CN106208276A - The wireless charging system of solar panel sweeping robot and wireless charging method - Google Patents
The wireless charging system of solar panel sweeping robot and wireless charging method Download PDFInfo
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- CN106208276A CN106208276A CN201610835953.9A CN201610835953A CN106208276A CN 106208276 A CN106208276 A CN 106208276A CN 201610835953 A CN201610835953 A CN 201610835953A CN 106208276 A CN106208276 A CN 106208276A
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- sweeping robot
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
- H02J50/402—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices the two or more transmitting or the two or more receiving devices being integrated in the same unit, e.g. power mats with several coils or antennas with several sub-antennas
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M10/4257—Smart batteries, e.g. electronic circuits inside the housing of the cells or batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
-
- 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
-
- 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
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The present invention provides a kind of solar panel sweeping robot wireless charging system and wireless charging method, and wireless charging system includes that at least one solar panel, a sweeping robot, a rechargeable battery, at least one wireless power transmission apparatus and a wireless power receive device.
Description
Technical field
The present invention relates to sweeping robot field, particularly to a kind of wireless charging for solar panel sweeping robot
Electricity system, and a kind of wireless charging method for solar panel sweeping robot.
Background technology
In the case of Fossil fuel reduces increasingly, the solar energy as a kind of emerging regenerative resource has become the mankind
Using the important component part of the energy, nearly ten years, Application of Solar Energy technology all obtains fast development in countries in the world.Solar energy
Panel refers to that the photovoltaic effect (photovoltaic) utilizing semi-conducting material to occur under illumination condition is straight by solar energy
Switch through the device being changed to electric energy.The place having sunlight just can generate electricity, therefore solar panel be applicable to from power large-scale electric generating station to
The multiple occasions such as small portable charger, are developed rapidly in recent years.
The working environment of solar panel can only be outdoor, and the greatest problem affecting its work is not wind and rain thunder and lightning, and
It it is the dust of accumulation throughout the year.It is attached with dust or other attachment on solar panel, the light transmittance of panel plate can be affected, hinder
Photoelectric efficiency, thus panel can be had a strong impact on and directly obtain the efficiency of sunlight, reduce energy absorption and the conversion efficiency of panel, fall
Low generating efficiency.The solar panel of prior art in use can only rely on human at periodic intervals to complete cleaning work, due to the sun
Energy panel area is more compared with the panel that big, large-scale power station use simultaneously, and dust can be accumulated repeatedly, needs repeatedly to clean；Therefore
Human cost is the highest, cleaning efficiency is low, cleaning effect is poor.In a lot of occasions, in order to improve space availability ratio, solar panel
Being all to utilize support to be arranged on eminence, this just brings bigger difficulty and risk to cleaning work.The use of a lot of solar panels
Family can only select not clear up to reduce disposal costs, so can only be forced to undertake the electric energy loss that dust causes.So, just need
There is a new automatic cleaning equipment, solar panel is cleared up automatically.
The sweeping robot of prior art the most all can be only applied on level ground, it is impossible to be applicable to solar panel this
The slope plane of sample.If be used directly on solar panel by existing sweeping robot, problems with can be caused.
(1) sweeping robot is short of power, can not freely advance, cleans weak effect；Inclination angle due to solar panel
Degree is general, and between 10 degree ~ 40 degree, existing sweeping robot can not freely be advanced in the plane of slope, i.e. enables and advances reluctantly,
Electricity will soon be exhausted.
(2) sweeping robot can landing from solar panel；Due to solar panel smoother, existing sweeping machine
People's weight and wheel coefficient of friction are smaller, and frictional force is smaller, difficulty of advancing, it is easy to landing.
(3) sweeping robot can not route running according to the rules, in traveling, area coverage is little, can be from solar panel edge
Place falls；Existing sweeping robot is usually set to run into barrier auto-steering, due to the most any on solar panel
Barrier, the sweeping robot of automatic running can only advance on single-pathway, and the area coverage in its traveling process is little, inevitable
Can fall from solar panel edge.Even if having planned path in advance, existing sweeping robot is easily subject in traveling
Gravity and the impact of panel attachment, also can be easy to deflection path, it is difficult to ensure that straight-line travelling；And sweeping robot self
Cannot discover, it is impossible to go over whole panel, can stay a large amount of clean less than space.
