 102 or the panel array 101 that needs to be cleaned), and from the upper surface of a cleaned panel array to another The upper surface of the cleaning area 500 (the panel or panel array that needs to be cleaned) or, from a cleaned cleaning area 500 upper surface, is carried to the storage place of the cleaning robot 200.
  • each cleaning zone 500 is a group of synthetic rectangular panel arrays 101, and the peripheral edges thereof are respectively defined as the upper end 501 of the cleaning zone, the lower end 502 of the cleaning zone, the left end 503 of the cleaning zone, and the cleaning ⁇ ⁇ ⁇ 504.
  • the cleaning robot 200 travels from the left end 503 of the cleaning zone or the right end 504 of the cleaning zone to the cleaning zone 500; similarly, when When a cleaning robot 200 is transferred from a cleaning zone 500 by a connecting robot 300, preferably, the cleaning robot 200 travels from the left end 503 of the cleaning zone or the right end 504 of the cleaning zone to the connecting robot 300.
  • each cleaning area 500 is provided with a first connection area 505 and a second connection area 506 opposite to each other.
  • the first connection area 505 and the second connection area 506 are respectively disposed in the cleaning area Both sides of the left end 503 or the right end 504 of the cleaning zone.
  • the first connection area 505 is an area outside the cleaning area 500 immediately adjacent to the right end 504 of the cleaning area
  • the second connection area 506 is an area inside the cleaning area adjacent to the right end 504 of the cleaning area.
  • the first connection area 505 and the second connection area 506 are immediately adjacent to the lower part of the right end 504 of the cleaning area.
  • the first is the partition estimation method. In a small area (the area can be freely defined), the natural environment of multiple panel arrays adjacent to each other is similar, so the pollution degree of the panels in this area is also similar. A solar panel is randomly selected to detect the degree of pollution and determine whether the panel needs to be cleaned; if the panel needs to be cleaned, all the panels in the area need to be cleaned. If the operation area of a certain power station occupies a large area, a large operation can be divided into multiple small operation areas, and sampling inspections are carried out in zones.
  • the second is the regular cleaning method, which regularly cleans all panel arrays in the working area according to the natural environment of the working area.
  • the operation area has large sand or heavy precipitation, and the attachments on the surface of the solar panel are heavy, it may need to be cleaned 1 to 2 times a day. If the operation area is small or has less precipitation, the solar panel attachments are less. Clean it every few days.
  • Both of the above methods perform indifferent treatment on multiple solar panel arrays, which is relatively inaccurate, and there may be some cases where the surface of the panel is less attached and cleaned by the cleaning robot.
  • the third method is the separate detection method, which carefully detects the pollution degree of each panel array and determines which panel arrays or panels need to be cleaned. This method has higher accuracy but lower efficiency.
  • the data processing system 400 preferably a physical server or a cloud server, is connected to the cleaning robot 200 and / or the connecting robot 300 to realize the data exchange of the cleaning robot 200 and / or the connecting robot 300 to the cleaning robot 200
  • / or the connection robot 300 issues control instructions, and at the same time obtains feedback data from the cleaning robot 200 and / or connection robot 300, such as the real-time position coordinates of the above two robots, the image data collected by the two robots in real time, etc., so that the data
  • the processing system 400 can realize the real-time monitoring of the cleaning operation process of the cleaning robot 200, the movement of the docking robot 300 and the connection process, control the docking robot 300 to normally travel in the channel network of the work area 200, and control the docking robot 300 is docked with the panel array 101 in the cleaning area.
  • the number of connection robots 300 and cleaning robots 200 required for the cleaning operation is estimated based on the time allowed for the cleaning operation in the photovoltaic power plant.
  • the data processing system 300 calls a connecting robot 300 to send the cleaning robot 200 to a certain panel array 101 that needs to be cleaned.
  • the cleaning robot 200 performs a comprehensive cleaning operation on the panel array 101.
  • the data processing system 400 calls a connecting robot 300 to carry the cleaning robot 200 from the cleaned panel array upper surface to another panel array upper surface that needs to be cleaned, or to the cleaning robot 200 storage location.
  • the cleaning robot 200 is a product independently developed by the applicant. Please refer to the series of patents related to the solar panel cleaning robot applied by the applicant from 2016 to 2018. After the cleaning robot 200 is transported to a solar panel array, it can freely travel on the panel array, walk through every corner of the panel array, and complete the cleaning operation of the entire panel array during the travel, which will not be repeated here.
  • this embodiment provides a connection robot 300 including a vehicle body 310, a connection device 320 and an angle adjustment device 330.
  • the connection device 320 includes a connection platform 321 for placing the cleaning robot 200.
  • the connection platform 321 is rotatably connected to the top or upper half of the car body 310; during the connection process, The cleaning robot 200 travels from the upper surface of the connection platform 321 to the upper surface of a panel (upper board process), or from the upper surface of a panel to the upper surface of the connection platform 321 (lower board process).
  • the connection device 320 includes a baffle 322 that protrudes at the edge of the connection platform 321 and is perpendicular to the connection platform 321;
  • the baffle 322 includes a left baffle 322a and a rear baffle connected in sequence 322b and the right baffle 322c are enclosed in a concave shape; an opening 323 is formed between the open end of the left baffle 322a and the open end of the right baffle 322c.
  • connection device 320 further includes an anti-collision component 324, preferably an anti-collision strip, which is provided on the inner side wall of the tailgate 322b; Anti-collision strip (not shown).
  • an anti-collision component 324 preferably an anti-collision strip, which is provided on the inner side wall of the tailgate 322b; Anti-collision strip (not shown).
  • the connecting device 320 further includes a bridge plate 327 and a first telescopic rod 328.
  • the bridge plate 327 is slidably mounted to the upper surface of the connecting platform 321; one end of the first telescopic rod 328 is connected to the lower surface of the connecting platform 321 and the other end Connected to the lower surface of the bridge 327.
  • the first telescopic rod 328 is a hydraulic telescopic rod or an electric telescopic rod.
  • the first telescopic rod 328 has a first telescopic rod rod controller 329. When the first telescopic rod rod controller 329 receives a command electrical signal, it can control the first telescopic rod The rod 328 adjusts its length.
  • the bridge plate 327 When the length of the first telescopic rod 328 is shortened to the shortest, the bridge plate 327 is located on the upper surface of the connecting platform 321; when the length of the first telescopic rod 328 is extended, the bridge plate 327 extends toward the entrance 323 a distance.
  • the first telescopic rod 328 extends a certain distance, and the bridge plate 327 extends toward the solar panel array 101, so that The docking platform 321 is connected to the panel array 101, so that the cleaning robot 200 can smoothly travel from the docking platform 321 to the panel array 101 (ie, cleaning area) or from the panel array 101 (ie, cleaning area) to the docking platform 321.
  • the length of the first telescopic rod 328 is minimized, and the bridge plate 327 is retracted to the upper surface of the connecting platform 321.
  • the connecting device 320 further includes two oppositely disposed sliding shaft bases 325a, 325b and two oppositely disposed rotating shaft bases 326a, 326b.
  • the two sliding shaft bases 325a and 325b protrude from the middle of the bottom surface of the connecting platform 321, and two first sliding grooves 325c and 325d are provided on two opposite surfaces of the two sliding shaft bases 325a and 325b, respectively.
  • the shapes and sizes of the slide grooves 325c and 325d are the same, and their positions correspond.
  • the two rotating shaft bases 326a and 326b protrude from the bottom surface of the connecting platform 321, and are close to the right end edge of the connecting platform 321.
  • the center of the two rotating shaft bases 326a and 326b are respectively provided with base through holes 326c and 326d.
  • the two base through holes 326c and 326d have the same shape and size and corresponding positions.
  • the car body 310 includes a car body body 311, and the left and right sides of the bottom of the car body body 311 are provided with traveling devices 312 (such as wheels), preferably tracked wheel sets, which have good adaptability to the road surface and can pass the performance good.
  • traveling devices 312 such as wheels
  • tracked wheel sets which have good adaptability to the road surface and can pass the performance good.
  • the vehicle body 311 includes a frame 313.
  • the frame 313 is a three-dimensional frame whose overall shape is similar to a rectangular parallelepiped.
  • the frame 313 includes a plurality of horizontally arranged horizontal brackets and a plurality of vertically arranged vertical brackets ,
  • the longitudinal bracket is perpendicular to the horizontal plane or maintains a certain angle with the horizontal plane.
  • One or more baffles are fixed on the top surface, side surfaces, or bottom surface of the frame 313, and the baffle and the frame 313 together form a vehicle body 311.
  • the angle adjusting device 330 is provided between the vehicle body 310 and the connecting platform 321 to adjust the angle of the connecting platform 321 relative to the horizontal plane.
  • the angle adjusting device 330 adjusts the angle of the connecting platform 321 relative to the horizontal plane so that the upper surface of the connecting platform 321 and the upper surface of the cleaning area 500 are on the same plane as much as possible, thereby It is convenient for the docking platform 321 to dock with the cleaning area 500, so that the cleaning robot 200 can travel between the docking platform 321 and the cleaning area 500.
  • the angle adjusting device 330 includes a sliding shaft 331, a second telescopic rod 332 and a rotating shaft 333.
  • the second telescopic rod 332 is a hydraulic telescopic rod or an electric telescopic rod.
  • the second telescopic rod 332 has a second telescopic rod controller 335. When the second telescopic rod controller 335 receives the command electrical signal, it can control the second telescopic rod 332 adjust its length.
  • Two ends of the sliding shaft 331 are slidably installed into the two first sliding grooves 325c and 325d; one end of the second telescopic rod 332 is rotatably connected to the middle of the sliding shaft 331, and the other end is rotatably connected to the vehicle body 310.
  • the central part of the rotating shaft 333 is fixedly connected to one end of the top or upper half of the car body 310, and both ends thereof are rotatably mounted to the two base through holes 326c, 326d, so that the rotating shaft 333 can rotate relative to the rotating shaft bases 326a, 326b .
  • the connecting robot 300 further includes a circuit board (not shown), which is preferably provided in the car body 310.
  • a processor 340 is provided on the circuit board as a control device for connecting the robot 300.
  • the processor 340 is connected to the first telescopic rod controller 329 and the second telescopic rod controller 335, respectively, for issuing control commands to the first telescopic rod controller 329 and / or the second telescopic rod controller 335.