(4) sweeping robot charging difficulty；Owing to solar panel aspect ratio is higher, area is relatively big, once by scavenging machine
After device people serves, being taken off can be relatively difficult, and prior art needs sweeping robot is manually moved away from scene or artificial
Take out battery, then it is charged, thus can not be long lasting for carrying out field operation, and due to a lot of solar energy faces
Plate is all to be arranged on eminence with support, and therefore its charging operations bothers very much, wastes a large amount of manpower.
(5) sweeping robot Working Status Monitoring difficulty, owing to solar panel may be arranged on eminence, ground
Its work process cannot be accomplished complete monitoring by staff, even if sweeping robot breaks down, and out of service or route
Wandering off, staff also cannot learn in time.
Summary of the invention
It is an advantage of the invention to provide a kind of solar panel sweeping robot wireless charging system, to solve
The technical problems such as charging operations is complicated, relatively costly that existing solar panel sweeping robot exists.
For solving the problems referred to above, the present invention provides a kind of solar panel sweeping robot wireless charging system, including: extremely
A few solar panel；One sweeping robot, travels at least one solar panel or stops；One rechargeable battery, is arranged
Inside described sweeping robot, for providing power for described sweeping robot；At least one wireless power transmission apparatus, is arranged
Outside described sweeping robot；Each wireless power transmission apparatus includes that a transmitting coil, described transmitting coil are connected to one
Power supply；And one wireless power receive device, be arranged on that described sweeping robot is internal or outer surface；Described wireless power receives
Device includes that a receiving coil, described receiving coil are connected to described rechargeable battery；Wherein, it is positioned at institute when described receiving coil
When stating above transmitting coil, described receiving coil realizes electromagnetic induction and couples or magnetic resonance coupling with described transmitting coil, described
Transmitting coil is by wireless power transmission to described receiving coil.
Another object of the present invention is to, it is provided that a kind of solar panel sweeping robot wireless charging system, to solve
The technical problem that real time electrical quantity is monitored during wireless charging by solar panel sweeping robot.
For solving above-mentioned technical problem, the present invention provides the wireless charging system of a kind of solar panel sweeping robot,
Further, described wireless power receives device and also includes a battery information harvester, is connected to described rechargeable battery, is used for
Gather the residual capacity SOC value of described rechargeable battery；One wireless charging switch, its one end is connected to described DC-DC conversion electricity
Road, its other end is connected to described rechargeable battery or described rectification circuit；One battery manager, its one end is connected to described electricity
Pond information acquisition device, to obtain the residual capacity SOC value of described rechargeable battery in real time；Its other end is connected to described wireless charging
Electric switch, to control described wireless charging switch Guan Bi or to disconnect；Wherein, when the residual capacity SOC value of described rechargeable battery
During the power threshold preset less than or equal to, described battery manager controls described wireless charging switch Guan Bi；When described can
When the residual capacity SOC value of rechargeable battery is more than or equal to a charging capacity threshold value, described battery manager controls described wireless
Charge switch disconnects.
Another object of the present invention is to, it is provided that a kind of solar panel sweeping robot wireless charging system, to solve
Solar panel sweeping robot is during wireless charging, and wireless power transmission apparatus and wireless power receive device and realize number
Technical problem according to communication.
For solving above-mentioned technical problem, the present invention provides the wireless charging system of a kind of solar panel sweeping robot,
Further, described wireless power transmission apparatus includes that a transmitting terminal signal is loaded into unit, is connected to described transmitting coil；And one
Transmitting terminal signal lead-out unit, is connected to described transmitting coil；Described wireless power receives device and includes that a receiving end signal carries
Enter unit, be connected to described receiving coil；And a receiving end signal lead-out unit, it is connected to described receiving coil.
Another object of the present invention is to, it is provided that a kind of solar panel sweeping robot wireless charging system, to solve
Solar panel sweeping robot, during wireless charging, carries out reality according to the real time electrical quantity of rechargeable battery to charge power
Time adjust technical problem.