  • the cleaning robot 200 is provided with a first wireless communication unit 201
  • the connecting robot 300 is provided with a second wireless communication unit 301
  • the data processing system 400 is provided with a third wireless communication unit 401.
  • the first wireless communication unit 201, the second wireless communication unit 301, and the third wireless communication unit 401 are wirelessly connected to each other, so that the cleaning robot 200 or the connecting robot 300 and the data processing system 400 can exchange data by wireless communication.
  • the data processing system 400 controls the connecting robot 300 to adjust its position and direction to travel to the right of the cleaning area 500
  • the first connection area 505 at the lower side of the side, and the entrance 323 of the connection device 320 is facing the direction of the cleaning area 500.
  • the connecting platform 321 is horizontally disposed on the top of the car body 310, the connecting platform 321 and the upper surface of the car body 310
  • the included angle is 0 degrees. If the cleaning robot 200 is placed on the connection platform 321, it can be kept stable during transportation and will not slip.
  • the processor 340 sends an electrical signal to the second telescopic rod controller 335, controls the second telescopic rod 332 to extend, and connects the platform 321
  • the second telescopic rod controller 335 controls the second telescopic rod 332 to extend, and connects the platform 321
  • One end away from the rotating shaft 333 is supported, and the other end rotates around the rotating shaft 333, so that the angle between the connection platform 321 and the upper surface of the car body 310 gradually increases until it is opposite to the cleaning area 500 (solar panel or panel array)
  • the inclination angle in the horizontal plane is kept the same, so that the upper surface of the connection platform 321 and the upper surface of the panel of the cleaning zone 500 are on the same plane.
  • the two ends of the rotating shaft 333 rotate in the two base through holes 326c and 326d, and the two ends of the sliding shaft 331 slide in the two first sliding grooves 325c and 325d to make the connection platform
  • the 321 can keep the bottom stable during the tilt angle adjustment process without shaking.
  • the extension distance of the second telescopic rod 332 may be a preset constant length, and each time the second telescopic rod 332 extends, the connection platform 321 adjusts The rear tilt angles are the same as the panel tilt angle.
  • the data processing system 400 issues instructions to the processor 340 of the connecting robot 300 according to the tilt angles of the panels in the cleaning area 500, and the processor 340 issues instructions to the second telescopic rod control 335 to adjust the tilt angle of the connection platform 321.
  • the data processing system 400 receives the feedback information from the connection robot 300 and sends an action instruction to the cleaning robot 200 to control the cleaning robot 200 to travel from the connection platform 321 in the first connection area 505 Solar panel to the second connection area 506 (referred to as the upper plate), or from the solar panel of the second connection area 506 to the connection platform 321 (referred to as the lower plate) of the first connection area 505 to complete the connection Refute the process.
  • the height of the lowest part of the connection platform 321 is greater than or equal to the lowest end of the solar panel or panel array 101 in the working area 100 (such as the lower end 502 of the cleaning area);
  • the height of the highest point of 321 is less than or equal to the highest end of the solar panel or panel array 101 in the working area 100 (such as the upper end 501 of the cleaning area); ensure that the connection platform 321 can be connected to the left side of the solar panel or panel array 101 during the connection process
  • the side or right side forms an all-round docking (such as the left end 503 or the right end 504 of the cleaning area).
  • the height of the lowest part of the connecting platform 321 is substantially unchanged, and the height basically depends on the height of the top of the vehicle body 310.
  • the connection position between the connection platform 321 and the panel is located at the lower part of the right side of the panel or panel array 101, and the height of the vehicle body 310 is relatively low. The lower the center of gravity of the vehicle body 310, the smoother the connection robot 300 will be in the process of carrying the cleaning robot 200, effectively preventing bumps and shaking caused by uneven road surfaces.
  • connection robot 300 is also provided with various data collection devices, which are used to collect various work data during the operation of the connection robot 300.
  • the data collection device includes different kinds of sensors, including an on-beam sensor 601, a distance sensor 602, an inclination sensor 603, a positioning device 604, an electronic compass 605, an image sensor 606, a lighting device 607, an obstacle avoidance sensor 608, and so on.
  • the above sensors are wired or wirelessly connected to the processor 340, and the original working data collected during the operation of the connecting robot 300 is transmitted to the processor 340, and processed by the processor 340 to form pre-processed data, the original working data and / Or the pre-processed data is sent to the data processing system 400 through the wireless communication unit, so as to realize real-time monitoring of the operation process of the connecting robot 300 and real-time control of the traveling process and / or connecting process of the connecting robot 300.
  • the through-beam sensor 601 includes a transmitting end 601a and a receiving end 601b that are oppositely arranged, respectively disposed on the inner side walls of the left baffle 322a and the right baffle 322c of the connecting device 320, and the transmitting end 601a and the receiving end 601b are close to the entrance 323, and are respectively disposed on both sides of the entrance 323.
  • the through-beam sensor 601 is preferably a pair of through-beam infrared sensors. The infrared ray emitted from the transmitting end 601a is acquired by the receiving end 601b. When the infrared ray is blocked, the processor 340 can determine that an item passes through the entrance 323.
  • the through-beam sensor 601 can sense that the front end of the cleaning robot 200 travels to the connecting device 320; when a cleaning robot 200 is fully driven to the interior of the connection device 320, the infrared between the transmitting end 601a and the receiving end 601b is restored to an unobstructed state, and the on-beam sensor 601 can sense that the rear end of the cleaning robot 200 is also Proceed to the connection device 320.
  • the processor 340 can determine that the front end of a cleaning robot 200 travels to the connecting device 320 according to the real-time electrical signal of the on-beam sensor 601, or it can determine that the entire cleaning robot 200 is fully driven into the connecting device 320.
  • the distance sensor 602 is provided on the inner wall of the middle of the tailgate 322b of the connection device 320, and is opposite to the entrance 323.
  • the distance sensor 602 is preferably a reflective infrared sensor.
  • the reflective infrared sensor continuously emits infrared rays toward the entrance 323. If the reflected infrared rays can be received, it can be determined that the cleaning robot 200 is driving from the entrance 323 into the docking platform 321. Further, the distance between the front end of the cleaning robot 200 and the tailgate 322b of the connection device 320 can be obtained according to the time of the received infrared rays.
  • the distance sensor 602 (reflective infrared sensor) can determine that the cleaning robot 200 is traveling to the connection device 320, and can also determine the cleaning according to the time when the reflected infrared light is received
  • the processor 340 obtains the value of the distance, and can monitor the progress of the cleaning robot 200 into the connecting device 320 in real time, and determine whether the cleaning robot 200 is traveling into the connecting platform 321 as a whole .
  • the distance sensor 602 (reflective infrared sensor) can determine that the cleaning robot 200 is traveling in and out of the connection device 320, and at the same time can determine the front end of the cleaning robot 200 according to the time when the reflected infrared light is acquired
  • the distance from the tailgate 322b, and the processor 340 obtains the value of the distance, can monitor the progress of the cleaning robot 200 leaving the connecting device 320 in real time, and determine whether the cleaning robot 200 is driving out of the connecting platform 321 as a whole.
  • the inclination sensor 603 is preferably provided on the lower surface of the connection platform 321 (see FIG. 8) to measure the angle between the upper surface of the connection platform 321 and the horizontal plane in real time (referred to as the platform inclination angle), and transmit the angle value of the platform inclination angle to the processing ⁇ 340.
  • the inclination angle sensor 603 monitors the angle value of the inclination angle of the platform in real time and sends To the processor 340, when the angle value of the platform tilt angle of the real-time platform is the same as the angle value of the panel tilt angle, the processor 340 sends a stop command to the second telescopic rod controller 335, so that the second telescopic rod 332 stops extending, so that The tilt angle of the platform is the same as the tilt angle of the panel.
  • the positioning device 604 is an RFID reader (RFID Reader), which is located inside or outside the car body 310, preferably at the bottom of the car body 310 or at the front end of the connecting platform 321, to obtain the car body 310 in the work area And the real-time position of the car body 310 is transmitted to the processor 340.
  • RFID Reader RFID Reader
  • a tag positioning solution is adopted, a recommended path is preset in the passage area 103, and the vehicle body 310 is controlled to travel along the recommended path, and a set of recognizable tags, such as RFID tags, is set at a certain distance on the recommended path
  • Each identifiable label stores the data such as the location coordinates of the label in the work area.
  • the RFID reader reads the preset RFID tag at the intersection or section, and the processor 340 obtains the real-time position of the connecting robot 300, and optionally transmits it To data processing system 400.
  • the positioning device 604 can also be a high-precision GPS positioning unit or a Beidou positioning unit, and can also obtain the accurate real-time position of the connecting robot 300.
  • the electronic compass 605 is preferably installed inside or outside the vehicle body 310 to obtain the real-time traveling direction of the connecting robot 300, and is transmitted to the processor 340 for data processing and data analysis to determine whether the real-time traveling direction of the connecting robot 300 is Consistent with the preset direction, if the connecting robot 300 deviates from the preset direction, the processor 340 issues a control instruction to the vehicle body 310 to adjust the traveling direction of the vehicle body 310 in time.
  • the image sensor 606 and / or the lighting device 607 are provided at the front and / or rear of the vehicle body 310.
  • the image sensor 606 is used to collect real-time images and / or pictures in front of and / or behind the vehicle body 310 in real time, and Send to processor 340.
  • the image content collected by the image sensor 606 includes the feasible travel area in the passage area 103 at any moment is sent to the processor 340, and the processor 340 according to the vehicle body 310
  • Real-time travel speed calculates the predicted travel area covered by the car body 310 in the next period, compares the predicted travel area and feasible travel area at each moment in real time, and determines whether the car body 310 is still in the feasible travel area in the next period; if the predicted travel area exceeds the feasible area
  • the range of the entry area proves that an obstacle has appeared on the traveling route of the vehicle body 310, and the processor 340 needs to adjust the traveling direction of the vehicle body 310 in real time to prevent the vehicle body 310 from hitting the obstacle while traveling.
  • the image content collected by the image sensor 606 may further include a frame of the solar panel 102 and / or the panel array 101, and the frame is displayed as a straight line of the frame in the picture.