For solving above-mentioned technical problem, the present invention provides the wireless charging system of a kind of solar panel sweeping robot,
Further, described wireless power transmission apparatus also includes a DC source, is used for providing DC current；One inverter circuit, its
Input is connected to described DC source, and its outfan is connected to described transmitting coil；And a transmitting terminal controller, it is connected to
Described transmitting terminal signal is loaded into unit, described transmitting terminal signal lead-out unit；Described wireless power receives device and includes a reception
Side controller, is connected to described receiving end signal and is loaded into unit, described receiving end signal lead-out unit；Wherein, described receiving terminal
Controller internal memory contains at least one charging curve of described rechargeable battery, obtains in real time according to described charging curve and described can fill
The optimum charging voltage of electricity battery, calculates optimal charge power according to described optimum charging voltage, sends at least one charge power
Adjust instruction；When described receiving coil realize with described transmitting coil electromagnetic induction couple time, described receiving end signal is loaded into single
Described charge power is adjusted after instruction is modulated with carrier frequency K2 and is loaded onto in described reception electric current by unit, and described transmitting terminal is believed
Described charge power in described emission current is adjusted instruction demodulation post filtering with modulating frequency K2 and derives extremely by number lead-out unit
Described transmitting terminal controller；Or, when described receiving coil realize with described transmitting coil magnetic resonance couple time, described receiving terminal
Signal is loaded into unit and described charge power is adjusted instruction with magnetic resonance frequency K3 for carrier modulation to the reception electric current of magnetic resonance
In, described charge power is adjusted instruction with magnetic resonance frequency K3 for carrier wave and demodulates and filter by described transmitting terminal signal lead-out unit
Derive to described transmitting terminal controller；Described transmitting terminal controller is connected to described inverter circuit, adjusts according to described charge power
Whole instruction regulates the transmitting power of described transmitting coil.
Another object of the present invention is to, it is provided that the wireless charging method of a kind of solar panel sweeping robot, to solve
The technical problems such as charging operations that certainly existing solar panel sweeping robot exists is complicated, relatively costly.
For solving above-mentioned technical problem, the present invention provides the wireless charging method of a kind of solar panel sweeping robot,
Comprise the steps: step S501) at least one wireless power transmitting dress or is set inside at least one solar panel below
Putting, described wireless power transmission apparatus includes a transmitting coil；Described transmitting coil is arranged under arbitrary solar panel
Surface, or, it is arranged at below the gap of any two pieces of adjacent solar panel junctions or in gap；Step S502) in institute
Arranging a wireless power in stating sweeping robot and receive device, described wireless power receives device and includes a receiving coil；By institute
State receiving coil and be arranged on described sweeping robot inner bottom or described sweeping robot bottom lower surface；Step S503) institute
Stating sweeping robot advance on described solar panel and clean, described sweeping robot detects institute during advancing in real time
State whether receiving coil produces electric current；Step S504) when above described receiving coil is positioned at described transmitting coil, described reception
Coil realizes electromagnetic induction and couples or magnetic resonance coupling with described transmitting coil, and described receiving coil produces electric current；Step S505)
Judge that at least one rechargeable battery of described sweeping robot is the need of charging；If so, step S506 is performed)；If it is not, return
Step S503)；Step S506) described sweeping robot stop advance and clean, reside on solar panel so that receive line
Enclose and keep coupling with transmitting coil；Step S507) wireless power transmission to receiving coil, is continuously and described can fill by transmitting coil
Electricity battery charging；And step S508) battery manager judges whether described rechargeable battery electricity is full of；If electricity fills
Full, stop charging；Return step S503).
For solving above-mentioned technical problem, the present invention provides the wireless charging side of another kind of solar panel sweeping robot
Method, comprises the steps: step S601) at least one solar panel, embed at least one charging panel；Or, at least one
Solar panel edge arranges at least one charging panel；Described charging panel upper surface and described solar panel upper surface position
On same plane；Step S602) at least one charging panel, at least one wireless power transmission apparatus, institute are interiorly or exteriorly set
State wireless power transmission apparatus and include that a transmitting coil, described transmitting coil are connected to a power supply；Described transmitting coil is arranged
In arbitrary charging panel, or, it is arranged at arbitrary charging panel upper surface or lower surface；Step S603) at described scavenging machine
Device people is internal or outer surface arranges a wireless power and receives device, and described wireless power receives device and includes a receiving coil；Will
Described receiving coil is arranged on described sweeping robot inner bottom or described sweeping robot bottom lower surface；Step S604)
Described sweeping robot is advanced on solar panel and described charging panel and cleans, and described sweeping robot is at traveling process
In in real time detect whether described receiving coil produces electric current；Step S605) it is positioned on described transmitting coil when described receiving coil
Fang Shi, described receiving coil realizes electromagnetic induction and couples or magnetic resonance coupling with described transmitting coil, and described receiving coil produces
Electric current；Step S609) judge that at least one rechargeable battery of described sweeping robot is the need of charging；If so, step is performed
S607)；If it is not, return step S604)；Step S607) described sweeping robot stop advance and clean, reside in described charging
On panel so that receiving coil keeps coupling with transmitting coil；Step S608) transmitting coil by wireless power transmission to receiving line
Circle, is continuously the charging of described rechargeable battery；Step S609) battery manager judges whether described rechargeable battery electricity fills
Full；If electricity has been filled with, stop charging；Return step S604).
The invention has the advantages that, solar panel upper surface, inside or near arrange multiple wireless charging launch dress
Put, multiple wireless charging receiver is set in sweeping robot inside or lower surface.At sweeping robot at solar panel
In upper operation process, when sweeping robot travels to time above wireless charging discharger, utilize electromagnetic induction coupled modes or
Magnetic resonance coupled modes carry out wireless charging to sweeping robot；Can realize automatically controlling in whole charging process, it is not necessary to people
Sweeping robot is taken off from solar panel by work so that sweeping robot can run, certainly on solar panel automatically
Move charging, automatically power off, it is possible to achieve automatic continuous operation, effectively reduce management and maintenance cost.
Accompanying drawing explanation
Fig. 1 is the overall appearance schematic diagram of sweeping robot in the embodiment of the present invention 1；
Fig. 2 is the structural representation in the embodiment of the present invention 1 within sweeping robot；
Fig. 3 is the decomposition texture schematic diagram of sweeping robot in the embodiment of the present invention 1；
Fig. 4 is the structural representation of a kind of clearing apparatus in the embodiment of the present invention 1；
Fig. 5 is the structural representation of the another kind of clearing apparatus of the embodiment of the present invention 1；
Fig. 6 is the embodiment of the present invention 1 medium power overall system architecture schematic diagram；
Fig. 7 is the structural representation after the embodiment of the present invention 1 medium power system removes crawler belt shell；
Fig. 8 is the structured flowchart of control system in the embodiment of the present invention 1；
Fig. 9 is the schematic diagram setting up three-dimensional system of coordinate in the embodiment of the present invention 1 in robot；
Figure 10 is the structural representation of wireless charging system in the embodiment of the present invention 2；
Figure 11 is the view that in the embodiment of the present invention 2, transmitting coil is arranged at solar panel lower surface；
A kind of working state schematic representation when Figure 12 is that in the embodiment of the present invention 2, receiving coil couples with transmitting coil；
Figure 13 is that the state that in the embodiment of the present invention 2, transmitting coil is arranged at below the gap of two solar panel junctions is shown
It is intended to；
Another kind of working state schematic representation when Figure 14 is that in the embodiment of the present invention 2, receiving coil couples with transmitting coil；
Figure 15 is a kind of structural representation of wireless power transmission apparatus in the embodiment of the present invention 2；
Figure 16 is the another kind of structural representation of wireless power transmission apparatus in the embodiment of the present invention 2；
Figure 17 is the structural representation of wireless communication system in the embodiment of the present invention 2；
Figure 18 is the view that in the embodiment of the present invention 3, charging panel is embedded on solar panel；
Figure 19 is the view that in the embodiment of the present invention 3, charging panel is arranged on solar panel edge.