  • the connecting robot 300 may refer to the position of the border straight line to adjust the traveling direction in real time during the traveling process, so that the connecting robot 300 travels along the straight line as much as possible.
  • the lighting device 607 is used to illuminate the passage area in front of and / or behind the vehicle body 310, so that the image sensor 606 can collect normally Images and / or pictures.
  • the image sensor 606 and / or the lighting device 607 may also be disposed on the left and / or right side of the vehicle body 310 for real-time collection of real-time images and / or on the left and / or right side of the vehicle body 310 image.
  • the image sensor 606 and / or the lighting device 607 may also be provided on one side of the connection device 320, the camera of the image sensor 606 faces outward, and when the height and tilt angle of the connection platform 321 are adjusted to When the panel 102 coincides, the camera faces the solar panel 102.
  • the obstacle avoidance sensor 608 preferably an ultrasonic sensor, is provided at the front end and / or the rear end of the vehicle body 310.
  • the obstacle avoidance sensor 608 preferably an ultrasonic sensor, is provided at the front end and / or the rear end of the vehicle body 310.
  • the processor 340 obtains the sensing signal sent by the obstacle avoidance sensor 608 at the front end or the rear end, it can determine that there is an obstacle in front of or behind the vehicle's traveling route that affects the driving, so that the processor 340 can adjust the traveling direction of the connecting robot 300 to avoid obstacles.
  • the obstacle avoidance sensor 608 may also be provided on the left side and / or the right side of the vehicle body 310.
  • connection robot 300 as a carrier of the cleaning robot 200, which can transport the cleaning robot 200 in the passage area 103 between the solar panel arrays 101, so that the cleaning robot 200 can be placed on different solar panel arrays 101 Complete the cleaning work.
  • connection platform 321 of the connection robot 300 only one end of the connection platform 321 of the connection robot 300 can be raised, and the height of the other end is always fixed. If the height of the lower end of the solar panel 102 is much greater than the height of the top of the body of the connection robot 300, The docking platform 321 cannot be fully docked with the solar panel 102.
  • the connection robot 300 described in Embodiment 1 has limitations and can only be applied to the case where the height of the solar panel 102 is low; therefore, the present invention also provides Embodiment 2, which can effectively solve the above technical problems and is applicable to different heights Solar panel 102.
  • Embodiment 2 includes the technical solution of Embodiment 1.
  • the connecting robot 300 described in Embodiment 2 further includes a height adjustment device 350, which is provided between the body 310 and the angle adjustment device 330.
  • the height adjusting device 350 is installed on the top or upper part of the vehicle body 310; the connecting platform 321 of the connecting device 320 is rotatably connected to the top of the height adjusting device 350, and the angle adjusting device 330 is installed on the height adjusting device Between the top of 350 and the bottom of the connecting platform 321.
  • the height adjustment device 350 includes a frame 351, a first bracket 352, a second bracket 353, and a pin 354.
  • the connection device 320 is rotatably connected to one end of the frame 351; the upper end of the first bracket 352 may be Slidingly connected to the frame 351, its lower end is rotatably connected to the top of the vehicle body 310; the upper end of the second bracket 353 is rotatably connected to the frame 351, and its lower end is slidably connected to the top of the vehicle body 310; the pin 354 passes through the first A middle portion of a bracket 352 and a middle portion of the second bracket 353, the second bracket 353 is rotatably connected to the first bracket 352 through a pin 354.
  • the height adjusting device 350 further includes two oppositely arranged first guide rails 355a, 355b and two oppositely arranged second guide rails 356a, 356b.
  • the first guide rails 355a and 355b are horizontally mounted on the frame 351; two opposite surfaces of the two first guide rails are respectively provided with two second sliding grooves 357a and 357b opposite to each other.
  • the second guide rails 356a, 356b are horizontally mounted to the top or upper portion of the vehicle body 310; two opposite surfaces of the two second guide rails 356a, 356b are provided with two third sliding grooves 358a, 358b opposite to each other.
  • connection device 320 of the second embodiment As shown in FIGS. 5-9, the structure and technical effects of the connection device 320 of the second embodiment are the same as those of the first embodiment, and are not repeated here.
  • the connection device 320 includes a connection platform 321 for placing the cleaning robot 200.
  • the connection platform 321 is rotatably connected to the top or upper half of the car body 310; during the connection process, The cleaning robot 200 travels from the upper surface of the connection platform 321 to the upper surface of a panel (upper board process), or from the upper surface of a panel to the upper surface of the connection platform 321 (lower board process).
  • the connecting device 320 further includes a bridge plate 327 and a first telescopic rod 328.
  • the bridge plate 327 is slidably mounted to the upper surface of the connecting platform 321; one end of the first telescopic rod 328 is connected to the lower surface of the connecting platform 321 and the other end Connected to the lower surface of the bridge 327.
  • the first telescopic rod 328 is a hydraulic telescopic rod or an electric telescopic rod.
  • the first telescopic rod 328 has a first telescopic rod rod controller 329. When the first telescopic rod rod controller 329 receives a command electrical signal, it can control the first telescopic rod The rod 328 adjusts its length.
  • the bridge plate 327 When the length of the first telescopic rod 328 is shortened to the shortest, the bridge plate 327 is located on the upper surface of the connecting platform 321; when the length of the first telescopic rod 328 is extended, the bridge plate 327 extends toward the entrance 323 a distance.
  • the first telescopic rod 328 extends a certain distance, and the bridge plate 327 extends toward the solar panel array 101 , So that the connection platform 321 is connected to the solar panel array 101, so that the cleaning robot 200 can smoothly travel from the connection platform 321 to the solar panel array 101 (ie, the cleaning area), or from the solar panel array 101 (ie, the cleaning area) to the connection Platform 321.
  • the length of the first telescopic rod 328 is minimized, and the bridge plate 327 is retracted to the upper surface of the connecting platform 321.
  • the connecting device 320 further includes two oppositely disposed sliding shaft bases 325a, 325b and two oppositely disposed rotating shaft bases 326a, 326b.
  • the two sliding shaft bases 325a and 325b protrude from the middle of the bottom surface of the connecting platform 321, and two first sliding grooves 325c and 325d are provided on two opposite surfaces of the two sliding shaft bases 325a and 325b, respectively.
  • the shapes and sizes of the slide grooves 325c and 325d are the same, and their positions correspond.
  • the two rotating shaft bases 326a and 326b protrude from the bottom surface of the connecting platform 321, and are close to the right end edge of the connecting platform 321.
  • the center of the two rotating shaft bases 326a and 326b are respectively provided with base through holes 326c and 326d.
  • the two base through holes 326c and 326d have the same shape and size and corresponding positions.
  • the angle adjusting device 330 includes a sliding shaft 331, a second telescopic rod 332, a rotating shaft 333 and a telescopic rod mounting bracket 334.
  • the second telescopic rod 332 is a hydraulic telescopic rod or an electric telescopic rod.
  • the second telescopic rod 332 has a second telescopic rod controller 335. When the second telescopic rod controller 335 receives the command electrical signal, it can control the second telescopic rod 332 adjust its length.
  • the structure and technical effects of the angle adjusting device 330 are similar to those in Embodiment 1, and will not be repeated here.
  • the two ends of the sliding shaft 331 can be slidably installed into the two first sliding grooves 325c and 325d; the telescopic rod mounting bracket 334 is provided under the frame 351 and connected to the frame 351; one end of the second telescopic rod 332 can be connected to the sliding
  • the middle part of the shaft 331 is rotatably connected to the telescopic rod mounting bracket 334 at the other end; the middle part of the rotation shaft 333 is fixedly connected to the top or one end of the upper half of the frame 351, and both ends are rotatably mounted to the two rotating shaft bases 326a,
  • the base through holes 326c and 326d of 326b enable the rotating shaft 333 to rotate relative to the rotating shaft bases 326a and 326b.
  • the first bracket 352 includes two first links 3521a, 3521b and a first beam 3522 disposed in parallel, and both ends of the first beam 3522 are connected to the first links 3521a, 3521b, respectively.
  • a first pulley 3523a or 3523b is provided on the outer side of the upper end of the first link 3521a or 3521b, and the two first pulleys 3523a and 3523b are slidably installed in the second slide grooves 357a and 357b, respectively.
  • the second bracket 353 includes two second links 3531a and 3531b and a second beam 3532 disposed in parallel. The two ends of the second beam 3532 are connected to the second links 3531a and 3531b, respectively.
  • a second pulley 3533a or 3533b is provided on the outer side of the lower end of the second link 3531a or 3531b.
  • the two second pulleys 3533a and 3533b are slidably installed in the third sliding grooves 358a and 358b, respectively.
  • the angle adjusting device 330 further includes a third telescopic rod 359, one end of which is rotatably connected to the first bracket 352 or the second bracket 353, and the other end thereof is rotatably connected to the vehicle body 310.
  • a third beam (not shown) is provided on the first bracket 352, and both ends of the first bracket 352 are vertically connected to the two first connecting rods 3521a and 3521b.
  • a sleeve 3524 is provided on the outside of the third beam.
  • the upper end of the three telescopic rods 359 is hinged to the sleeve 3524 and can rotate around the third beam.
  • the third telescopic rod 359 is a hydraulic telescopic rod or an electric telescopic rod, and is connected to the processor 340 (see FIG. 18).
  • the third telescopic rod 359 has a third telescopic rod controller 360.
  • the processor 340 can send an electrical signal to control the first Three telescopic rod controller 360.
  • the third telescopic rod controller 360 receives the command electrical signal, it can control the third telescopic rod 359 to adjust its length.
  • connection robot 300 when the connection robot 300 travels near a cleaning area 500 (solar panel or panel array 101), the data processing system 400 controls the connection robot 300 to adjust its position and direction to travel to the right of the cleaning area 500
  • the first connection area 505 at the lower side of the side, and the entrance 323 of the connection device 320 is facing the direction of the cleaning area 500.
  • the connecting platform 321 is horizontally set at The angle between the connection platform 321 and the upper surface of the vehicle body 310 at the top of the vehicle body 310 is 0 degrees. If the cleaning robot 200 is placed on the connection platform 321, it can be kept stable during transportation and will not slip.
  • the processor 340 sends an electrical signal to the second telescopic rod controller 335 and / or the third telescopic rod controller 360. Control the second telescopic rod 332 and / or the third telescopic rod 359 to extend.