Figure Detail number is as follows:
100 solar panel sweeping robots/sweeping robot/robot, 200 solar panels, 300 slope planes, 400 clothes
Business device, 500 charging panels；
1 car body, 2 clearing apparatus, 3 dynamical systems, 4 control systems, 5 power systems, 6 wireless charging systems；11 vehicle bodies；
21 cleaning motors, 22 round brush, 23 drive mechanisms, 24 foreign material baffle plates, 25 liquid distributing containers, 26 shower nozzles, 27 bifurcated passages,
28 suction pumps；
31 the near front wheels, 32 off-front wheels, 33 left rear wheels, 34 off hind wheels, 35, left driving motor, 36 right driving motors, 37 crawler belts, 38
The wheel hub gear teeth, 39 track takeups；
41 data acquisition units, 42 processors, 43 memory element, 44 alarm units, 45 wireless communication units；51 battery cases；
61 wireless power transmission apparatus, 62 wireless powers receive device, 63 wireless communication systems；
The gap of 201 solar panel junctions；
211 clean machine shaft, 221 round brush driven shafts, 231 driving gears, 232 driven gears, 233 duplicate gears；
311 left front wheel hubs, 312 left front wheel shafts, 321 off-front wheel hubs, 322 front right axle, 331 left back wheel hubs, 341 off hind wheel hubs；
411 acceleration transducers, 412 Magnetic Sensors, 413 range sensors, 414 enumerators, 415 image sensors；
611 transmitting coils, 612 DC sources, 613 inverter circuits, 614 transmitting terminal controllers；
621 receiving coils, 622 rechargeable batteries, 623 rectification circuits, 624DC-DC change-over circuit, 625 receiving terminal controllers,
626 battery information harvesters, 627 wireless charging switches, 628 battery managers；
631 transmitting terminal signals are loaded into unit, 632 transmitting terminal signal lead-out units, and 633 receiving end signals are loaded into unit, and 634 receive
End signal lead-out unit；
2331 bull gears, 2332 little gear rings；
6121 solar electrical energy generation modules, 6122DC-DC mu balanced circuit, 6123 alternating current power supplys, 6124 AC-DC adapters.
Detailed description of the invention
Three preferred embodiments of the present invention are introduced, it was demonstrated that the present invention can implement, described below with reference to Figure of description
Embodiment can be to the those of skill in the art complete description present invention so that it is technology contents is more clear and readily appreciates.
The present invention can be emerged from by the embodiment of many multi-forms, and protection scope of the present invention is not limited only in literary composition carry
The embodiment arrived.
In the accompanying drawings, the parts that structure is identical represent with same numbers label, everywhere structure or intimate assembly with
Like numeral label represents.Size and the thickness of each parts shown in the drawings arbitrarily illustrate, the present invention does not limit
The size of each assembly and thickness.In order to make diagram apparent, in accompanying drawing, some place suitably exaggerates the thickness of parts.
The direction term that the present invention is previously mentioned, such as " on ", D score, "front", "rear", "left", "right", " interior ", " outward ", "
Side " etc., it is only the direction in accompanying drawing, is used only to explain and illustrate the present invention rather than for limiting the protection of the present invention
Scope.
When some parts be described as " " another parts " on " time, described parts can be placed directly within another parts described
On；Can also there is an intermediate member, described parts are placed on described intermediate member, and described intermediate member is placed in another parts
On.When parts are described as " install to " or " being connected to " another parts, the two can be understood as directly " installing " or
" connect ", or parts " are installed extremely " or " being connected to " another parts indirectly by an intermediate member.
Embodiment 1
As shown in Fig. 1 ~ Fig. 3, the present embodiment provides a kind of solar panel sweeping robot 100(hereinafter referred to as sweeping robot
Or robot), including a car body 1, car body 1 can travel at least one solar panel 200；Car body 1 interiorly or exteriorly sets
There is clearing apparatus 2, dynamical system 3, control system 4 and a unified power system 5.
Clearing apparatus 2 is in order to clean solar panel 200 in car body traveling process；Dynamical system 3 is in order to adjust car body 1
Direct of travel on solar panel 200 and travel speed, control car body 1 and travel, stop or turning to；Control system 4 is respectively
It is connected to dynamical system 3 and clearing apparatus 2, in order to send various control signal to dynamical system 3 and clearing apparatus 2.Power train
System 5 is respectively connecting to dynamical system 3, clearing apparatus 2, control system 4, with thinking dynamical system 3, clearing apparatus 2, control system
4 provide electric power.