  • the third telescopic rod 359 extends, so that the frame 351 and the connecting platform 321 at the upper end of the height adjustment device 350 are raised; the second telescopic rod 332 extends, so that the end of the connecting platform 321 away from the rotating shaft 333 is propped up, and One end rotates around the rotation axis 333, so that the angle between the connection platform 321 and the upper surface of the car body 310 gradually increases until it is consistent with the inclination angle of the cleaning zone 500 (solar panel or panel array) relative to the horizontal plane, thereby making the connection
  • the upper surface of the platform 321 and the upper surface of the panel of the cleaning zone 500 are on the same plane.
  • the processor 340 sends an electrical signal to the second telescopic rod controller 335 and / or the third telescopic rod controller 360 to control the second telescopic rod 332 and / or the third telescopic rod 359 to shorten.
  • the second telescopic rod 332 is shortened, so that the angle between the connecting platform 321 of the connecting device 320 and the horizontal plane is reduced to 0 degrees, and the connecting platform 321 returns from the inclined state to the horizontal state.
  • the third telescopic rod 359 is shortened, so that the frame 351 and the connection platform 321 at the upper end of the height adjustment device 350 are lowered to the lowest position, and the connection robot 300 can then travel to other positions.
  • the two ends of the rotating shaft 333 rotate in the two base through holes 326c, 326d, and the two ends of the sliding shaft 331 slide in the two first sliding grooves 325c, 325d, so that The barge platform 321 can keep the bottom stable during the inclination angle adjustment process without shaking.
  • the lower end of the first bracket 352 rotates relative to the vehicle body 310, and the first pulleys 3523a and 3523b on the left and right sides of the upper end of the first bracket 352 occur in the second chute 357a and 357b, respectively Sliding; the upper end of the second bracket 353 rotates relative to the connection device 320, and the second pulleys 3533a and 3533b on the left and right sides of the lower end slide in the third sliding grooves 358a and 358b, respectively.
  • the first bracket 352 and the second bracket 353 have substantially the same shape and size.
  • the first link 3521b and the second link 3531b have the same length.
  • the rotation angle of the lower end of the first bracket 352 is the same as the rotation angle of the upper end of the second bracket 353.
  • the sliding distance of the upper end of one bracket 352 is the same as the sliding distance of the lower end of the second bracket 353.
  • the extension distance of the second telescopic rod 332 may be a preset constant length.
  • the adjusted tilt angle is the same as the panel tilt angle.
  • the extension distance of the third telescopic rod 332 may also be a preset constant length.
  • the extension distance of the third telescopic rod 359 may be a preset constant length.
  • the data processing system 400 issues instructions to the processor 340 and processor 340 of the connecting robot 300 according to the panel heights and panel inclination angles of the cleaning area 500 Issue a command to the third telescopic rod controller 360 to adjust the height of the height adjustment device 350 and the height of the connecting platform 321, the processor 340 issue a command to the second telescopic rod controller 335 to adjust the tilt angle of the connecting platform 321 .
  • the data processing system 400 receives the feedback information from the connection robot 300 and sends an action instruction to the cleaning robot 200 to control the cleaning robot 200 to travel from the connection platform 321 in the first connection area 505 Solar panel to the second connection area 506 (referred to as the upper plate), or from the solar panel of the second connection area 506 to the connection platform 321 (referred to as the lower plate) of the first connection area 505 to complete the connection Refute the process.
  • connection robot 300 of Embodiment 2 is also provided with various data collection devices, including an on-beam sensor 601, a distance sensor 602, an inclination sensor 603, a positioning device 604, an electronic compass 605, an image sensor 606, a lighting device 607, and Obstacle avoidance sensor 608, and so on.
  • data collection devices including an on-beam sensor 601, a distance sensor 602, an inclination sensor 603, a positioning device 604, an electronic compass 605, an image sensor 606, a lighting device 607, and Obstacle avoidance sensor 608, and so on.
  • the structure and technical effects of the data collection device are the same as those in Embodiment 1, and are not repeated here.
  • the invention provides a connection robot as a carrier of a cleaning robot, which transfers the cleaning robot in a passage area between a plurality of solar panel arrays, so that the cleaning robot can complete cleaning work on different solar panel arrays.
  • the height and tilt angle of the docking platform of the docking robot can be adjusted. Even when the height of the solar panel is large, the docking platform and the solar panel can be fully docked.
  • the subject of the present invention can be manufactured and used in industry, and has industrial applicability.

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Abstract

一种接驳机器人（300）及清洁系统，接驳机器人（300）包括车体（310）、接驳装置（320）以及角度调节装置（330），清洁系统包括清洁区（500）、清洁机器人（200）及接驳机器人（300）。接驳机器人（300）作为清洁机器人（200）的运载工具，在多个太阳能面板阵列（101）之间的通道区（103）中转移清洁机器人（200），使得清洁机器人（200）得以在不同的太阳能面板阵列（101）上完成清洁工作。

Description

接驳机器人及清洁系统 技术领域
本发明涉及一种运载工具，特别涉及一种接驳机器人，以及一种包括该接驳机器人的清洁系统。
背景技术
在化石燃料日趋减少的情况下，作为一种新兴的可再生能源的太阳能已成为人类使用能源的重要组成部分，近十年来，太阳能应用技术在世界各国都得到迅猛发展。
由于太阳能面板的工作环境只能是户外，影响其工作的最大问题并不是风雨雷电，而是常年累积的灰尘、积雪等。太阳能面板上附着有灰尘或其它附着物，会影响面板板的透光率，阻碍光电效率，从而会严重影响面板直接获取阳光的效率，降低面板的能量吸收和转换效率，降低发电效率。
因此，每个光伏电站都需要进行太阳能面板表面的清扫工作，很明显人工清扫效率低、风险大。相应的，业界开发出了太阳能面板清洁机器人对其进行表面清扫，即可有效的提高清扫效率，又不会出现高处清扫作业而存在的人身安全隐患问题。
技术问题
由于太阳能面板或面板阵列的摆放设置并不是一个整块设置，而是在一定区域内的多处设置，使得区域内不同位置的太阳能面板或面板阵列之间存在较大的空间间隔，而清洁机器人并不能直接跨越这些空间间隔在不同的太阳能面板上，如果在每一太阳能面板上均设置一个清洁机器人，不仅硬件成本太高，而且每个清洁机器人的使用效率太低，会形成较大的资源浪费。
技术解决方案
基于以上问题，我们需要发明一种清洁机器人，在单一太阳能面板或面板阵列上完成有效清洁工作；同时还要发明一种接驳机器人，可以将清洁机器人从一个太阳能面板阵列上转移到另一个太阳能面板阵列上，利用服务器远程调度和控制清洁机器人在不同面板阵列上高效地完成清洁工作。
本发明的一个目的在于，提供一种接驳方案，用以解决清洁机器人在多个太阳能面板阵列之间转移和调度的技术问题。
为实现上述目的，本发明提供一种接驳机器人，包括车体、接驳装置以及角度调节装置：所述接驳装置包括一接驳平台，可转动式连接至所述车体顶部或上部；所述角 度调节装置设于所述车体与所述接驳平台之间，用以调节所述接驳平台的角度。
为实现上述目的，本发明提供另一种接驳机器人，包括车体、高度调节装置、接驳装置以及角度调节装置：所述高度调节装置被安装至所述车体顶部或上部；所述接驳装置包括一接驳平台，可转动式连接至所述高度调节装置顶部；所述角度调节装置设于所述车体与所述接驳平台之间，用以调节所述接驳平台的角度。为实现上述目的，本发明提供一种清洁系统，包括清洁区、清洁机器人以及前文所述的任一种接驳机器人，所述清洁区包括太阳能面板或太阳能面板阵列；所述清洁机器人用以在所述清洁区上进行清洁作业；所述接驳机器人用以运载所述清洁机器人。
有益效果
相较于习知技术，本发明的优点在于，提供一种接驳机器人，作为清洁机器人的运载工具，在多个太阳能面板阵列之间的通道区中转移清洁机器人，使得清洁机器人得以在不同的太阳能面板阵列上完成清洁工作；接驳机器人的接驳平台的倾斜角度可以调节，以便于接驳平台与太阳能面板全面对接。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，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。
图1是本发明实施例1或2所述作业区的示意图；
图2是本发明实施例1或2所述清洁系统的作业状态示意图；
图3是本发明实施例1或2所述清洁系统的结构示意图；
图4是本发明实施例1或2所述清洁区的结构示意图；
图5是本发明实施例1所述接驳机器人在接驳平台平置状态下的结构示意图；
图6是本发明实施例1所述接驳机器人在接驳平台倾斜状态下的结构示意图；
图7是本发明实施例1所述接驳装置顶部的结构示意图；
图8是本发明实施例1所述接驳装置底部在一个方向上的结构示意图；
图9是本发明实施例1所述接驳装置底部在另一个方向上的结构示意图；
图10是本发明实施例1所述车体的结构示意图；
图11是本发明实施例1所述角度调节装置的结构示意图；
图12是本发明实施例1所述清洁系统的电子器件的功能模块简图；
图13是本发明实施例2所述接驳机器人在接驳平台平置状态下的结构示意图；
图14是本发明实施例2所述接驳机器人在接驳平台倾斜状态下的结构示意图；
图15是本发明实施例2所述高度调节装置在展开状态下的结构示意图；
图16是本发明实施例2所述高度调节装置在展开状态下的分解结构示意图；
图17是本发明实施例2所述高度调节装置在折叠状态下的结构示意图；
图18是本发明实施例2所述清洁系统的电子器件的功能模块简图。
图中部件标识如下：
100作业区，200清洁机器人，300接驳机器人，400数据处理系统，500清洁区；
101太阳能面板阵列，102太阳能面板，103通道区；
201第一无线通信单元，301第二无线通信单元，401第三无线通信单元；
310车体，320接驳装置，330角度调节装置，340处理器，350高度调节装置；
311车体本体，312行进装置，313车架，314电路板；
321接驳平台，322挡板，322a左档板，322b后挡板，322c右挡板，323出入口；
324防撞部件，325a、325b滑动轴底座，325c、325d第一滑槽；
326a、326b转动轴底座，326c、326d底座通孔，327桥板，
328第一伸缩杆，329第一伸缩杆控制器；331滑动轴，
332第二伸缩杆，333转动轴，334伸缩杆安装架，335第二伸缩杆控制器；
351框架，352第一支架，353第二支架，354销轴；355a、355b第一导轨，
356a、356b第二导轨，357a、357b第二滑槽，358a、358b第三滑槽；
359第三伸缩杆，360第三伸缩杆控制器；
501清洁区上端，502清洁区下端，503清洁区左侧端，504清洁区右侧端；
505第一接驳区，506第二接驳区；
601对射式传感器，601a发射端，601b接收端；602距离传感器，603倾角传感器，
604定位装置，605电子罗盘；606影像传感器，607照明装置，608避障传感器；
3521a、3521b第一连杆，3522第一横梁，3523a、3523b第一滑轮，3524套筒；
3531a、3531b第二连杆，3532第二横梁，3533a、3533b第二滑轮。
本发明的实施方式
以下参考说明书附图介绍本发明的优选实施例，用以举例证明本发明可以实施， 这些实施例可以向本领域中的技术人员完整介绍本发明的技术内容，使得本发明的技术内容更加清楚和便于理解。然而本发明可以通过许多不同形式的实施例来得以体现，本发明的保护范围并非仅限于文中提到的实施例。
在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的组件以相似数字标号表示。当一个组件被描述为“连接至”另一组件时，二者可以理解为直接“连接”，或者一个组件通过一中间组件“连接至”另一个组件。
如图1所示，一太阳能电站内设有一作业区100，在该作业区100内包括多个太阳能面板阵列101(简称面板阵列)，每一太阳能面板阵列101与水平面的倾斜角为15～45度中的某一角度值，尽量保证阳光较多地直射至太阳能面板上。在大部分的太阳能电站中，所有太阳能面板相对于水平面的倾斜角(简称面板倾斜角或倾斜角)都是相同的；在某些太阳能电站中，不同太阳能面板的倾斜角可能会有所区别，甚至有些面板的倾斜角是可调节或可变化的。
如图1所示，每一太阳能面板阵列101(简称面板阵列)包括多块拼接在一起的太阳能面板102(简称面板)，多个太阳能面板阵列101和/或多个太阳能面板102可以排列成矩阵，任意两个相邻的太阳能面板阵列101或太阳能面板102之间形成一通道区103，在本实施例中，多个彼此交叉连通的通道区103共同组成纵横交错的通道网络。
如图2～3所示，本实施例提供一种清洁系统，包括清洁机器人200、接驳机器人300以及数据处理系统400，作业区100为清洁机器人200、接驳机器人300完成太阳能面板清洁作业的工作区域，包括清洁区500和通道区103。
太阳能电站在正常工作过程中，某些太阳能面板或太阳能面板阵列会沾附灰尘或污渍，需要被清洁处理；每一块需要被清洁处理的太阳能面板102或太阳能面板阵列101即为清洁区500。清洁机器人100可以在太阳能面板102或太阳能面板阵列101上完成清洁作业，可以有效清洁面板102或面板阵列101上的每一处区域。接驳机器人300可以将清洁机器人200从清洁机器人200存放地运载至一清洁区500(需要被清洁的面板102或面板阵列101)上表面，从一个被清洁过的面板阵列上表面运载至另一个清洁区500(需要被清洁的面板或面板阵列)上表面，或者，从一个被清洁过的清洁区500上表面运载至清洁机器人200存放地。
如图4所示，优选地，每一清洁区500为一组合成矩形的面板阵列101，其四周边缘处分别被定义为清洁区上端501、清洁区下端502、清洁区左侧端503及清洁区右侧 端504。
当一清洁机器人200被一接驳机器人300运载至一清洁区500时，优选地，清洁机器人200从清洁区左侧端503或清洁区右侧端504行驶至清洁区500上；类似地，当一清洁机器人200被一接驳机器人300从一清洁区500上转移时，优选地，清洁机器人200从清洁区左侧端503或清洁区右侧端504行驶至接驳机器人300上。
如图4所示，每一清洁区500设有彼此相对设置的第一接驳区505、第二接驳区506，第一接驳区505、第二接驳区506分别设于该清洁区左侧端503或该清洁区右侧端504的两侧。本实施例中，第一接驳区505为该清洁区500外部紧邻该清洁区右侧端504的区域，第二接驳区506为该清洁区内部紧邻该清洁区右侧端504的区域。优选地，第一接驳区505、第二接驳区506紧邻该清洁区右侧端504的下部。
判断光伏电站内有哪些太阳能面板阵列是否需要被清洁，常见的有如下几种方案。第一种是分区预估法，在一个小型区域(区域范围可以自由定义)内彼此相邻的多个面板阵列所处的自然环境是类似的，因此该区域内面板被污染程度也相近似，随机选取一太阳能面板，检测其污染程度，判断该面板是否需要清洁；如果该面板需要被清洁，则该区域的所有面板都需要被清洁。若某一电站的作业区占地面积较大，可以将一个大型作业区分成多个小型作业区，分区进行抽样检测。第二种是定时清洁法，根据作业区所处自然环境的情况，定时对该作业区内所有面板阵列进行清洁。如果该作业区风沙较大或者降水较多，太阳能面板表面附着物较重，可能需要每天清洗1～2次，如果该作业区风沙较小或降水较少，太阳能面板附着物较少，可能每隔几天清洗一次。以上两种方法都是对多个太阳能面板阵列进行无差别处理，相对来说精准度较差，可能存在有些面板表面附着物较少也被清洁机器人清洁处理的状况。第三种是分别检测法，认真检测每一个面板阵列的污染程度，判断哪些面板阵列或面板需要清洁，这种方法准确性比较高，但是效率较低。