During the present embodiment solar panel sweeping robot 100 normally works on solar panel, when power system 5 is opened
Time dynamic, control system 4 sends at least one traveling control instruction and at least and cleans control instruction, and dynamical system 3 is according to this traveling
Control instruction, controls the car body 1 route along an advance planning；Meanwhile, clearing apparatus 2 opens according to this cleaning control instruction
Dynamic clearing apparatus 2, starts to clean solar panel 200.In car body 1 driving process, dynamical system 3 is sent by control system 4
Multiple traveling control instructions, as school partially instruct, turn command, tune instruction, etc., thus order car body 1 is at linear rows route
Line returns on former route in the case of deflecting, namely carries out school and partially process；Or under certain condition or certain position turns
Curved or carry out U-shaped revolution (tune) so that car body 1 can travel according to the path optimizing of advance planning.Concrete navigation side
Method, school folk prescription method, control car body are turned or carry out U-shaped revolution (tune) method, describe in greater detail below.In whole traveling
During, no matter which kind of traveling mode car body 1 is, as kept straight on, deflection, school partially, turn or turn round, clearing apparatus 2 remains
Duty.When control system 4 based on some running parameter (as the path of advance planning is all covered or power system 5 electricity
Amount deficiency) send stop advance traveling control instruction time, car body 1 stop travel；Control system 4 sends a cleaning control simultaneously
Instruction, closes clearing apparatus 2, stops cleaning.
As shown in Figure 4, the clearing apparatus 2 described in the present embodiment, including cleaning motor 21, round brush 22 and a driver
Structure 23.
As shown in Figure 4, Figure 5, in the present embodiment, clean motor 21 and include a cleaning machine shaft 211；Described round brush center
It is provided with a round brush driven shaft 221；Drive mechanism 23 is connected simultaneously to clean machine shaft 211 and round brush driven shaft 221, cleans electricity
Machine rotating shaft 211 drives round brush driven shaft 221 to rotate by drive mechanism 23.Round brush 22 is arranged at the lower section of car body 1 front end, round brush
22 lower ends directly contact with solar panel 200, in order to clean solar panel 200.
The gear train of the size gear composition that drive mechanism 23 is engaged with each other for two or more, in order to will clean machine shaft
The power of 211 is sent to round brush driven shaft 221, makes the output speed of cleaning motor 21 slow down simultaneously, and then with slower rotating speed
Round brush 22 is driven to rotate.In the present embodiment, drive mechanism 23 includes driving gear 231, driven gear 232 and a duplex
Gear 233.Driving gear 231 is arranged on cleaning machine shaft 211, cleans machine shaft 211 and is perpendicular to driving gear 231
Wheel face；Driven gear 232 is arranged on round brush driven shaft 221, and round brush driven shaft 221 is perpendicular to the wheel face of driven gear 232；Rolling
Brush driven shaft 221 is parallel to clean machine shaft 211.Duplicate gear 233 includes the bull gear 2331 and being integrated into
Little gear ring 2332, bull gear 2331 engages with driving gear 231, and little gear ring 2332 engages with driven gear 232.When cleaning motor
21 start time, clean machine shaft 211 high-speed rotation, via duplicate gear 233 deceleration process after, round brush driven shaft 221 with
Slower speed drives round brush 22 to rotate, so that round brush 22 can clean solar panel 200.Wherein, machine shaft is cleaned
211 with the rotating ratio of round brush driven shaft 221, depend on the radius ratio of bull gear 2331 and little gear ring 2332.
Round brush 22 is spiral rolling brush, and spiral rolling brush includes at least one helical blade 222, and helical blade 222 can divide
Become multiple lamellar flap 223, be placed equidistant between flap 223, so that round brush 22 and solar panel 200 comprehensive engagement,
The faceplate part that car body 1 is run over can be swept into.The car body 1 of the present embodiment is in traveling, and round brush 22 continues clear
Sweep the attachments such as dust on solar panel 200.
As it is shown in figure 5, clearing apparatus 2 also includes a foreign material baffle plate 24, it is fixedly installed to the side of round brush 22, in round brush 22
The round brush driven shaft 221 of the heart is parallel with foreign material baffle plate 24.As in figure 2 it is shown, clearing apparatus 2(clearing apparatus) it is arranged at sweeping machine
The front end (i.e. Vehicular body front) of people 100, sweeping robot 100 rear end (i.e. rear vehicle) includes a vehicle body 11, foreign material baffle plate 24
It is arranged between clearing apparatus 2 and vehicle body 11.In cleaning process, foreign material baffle plate 24 can be effectively by miscellaneous to dust, trifling, sewage etc.