如图3所示，数据处理系统400，优选物理服务器或云服务器，连接至清洁机器人200和/或接驳机器人300，实现清洁机器人200和/或接驳机器人300的数据交换，向清洁机器人200和/或接驳机器人300发布控制指令，同时从清洁机器人200和/或接驳机器人300获取反馈数据，如上述两种机器人的实时位置坐标、两种机器人实时采集的影像数据等，从而使得数据处理系统400可以实现对清洁机器人200的清洁作业过程、对接驳机器人300行进及接驳过程的实时监控，控制对接驳机器人300在作业区200的通道网络内正常行进，控制对接驳机器人300与清洁区的面板阵列101对接。
数据处理系统400获取哪些面板阵列101需要被清洁的信息(某些面板编号)之后，结合光伏电站内允许清洁作业的时间，估算出清洁作业所需的接驳机器人300和清洁机器人200的数量。数据处理系统300调用一接驳机器人300将清洁机器人200送到需要清洁处理的某一面板阵列101上，清洁机器人200在该面板阵列101上进行全面清洁作业，该面板阵列101的清洁作业完成后，数据处理系统400调用一接驳机器人300将该清洁机器人200从一个被清洁过的面板阵列上表面运载至另一个需要被清洁的面板阵列上表面，或者，运载至清洁机器人200存放地。
清洁机器人200为申请人自主研发的产品，参见申请人于2016年～2018年申请的一系列太阳能面板清扫机器人相关专利。清洁机器人200被运送至一太阳能面板阵列后，可以在面板阵列上自由行进，走遍该面板阵列的每一个角落，在行进中完成整个面板阵列的清洁作业，在此不做赘述。
实施例1
如图5所示，本实施例提供一种接驳机器人300，包括车体310、接驳装置320及角度调节装置330。
如图5～6所示，接驳装置320包括一接驳平台321，用于放置清洁机器人200，接驳平台321可转动式连接至车体310顶部或上半部；在接驳过程中，清洁机器人200从接驳平台321上表面行驶至一面板的上表面(上板过程)，或者，从一面板的上表面行驶至接驳平台321上表面(下板过程)。
如图7～9所示，接驳装置320包括挡板322，突出于接驳平台321的边缘处，且垂直于接驳平台321；挡板322包括依次连接的左档板322a、后挡板322b及右挡板322c，围成凹字形；左档板322a的开放端与右挡板322c的开放端之间形成一出入口323。
接驳装置320还包括防撞部件324，优选一防撞条，设于后挡板322b的内侧壁；可选择地，左档板322a和/或右挡板322c的内侧壁也可以分别设置一防撞条(图未示)。
接驳装置320还包括桥板327及第一伸缩杆328，桥板327可滑动式安装至接驳平台321上表面；第一伸缩杆328的一端连接至接驳平台321下表面，其另一端连接至桥板327下表面。第一伸缩杆328为液压伸缩杆或电力伸缩杆，第一伸缩杆328具有第一伸缩杆杆控制器329，当第一伸缩杆杆控制器329接收到指令电信号时，可以控制第一伸缩杆328调整其长度。当第一伸缩杆328长度缩至最短时，桥板327位于接驳平台321上表面；当第一伸缩杆328长度伸长时，桥板327向出入口323方向伸出一段距离。当接驳机 器人300与面板阵列101距离最小，且接驳平台321的角度被调整到与面板阵列101一致时，第一伸缩杆328伸长一定距离，桥板327向太阳能面板阵列101延伸，使得接驳平台321连接至面板阵列101，从而方便清洁机器人200从接驳平台321顺利行进至面板阵列101(即清洁区)，或者从面板阵列101(即清洁区)行进至接驳平台321。清洁机器人200转移完成后，第一伸缩杆328长度缩至最短，桥板327收回至接驳平台321上表面。
如图7～9所示，接驳装置320还包括两个相对设置的滑动轴底座325a、325b以及两个相对设置的转动轴底座326a、326b。
两个滑动轴底座325a、325b突出于接驳平台321的底面中部，在两个滑动轴底座325a、325b的两个相对面上分别设有两个第一滑槽325c、325d，两个第一滑槽325c、325d的形状、尺寸相同，且位置相对应。
两个转动轴底座326a、326b突出于接驳平台321的底面，且靠近接驳平台321右侧一端边缘。两个转动轴底座326a、326b中心分别设有底座通孔326c、326d，两个底座通孔326c、326d的形状、尺寸相同，且位置相对应。
如图10所示，车体310包括车体本体311，车体本体311底部的左右两侧分别设有行进装置312(如车轮)，优选履带轮组，对路面适应能力较好，可通过性能良好。
如图11所示，车体本体311包括一车架313，车架313为立体框架，其整体近似于长方体形状，车架313包括多个水平设置的横向支架及多个竖直设置的纵向支架，所述纵向支架垂直于水平面或与水平面保持一定夹角。车架313的顶面或侧面或底面上皆被固定有一块或多块挡板，所述挡板与车架313共同围成车体本体311。
如图5～6、图10～11所示，角度调节装置330设于车体310与接驳平台321之间，用以调节接驳平台321相对于水平面的角度。
当接驳机器人300行进至一清洁区500旁边时，角度调节装置330调整接驳平台321相对于水平面的角度，使得接驳平台321上表面与清洁区500上表面尽可能位于同一平面上，从而便于接驳平台321与清洁区500对接，以方便清洁机器人200在接驳平台321与清洁区500之间行进。
如图10～11所示，角度调节装置330包括滑动轴331、第二伸缩杆332以及转动轴333。第二伸缩杆332为液压伸缩杆或电力伸缩杆，第二伸缩杆332具有一第二伸缩杆控制器335，当第二伸缩杆控制器335接收到指令电信号时，可以控制第二伸缩杆332调整其长度。
滑动轴331两端可滑动式安装至两个第一滑槽325c、325d内；第二伸缩杆332一端可转动式连接至滑动轴331中部，其另一端可转动式连接至车体310。转动轴333中部固定连接至车体310顶部或上半部的一端，其两端可转动式安装至两个底座通孔326c、326d，使得转动轴333可以相对于转动轴底座326a、326b发生转动。
如图12所示，本实施例所述接驳机器人300还包括一电路板(图未示)，优选地，设于车体310内。所述电路板上设有一处理器340，作为接驳机器人300的控制设备。处理器340分别连接至第一伸缩杆控制器329及第二伸缩杆控制器335，用以发出控制指令给第一伸缩杆控制器329和/或第二伸缩杆控制器335。
清洁机器人200设有第一无线通信单元201，接驳机器人300设有第二无线通信单元301，数据处理系统400设有第三无线通信单元401。第一无线通信单元201、第二无线通信单元301分别与第三无线通信单元401彼此无线连接，使得清洁机器人200或接驳机器人300与数据处理系统400皆可以无线通信方式进行数据交换。
如图4所示，当接驳机器人300行进至一清洁区500(太阳能面板或面板阵列101)附近时，数据处理系统400控制一接驳机器人300调整其位置和方向，行进至清洁区500右侧下端的第一接驳区505，且使得接驳装置320的出入口323正对清洁区500方向。
本实施例中，接驳机器人300在通道区103内行驶时，第二伸缩杆332长度缩至最短，接驳平台321水平设置于车体310顶部，接驳平台321与车体310上表面的夹角为0度。如果接驳平台321上放置有清洁机器人200，则可以在运输过程中保持平稳，不会滑落。
当一接驳机器人300行驶至一清洁区500的第一接驳区505时，处理器340发出一电信号给第二伸缩杆控制器335，控制第二伸缩杆332伸长，接驳平台321远离转动轴333的一端被撑起，另一端绕着转动轴333转动，使得接驳平台321与车体310上表面的夹角逐步增大，直至与清洁区500(太阳能面板或面板阵列)相对于水平面倾斜角保持一致，从而使得接驳平台321上表面与清洁区500面板上表面在同一平面上。在第二伸缩杆332伸长过程中，转动轴333两端在两个底座通孔326c、326d内转动，滑动轴331两端在两个第一滑槽325c、325d内滑动，使得接驳平台321在倾斜角调整过程能保持底部稳定，不会发生摇晃。
若作业区100内所有太阳能面板的倾斜角皆相同且保持不变，第二伸缩杆332伸长距离可以为预设的恒定长度，第二伸缩杆332每次伸长时，接驳平台321调整后的倾 斜角度都与面板倾斜角度相同。
若作业区100内所有太阳能面板的倾斜角各不相同，数据处理系统400根据清洁区500的面板倾斜角度发布指令给接驳机器人300的处理器340，处理器340发布指令给第二伸缩杆控制器335，来调整接驳平台321的倾斜角度。
接驳平台321的倾斜角度调整完毕时，数据处理系统400收到接驳机器人300的反馈信息，向清洁机器人200发送行动指令，控制清洁机器人200从第一接驳区505的接驳平台321行驶至第二接驳区506的太阳能面板(简称上板)，或者，从第二接驳区506的太阳能面板行驶至第一接驳区505的接驳平台321(简称下板)，从而完成接驳过程。
本实施例中，当接驳平台321处于倾斜状态时，接驳平台321最低处的高度大于或等于作业区100内太阳能面板或面板阵列101的最低端(如清洁区下端502)；接驳平台321最高处的高度小于或等于作业区100内太阳能面板或面板阵列101的最高端(如清洁区上端501)；确保在接驳过程中，接驳平台321可以与太阳能面板或面板阵列101的左侧或右侧形成全方位对接(如清洁区左侧端503或右侧端504)。
无论接驳平台321处于倾斜状态还是平置状态，接驳平台321最低处的高度大致不变，该高度基本取决于车体310顶部的高度。优选地，接驳平台321与面板的接驳位置位于面板或面板阵列101的右侧的下部，对车体310的高度要求比较低。车体310重心越低，接驳机器人300在运载清洁机器人200行进的过程中就会越平稳，有效防止路面不平造成的颠簸和晃动。
本实施例中，接驳机器人300还设有多种数据采集装置，用以采集接驳机器人300工作过程中的各种工作数据。所述数据采集装置包括不同种类的传感器，包括对射式传感器601、距离传感器602、倾角传感器603、定位装置604、电子罗盘605、影像传感器606、照明装置607以及避障传感器608，等等。上述各个传感器有线式或无线式连接至处理器340，接驳机器人300作业过程中采集的原始工作数据被传送至处理器340，经由处理器340处理后形成预处理数据，所述原始工作数据和/或所述预处理数据通过无线通信单元发送至数据处理系统400，以实现对接驳机器人300作业过程的实时监控和对接驳机器人300的行进过程和/或接驳过程进行实时控制。
如图5～6及12所示，对射式传感器601包括相对设置的发射端601a与接收端601b，分别设于接驳装置320的左档板322a、右挡板322c内侧壁上，发射端601a与接收端601b靠近出入口323，分别设置于出入口323两侧。对射式传感器601优选一对对射式 红外传感器，发射端601a发射出的红外线被接收端601b获取到，当红外线被挡住时，处理器340即可判断有物品通过出入口323。
当一清扫机器人200从外部行驶至接驳装置320的出入口时，发射端601a与接收端601b之间的红外线被遮挡，对射式传感器601可以感应到有清扫机器人200的前端行进至接驳装置320；当一清扫机器人200整体完全行驶到接驳装置320内部时，发射端601a与接收端601b之间的红外线恢复无遮挡状态，对射式传感器601可以感应到有清扫机器人200的后端也行进至接驳装置320。处理器340根据对射式传感器601的实时电信号，可以判断有一清扫机器人200的前端行进至接驳装置320，也可以判断有一清扫机器人200整体完全行驶到接驳装置320内。