Thing concentrates in together, it is simple to it removed from face, and foreign material can be stoped to enter in clearing apparatus 2 or dynamical system 3 simultaneously, with
Anti-cause the damage of all parts in car body 1.
As it is shown in figure 5, clearing apparatus 2 also includes liquid distributing container 25, an at least shower nozzle 26 and a bifurcated passage
27。
As it is shown in figure 5, liquid distributing container 25(may be simply referred to as container 25) it is dismountable sealing container, in order to have stored
Water or detergent solution, be provided with a leakage fluid dram 251 bottom it；Shower nozzle 26 is arranged at above round brush 22 or side；Each shower nozzle bag
Including a nozzle, nozzle is just to round brush 22 direction；Bifurcated passage 27 includes that the supervisor communicated with each other and at least one arm (are schemed not
Show)；Supervisor 271 is communicated to leakage fluid dram；Each arm is communicated to a shower nozzle.In the present embodiment, preferably two shower nozzles, it is respectively provided with
In round brush 22 two ends, its nozzle is just to round brush 22；The preferred one-to-two formula bifurcated passage of bifurcated passage 27, including a supervisor and two
Root arm, is sent to two shower nozzles 26 by the water in liquid distributing container 25 or detergent solution.
As it is shown in figure 5, clearing apparatus 2 also includes a suction pump 28, be connected to control system 4, from control system 4 obtain to
A few suction pump control signal；Suction pump 28 is arranged on supervisor 27, discharges opening of liquid as controlling liquid distributing container 25
Close, adjust liquid mass rate of emission according to described suction pump control signal.
In the present embodiment, during round brush 22 cleans solar panel, control system 4 sends at least one as required and takes out
Water pump control signal to suction pump 28, starts suction pump 28 and regulation is drawn water speed so that water in liquid distributing container 25 or
Detergent solution flows out to shower nozzle 26 via bifurcated passage 27, forms droplet, sprays to round brush 22 in emitting shape so that spray
After liquid feed uniformly fall on round brush 22, the round brush 22 of rotation drives water or cleaning agent to fall on solar panel, simultaneously
Utilize round brush 22 counter plate to clear up, can effectively strengthen clean effect.When the liquid residue in liquid distributing container 25 not
During the electric power deficiency of foot or power system, or after cleaning works amount completes, control system 4 sends one and stops pumping control letter
Number give suction pump 28, to close suction pump 28.
In the present embodiment, having technical effect that of clearing apparatus 2, the sun can be completed in sweeping robot 100 is advanced
Can the cleaning works of panel 200, if necessary can also spray water or cleaning agent on pending panel, can be the most clear
Except intractable spot.The cleaning speed of clearing apparatus 2 is fast, effective, it is not necessary to manual monitoring or auxiliary, can effectively reduce manpower
Cost.
As shown in Figure 6, Figure 7, in the present embodiment, dynamical system 3 is arranged at bottom car body 1, in order to band motor vehicles bodies 1 row
Enter, drive electricity including a left driving motor 35, of the near front wheel 31, off-front wheel 32, left rear wheel 33, off hind wheel 34, is right
Machine 36 and two crawler belts 37.