距离传感器602设于接驳装置320的后挡板322b中部的内侧壁，与出入口323相对设置。距离传感器602优选一反射式红外传感器，该反射式红外传感器向出入口323方向持续发射出红外线，如能接收到反射回来的红外线，则可判断有清洁机器人200从出入口323驶入接驳平台321。进一步地，根据接收到的红外线的时间可以获取清洁机器人200前端与接驳装置320的后挡板322b之间的距离。
当一清扫机器人200从外部行驶至接驳装置320的出入口时，距离传感器602(反射式红外传感器)可判断有清扫机器人200行进至接驳装置320，同时可以根据接收到反射红外线的时间判断清扫机器人200前端与后挡板322b之间的距离，处理器340获取该距离的数值，即可实时监控清扫机器人200进入接驳装置320的进度，判断清洁机器人200是否整体行进至接驳平台321内。
当一清扫机器人200经过出入口行驶出接驳装置320时，距离传感器602(反射式红外传感器)可判断有清扫机器人200行进出接驳装置320，同时可以根据获取反射红外线的时间判断清扫机器人200前端与后挡板322b之间的距离，处理器340获取该距离的数值，即可实时监控清扫机器人200离开接驳装置320的进度，判断清洁机器人200是否整体行驶出接驳平台321。
倾角传感器603优选设于接驳平台321的下表面(参见图8)，用以实时测量接驳平台321上表面与水平面的夹角(简称平台倾角)，并将平台倾角的角度值传送至处理器340。若作业区100内所有太阳能面板102的倾斜角各不相同或者有些面板的倾斜角是可变的，第二伸缩杆332每次伸长时，倾角传感器603实时监测平台倾斜角的角度值并发送至处理器340，当实时平台平台倾斜角的角度值与面板倾斜角的角度值相同时，处理器 340发出停止指令至第二伸缩杆控制器335，使得第二伸缩杆332停止伸长，使得平台倾斜角与面板倾斜角相同。
本实施例中，定位装置604为RFID阅读器(RFID Reader)，设于车体310内部或外部，优选设于车体310底部或接驳平台321前端，用以获取车体310在作业区内的实时位置，并将车体310的实时位置传送至处理器340。
本实施例采用标签定位的方案，在通道区103内预设一推荐路径，控制车体310沿着推荐路径行进，在所述推荐路径上每隔一定距离设置一组可识别标签，如RFID标签，每一可识别标签内存储该标签在作业区内的位置坐标等数据。当接驳机器人300行驶至某一路口或路段时，RFID阅读器读取到该路口或路段处预设的RFID标签，处理器340获取接驳机器人300的实时位置，可选择地，将其传送至数据处理系统400。在其他实施例中，定位装置604也可以为高精度的GPS定位单元或北斗定位单元，同样可以获取接驳机器人300精准的实时位置。
电子罗盘605优选设于车体310内部或外部，用以获取接驳机器人300的实时行进方向，并传送至处理器340进行数据处理和数据分析，用以判断接驳机器人300的实时行进方向是否与预设方向一致，如果接驳机器人300偏离预设方向，处理器340发出控制指令给车体310，及时调整车体310的行进方向。
优选地，影像传感器606和/或照明装置607设于车体310的前端和/或后端，影像传感器606用于实时采集车体310前方和/或后方的实时影像和或图片，并将其发送至处理器340。当接驳机器人300在作业区100的通道区103中行进时，影像传感器606采集的图片内容中包括任一时刻通道区103内可行进区域被发送至处理器340，处理器340根据车体310实时行进速度计算车体310下一时段覆盖的预计行进区域，实时对比每一时刻的预计行进区域与可行进区域，判断车体310下一时段是否还在可行进区域；若预计行进区域超出可行进区域范围，证明车体310的行进路线上出现了障碍物，处理器340需要实时调整车体310的行进方向，以防止车体310在行进中撞到障碍物。
在其他实施例中，影像传感器606采集的图片内容还可以包括太阳能面板102和/或面板阵列101的边框，该边框在图片中显示为一条边框直线。在其他实施例中，经过特定算法处理后，接驳机器人300可以参照该边框直线的位置在行进过程中实时调整行进方向，使得接驳机器人300尽量沿直线行进。
当接驳机器人300在光线较暗的环境下(如夜晚、阴天等)行进时，照明装置 607用于对车体310前方和/或后方的通道区进行照明，以便影像传感器606得以正常采集影像和或图片。在其他实施例中，影像传感器606和/或照明装置607也可以设于车体310的左侧和/或右侧，用于实时采集车体310左侧和/或右侧的实时影像和或图片。在其他实施例中，影像传感器606和/或照明装置607还可以设于接驳装置320的一侧，影像传感器606的摄像头朝向外侧，当接驳平台321的高度和倾斜角被调整到与太阳能面板102一致时，该摄像头正对太阳能面板102。
避障传感器608，优选超声波传感器，设于车体310的前端和/或后端。在接驳机器人300行进过程中，当处理器340获取前端或后端的避障传感器608发出的感应信号时，可判断出车体行进路线上的前方或后方有障碍物影响行驶，从而使得处理器340可以调整接驳机器人300的行进方向，避开障碍物。在其他实施例中，避障传感器608也可以设于车体310的左侧和/或右侧。
本实施例提供一种接驳机器人300，作为清洁机器人200的运载工具，可以在太阳能面板阵列101之间的通道区103中转运清洁机器人200，使得清洁机器人200得以在不同的太阳能面板阵列101上完成清洁工作。
实施例2
在实施例1中，接驳机器人300的接驳平台321只有一端可以被升起，另一端的高度始终保持固定不变，如果太阳能面板102下端的高度远大于接驳机器人300车体顶部高度，接驳平台321无法与太阳能面板102全面对接。显然，实施例1所述接驳机器人300具有局限性，只能适用于太阳能面板102高度较低的情况；因此，本发明还提供实施例2，可以有效解决上述技术问题，适用于不同高度的太阳能面板102。
如图13～14所示，实施例2包括实施例1的技术方案，其区别在于，实施例2所述接驳机器人300还包括高度调节装置350，设于车体310与角度调节装置330之间，具体地说，高度调节装置350被安装至车体310顶部或上部；接驳装置320的接驳平台321可转动式连接至高度调节装置350顶部，角度调节装置330被安装至高度调节装置350顶部与接驳平台321底部之间。
如图15～17所示，高度调节装置350包括框架351、第一支架352、第二支架353以及销轴354，接驳装置320可转动式连接至框架351的一端；第一支架352上端可滑动式连接至框架351，其下端可转动式连接至车体310顶部；第二支架353上端可转动式连接至框架351，其下端可滑动式连接至车体310顶部；销轴354穿过第一支架352中部及第 二支架353中部，第二支架353通过销轴354可转动式连接至第一支架352。
高度调节装置350还包括两个相对设置的第一导轨355a、355b以及两个相对设置的第二导轨356a、356b。第一导轨355a、355b被水平式被安装至框架351上；两个第一导轨的两个相对面上分别设有两个彼此相对的第二滑槽357a、357b。第二导轨356a、356b被水平式安装至车体310顶部或上部；两个第二导轨356a、356b的两个相对面上分别设有两个彼此相对的第三滑槽358a、358b。
如图5～9所示，实施例2的接驳装置320的结构及技术效果与实施例1相同，在此不做赘述。
如图5～6所示，接驳装置320包括一接驳平台321，用于放置清洁机器人200，接驳平台321可转动式连接至车体310顶部或上半部；在接驳过程中，清洁机器人200从接驳平台321上表面行驶至一面板的上表面(上板过程)，或者，从一面板的上表面行驶至接驳平台321上表面(下板过程)。
接驳装置320还包括桥板327及第一伸缩杆328，桥板327可滑动式安装至接驳平台321上表面；第一伸缩杆328的一端连接至接驳平台321下表面，其另一端连接至桥板327下表面。第一伸缩杆328为液压伸缩杆或电力伸缩杆，第一伸缩杆328具有第一伸缩杆杆控制器329，当第一伸缩杆杆控制器329接收到指令电信号时，可以控制第一伸缩杆328调整其长度。当第一伸缩杆328长度缩至最短时，桥板327位于接驳平台321上表面；当第一伸缩杆328长度伸长时，桥板327向出入口323方向伸出一段距离。当接驳机器人300与面板阵列101101距离最小的时候，且接驳平台321的角度被调整到与面板阵列101一致时，第一伸缩杆328伸长一定距离，桥板327向太阳能面板阵列101延伸，使得接驳平台321连接至太阳能面板阵列101，从而方便清洁机器人200从接驳平台321顺利行进太阳能面板阵列101(即清洁区)，或者从太阳能面板阵列101(即清洁区)行进至接驳平台321。清洁机器人200转移完成后，第一伸缩杆328长度缩至最短，桥板327收回至接驳平台321上表面。
如图7～9所示，接驳装置320还包括两个相对设置的滑动轴底座325a、325b以及两个相对设置的转动轴底座326a、326b。
两个滑动轴底座325a、325b突出于接驳平台321的底面中部，在两个滑动轴底座325a、325b的两个相对面上分别设有两个第一滑槽325c、325d，两个第一滑槽325c、325d的形状、尺寸相同，且位置相对应。
两个转动轴底座326a、326b突出于接驳平台321的底面，且靠近接驳平台321右侧一端边缘。两个转动轴底座326a、326b中心分别设有底座通孔326c、326d，两个底座通孔326c、326d的形状、尺寸相同，且位置相对应。
如图15～17所示，角度调节装置330包括滑动轴331、第二伸缩杆332、转动轴333以及伸缩杆安装架334。第二伸缩杆332为液压伸缩杆或电力伸缩杆，第二伸缩杆332具有一第二伸缩杆控制器335，当第二伸缩杆控制器335接收到指令电信号时，可以控制第二伸缩杆332调整其长度。角度调节装置330的结构及技术效果与实施例1类似，在此不做赘述。
滑动轴331两端可滑动式安装至两个第一滑槽325c、325d内；伸缩杆安装架334设于框架351下方，且连接至框架351；第二伸缩杆332一端可转动式连接至滑动轴331中部，其另一端可转动式连接至伸缩杆安装架334；转动轴333中部固定连接至框架351顶部或上半部的一端，其两端可转动式安装至两个转动轴底座326a、326b的底座通孔326c、326d，使得转动轴333可以相对于转动轴底座326a、326b发生转动。
第一支架352包括平行设置的两个第一连杆3521a、3521b以及第一横梁3522，第一横梁3522两端分别连接至第一连杆3521a、3521b。第一连杆3521a或3521b上端的外侧设有第一滑轮3523a或3523b，两个第一滑轮3523a、3523b分别可滑动式安装至第二滑槽357a、357b内。
第二支架353包括平行设置的两个第二连杆3531a、3531b以及第二横梁3532，第二横梁3532两端分别连接至第二连杆3531a、3531b。第二连杆3531a或3531b下端的外侧设有第二滑轮3533a或3533b，两个第二滑轮3533a、3533b分别可滑动式安装至第三滑槽358a、358b内。
角度调节装置330还包括第三伸缩杆359，其一端可转动式连接至第一支架352或第二支架353，其另一端可转动式连接至车体310。优选地，在第一支架352设置一第三横梁(图未示)，其两端分别垂直连接至两个第一连杆3521a、3521b，所述第三横梁外部套设有一套筒3524，第三伸缩杆359上端铰接至套筒3524，可绕所述第三横梁旋转。
第三伸缩杆359为液压伸缩杆或电力伸缩杆，连接至处理器340(参见图18)，第三伸缩杆359具有一第三伸缩杆控制器360，处理器340可以发出电信号来控制第三伸缩杆控制器360。当第三伸缩杆控制器360接收到指令电信号时，可以控制第三伸缩杆359调整其长度。
如图3所示，当接驳机器人300行进至一清洁区500(太阳能面板或面板阵列101)附近时，数据处理系统400控制一接驳机器人300调整其位置和方向，行进至清洁区500右侧下端的第一接驳区505，且使得接驳装置320的出入口323正对清洁区500方向。
本实施例中，接驳机器人300在通道区103内行驶时，第二伸缩杆332、第三伸缩杆359长度缩至最短，高度调节装置350的高度降至最低，接驳平台321水平设置于车体310顶部，接驳平台321与车体310上表面的夹角为0度。如果接驳平台321上放置有清洁机器人200，则可以在运输过程中保持平稳，不会滑落。
如图3所示，当一接驳机器人300行驶至一清洁区500的第一接驳区505时，处理器340发出电信号给第二伸缩杆控制器335和/或第三伸缩杆控制器360，控制第二伸缩杆332和/或第三伸缩杆359伸长。第三伸缩杆359伸长，使得高度调节装置350上端的框架351及接驳平台321被升高；第二伸缩杆332伸长，使得接驳平台321远离转动轴333的一端被撑起，另一端绕着转动轴333转动，使得接驳平台321与车体310上表面的夹角逐步增大，直至与清洁区500(太阳能面板或面板阵列)相对于水平面倾斜角保持一致，从而使得接驳平台321上表面与清洁区500面板上表面在同一平面上。
类似地，接驳过程完成后，处理器340发出电信号给第二伸缩杆控制器335和/或第三伸缩杆控制器360，控制第二伸缩杆332和/或第三伸缩杆359缩短。第二伸缩杆332缩短，使得接驳装置320的接驳平台321与水平面的夹角减小至0度，接驳平台321从倾斜状态恢复至水平状态。第三伸缩杆359缩短，使得高度调节装置350上端的框架351及接驳平台321被降低至最低处，接驳机器人300此后可以行进至其他位置。
在第二伸缩杆332伸长或缩短过程中，转动轴333两端在两个底座通孔326c、326d内转动，滑动轴331两端在两个第一滑槽325c、325d内滑动，使得接驳平台321在倾斜角调整过程能保持底部稳定，不会发生摇晃。
在第三伸缩杆359伸长或缩短过程中，第一支架352的下端相对于车体310发生转动，其上端左右两侧的第一滑轮3523a、3523b分别在第二滑槽357a、357b内发生滑动；第二支架353的上端相对于接驳装置320发生转动，其下端左右两侧的第二滑轮3533a、3533b分别在第三滑槽358a、358b内发生滑动。第一支架352、第二支架353的形状、尺寸大致相同，第一连杆3521b与第二连杆3531b长度相同，第一支架352下端的转动角度与第二支架353上端的转动角度相同，第一支架352上端的滑动距离与第二支架353下端的滑动距离相同。在高度调节装置350的升降过程中，接驳装置320始终保持平稳，不会 发生摇晃，接驳平台321上如果负载有清洁机器人200，可以保证清洁机器人200不会从接驳装置320上滑落。
若作业区100内所有太阳能面板102的倾斜角皆相同且保持不变，第二伸缩杆332伸长距离可以为预设的恒定长度，第二伸缩杆332每次伸长时，接驳平台321调整后的倾斜角度都与面板倾斜角度相同。
若作业区100内所有太阳能面板102的高度皆相同，第三伸缩杆332伸长距离也可以为预设的恒定长度。第三伸缩杆359伸长距离可以为预设的恒定长度，第三伸缩杆359每次伸长时，接驳平台321升起的高度都相同，大于或等于面板下端的高度。
若作业区100内所有太阳能面板102的倾斜角和/或高度各不相同，数据处理系统400根据清洁区500的面板高度和面板倾斜角度发布指令给接驳机器人300的处理器340，处理器340发布指令给第三伸缩杆控制器360，来调整高度调节装置350的高度及接驳平台321的高度，处理器340发布指令给第二伸缩杆控制器335，来调整接驳平台321的倾斜角度。
接驳平台321的倾斜角度调整完毕时，数据处理系统400收到接驳机器人300的反馈信息，向清洁机器人200发送行动指令，控制清洁机器人200从第一接驳区505的接驳平台321行驶至第二接驳区506的太阳能面板(简称上板)，或者，从第二接驳区506的太阳能面板行驶至第一接驳区505的接驳平台321(简称下板)，从而完成接驳过程。
实施例2的所述接驳机器人300还设有多种数据采集装置，包括对射式传感器601、距离传感器602、倾角传感器603、定位装置604、电子罗盘605、影像传感器606、照明装置607以及避障传感器608，等等。所述数据采集装置的结构和技术效果与实施例1相同，在此不做赘述。
本发明提供一种接驳机器人，作为清洁机器人的运载工具，在多个太阳能面板阵列之间的通道区中转移清洁机器人，使得清洁机器人得以在不同的太阳能面板阵列上完成清洁工作。在实施例2中，接驳机器人的接驳平台的高度和倾斜角度都可以调节，即使太阳能面板的高度较大的情况下，也可以使得接驳平台与太阳能面板全面对接。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。
工业实用性
本发明的主体可以在工业中制造和使用，具备工业实用性。

Claims (20)

  1. 一种接驳机器人，包括：
    车体；
    接驳装置，包括一接驳平台；以及
    角度调节装置，设于所述车体与所述接驳平台之间，用以调节所述接驳平台的角度。
  2. 如权利要求1所述的接驳机器人，其中，所述接驳装置包括：
    挡板，突出于所述接驳平台的边缘处。
  3. 如权利要求2所述的接驳机器人，其中，
    所述挡板包括依次连接的左档板、后挡板及右挡板；
    所述左档板的开放端与所述右挡板的开放端之间形成一出入口。
  4. 如权利要求3所述的接驳机器人，其中，所述接驳装置还包括：
    对射式传感器，包括相对设置的发射端与接收端，所述发射端与所述接收端分别设于所述左档板、所述右挡板内侧壁上，所述发射端与所述接收端靠近所述出入口；和/或，距离传感器，设于所述后挡板中部的内侧壁，与所述出入口相对设置；
    其中，所述对射式传感器和/或所述距离传感器连接至一处理器。
  5. 如权利要求3所述的接驳机器人，其中，所述接驳装置还包括：
    防撞部件，设于所述左档板和/或所述后挡板和/或所述右挡板的内侧壁。
  6. 如权利要求1所述的接驳机器人，其中，所述接驳装置包括：
    桥板，可滑动式安装至所述接驳平台上表面；以及
    第一伸缩杆，其一端连接至所述接驳平台下表面，其另一端连接至所述桥板下表面。
  7. 如权利要求1所述的接驳机器人，其中，所述接驳平台可转动式连接至所述车体顶部或上部。
  8. 如权利要求7所述的接驳机器人，其中，
    所述接驳装置包括：
    两个相对设置的滑动轴底座，突出于所述接驳平台的底面中部；
    两个第一滑槽，分别设于所述两个滑动轴底座的两个相对面上；以及
    两个相对设置的转动轴底座，突出于所述接驳平台的底面，且靠近所述接驳平台一端边缘；
    所述角度调节装置包括：
    滑动轴，其两端可滑动式安装至所述两个第一滑槽内；
    第二伸缩杆，其一端可转动式连接至所述滑动轴中部，其另一端可转动式连接至所述车体；以及
    转动轴，其中部连接至所述车体顶部或上部的一端，其两端可转动式安装至所述两个转动轴底座。
  9. 如权利要求1所述的接驳机器人，其中，还包括
    高度调节装置，被安装至所述车体顶部或上部；
    所述接驳平台可转动式连接至所述高度调节装置顶部。
  10. 如权利要求9所述的接驳机器人，其中，所述高度调节装置包括：
    框架，所述接驳装置可转动式连接至所述框架的一端；
    第一支架，其上端可滑动式连接至所述框架，其下端可转动式连接至所述车体顶部或上半部；
    第二支架，其上端可转动式连接至所述框架，其下端可滑动式连接至所述车体顶部或上半部；以及
    销轴，穿过所述第一支架中部及所述第二支架中部，所述第二支架通过所述销轴可转动式连接至所述第一支架。
  11. 如权利要求10所述的接驳机器人，其中，
    所述接驳装置包括：
    两个相对设置的滑动轴底座，突出于所述接驳平台的底面中部；
    两个第一滑槽，分别设于所述两个滑动轴底座的两个相对面上；以及
    两个相对设置的转动轴底座，突出于所述接驳平台的底面，且靠近所述接驳平台一端边缘；
    所述角度调节装置包括：
    滑动轴，其两端可滑动式安装至所述两个第一滑槽内；
    伸缩杆安装架，设于所述框架下方，且连接至所述框架；
    第二伸缩杆，其一端可转动式连接至所述滑动轴中部，其另一端可转动式连接至所述伸缩杆安装架；以及
    转动轴，其中部连接至所述框架顶部的一端，其两端可转动式安装至所述两个转动轴底座。
  12. 如权利要求10所述的接驳机器人，其中，
    所述高度调节装置包括：
    两个相对设置的第一导轨，被安装至所述框架；
    两个相对设置的第二导轨，被安装至所述车体顶部或上半部；
    两个第二滑槽，分别设于两个第一导轨的两个相对面上；以及
    两个第三滑槽，分别设于两个第二导轨的两个相对面上；
    所述第一支架包括：
    平行设置的两个第一连杆；以及
    两个第一滑轮，分别设于所述两个第一连杆的一端，且可滑动式安装至两个所述第二滑槽内；
    所述第二支架包括：
    平行设置的两个第二连杆；以及
    两个第二滑轮，分别设于所述两个第二连杆的一端，且可滑动式安装至两个所述第三滑槽内。
  13. 如权利要求10所述的接驳机器人，其中，所述高度调节装置还包括：
    第三伸缩杆，其一端可转动式连接至所述第一支架或所述第二支架，其另一端可转动式连接至所述车体。
  14. 如权利要求1所述的接驳机器人，其中，所述接驳机器人还包括：
    倾角传感器，用以测量所述接驳平台与水平面的夹角；
    所述倾角传感器设于所述接驳平台下表面，且连接至一处理器。
  15. 如权利要求1所述的接驳机器人，其中，所述接驳机器人还包括：
    定位装置，用以获取所述车体的实时位置；
    所述定位装置设于所述车体内部或外部，且连接至一处理器。
  16. 如权利要求1所述的接驳机器人，其中，所述接驳机器人还包括：
    电子罗盘，用以获取所述车体的实时行进方向；
    所述电子罗盘设于所述车体内部或外部，且连接至一处理器。
  17. 如权利要求1所述的接驳机器人，其中，所述接驳机器人还包括：
    影像传感器，设于所述车体前端和/或后端和/或左侧和/或右侧，且连接至一处理器；和/或，
    照明装置，设于所述车体前端和/或后端和/或左侧和/或右侧，且连接至一处理器。
  18. 如权利要求1所述的接驳机器人，其中，所述接驳机器人还包括：
    避障传感器，设于所述车体前端和/或后端和/或左侧和/或右侧，且连接至一处理器。
  19. 如权利要求1所述的接驳机器人，其中，所述接驳机器人还包括：
    第一伸缩杆控制器，用以调节第一伸缩杆的长度；和/或，
    第二伸缩杆控制器，用以调节第二伸缩杆的长度；和/或，
    第三伸缩杆控制器，用以调节第三伸缩杆的长度；以及
    处理器，连接至所述第一伸缩杆控制器和/或所述第二伸缩杆控制器和/或所述第三伸缩杆控制器。
  20. 一种清洁系统，包括：
    清洁区；
    清洁机器人，用以在所述清洁区上进行清洁作业；以及
    如权利要求1所述的接驳机器人，用以运载所述清洁机器人。
PCT/CN2019/116912 2018-05-28 2019-11-09 接驳机器人及清洁系统 Ceased WO2020094143A1 (zh)

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