The near front wheel 31 is arranged on the left side that described car body bottom surface is anterior, including left front wheel hub 311 and a left front wheel shaft
312, left front wheel shaft 312 is arranged at left front wheel hub 311 center；Off-front wheel 32 is arranged on the right side that described car body bottom surface is anterior,
Including off-front wheel hub 321 and a front right axle 322, front right axle 322 is arranged at off-front wheel hub 321 center；Left rear wheel 33
It is arranged on the left side at rear portion, described car body bottom surface, not shown including a left back wheel hub 331 and a left back wheel shaft 332(), left rear wheel
Hub 331 and left front wheel hub 311 are located on same straight line, and described left back wheel shaft is arranged at left back wheel hub 331 center；Off hind wheel 34
It is arranged on the right side at rear portion, described car body bottom surface, including off hind wheel hub 341 and an off hind wheel axle (not shown), an off hind wheel hub
341 are located on same straight line with off-front wheel hub 321；Described off hind wheel axle is arranged at off hind wheel hub 341 center.Described off hind wheel
Axle is directly connected to or is connected to described left back wheel shaft by an actuating device (not shown).Left driving motor 35, right driving motor
36 are fixedly attached on car body 1 by a fixing device, are connected to power system 5 by least one wire, by least one letter
Number line is connected to control system 4.Left driving motor 35 is directly connected to or is connected to the near front wheel by an actuating device (not shown)
Axle 312, right driving motor 36 is directly connected to or is connected to front right axle 322 by an actuating device (not shown).Two crawler belts
37 are all a flexible chain link, and wherein a crawler belt 37 is coated on outside the annular sidewall of left front wheel hub 311, left back wheel hub 331；Another
Crawler belt 37 is coated on outside the annular sidewall of off-front wheel hub 321, off hind wheel hub 341.Each crawler belt 37 is outside is provided with a crawler belt
Shell 371, in order to protect crawler belt and wheel hub, has prevented foreign material from entering in crawler belt or wheel hub, has affected car body 1 and normally advance.
In the present embodiment, control system 4 drives motor 35, right driving motor 36 to the left according to the path optimizing of advance planning
Send at least one traveling control signal so that left driving motor 35, right driving motor 36 synchronization control the near front wheel 31, off-front wheel 32
Rotating speed and direction of rotation, and then adjust the direct of travel of car body 1 and gait of march, make car body realize keeping straight on, school partially, 90 degree turns
The actions such as curved, U-shaped revolution (tune).
When needs car body straight ahead, control system 4 drives motor 35, right driving motor 36 to send always the most to the left
Line traveling control instruction, control instruction include identical motor speed (the most left driving motor, right driving motor rotating speed all
60 revs/min) and drive machine shaft rotation direction (as left driving motor turn clockwise, right driving motor is counterclockwise
Turn), the near front wheel 31, off-front wheel 32 thus can be driven to synchronize to rotate forward, left rear wheel 33, off hind wheel 34 are driven pulley, are carrying out
With under the drive of 37 also with the near front wheel 31, off-front wheel 32 is synchronize rotates forward so that whole car body 1 advances.
When needs car body 1 deflects to the right, control system 4 drives motor 35, right driving motor 36 to send one the most to the left
Advance control instruction partially in school, the control that the motor speed in the control instruction that left driving motor 35 receives receives than right driving motor 36
Motor speed in system instruction is bigger than normal, and the difference of rotating speed depends on the misalignment angle that needs adjust, and misalignment angle is the least, speed discrepancy
It is worth the least.Similarly, when needs car body 1 deflects to the left, the motor in the control instruction that left driving motor 35 receives turns
Motor speed in the control instruction that speed ratio right driving motor 36 receives is less than normal.When car body 1 returns to the original direct of travel preset
After, control system 4 sends straight line traveling control instruction the most again, and left driving motor 35, the rotating speed of right driving motor 36 become again
For identical so that car body 1 continues straight line and advances.
When needs car body does 90 degree of turnings, control system 4 calculates left driving electricity according to the size of default radius of turn
Machine 35, the rotating speed of right driving motor 36 and rotation direction, if radius of turn is relatively big, the rotation direction of its driving motor can phase
Instead (one clockwise, one counterclockwise), the near front wheel 31, off-front wheel 32 synchronize to rotate forward, or are arranged to a wheel and stop
Rotate, thus the effect turned in realizing advancing；If radius of turn is less or pivot turn, left driving motor 35, the right side are driven
The rotation direction of galvanic electricity machine 36 can be designed as identical, is all clockwise or is all counterclockwise, such the near front wheel 31, off-front wheel 32
Will one rotate forward, one rotate backward, advancing in the side of car body 1, opposite side retreats, thus formed minor-circle turn or
The effect of pivot turn.
When needs car body carries out U-shaped revolution (also referred to as tune), need car body travels after turning through 180 degree extremely with former car
On the track that road is adjacent；The technical scheme that the most once property is turned round or turned round stage by stage.Control system 4 is according to default turning
The size of radius calculates left driving motor 35, the rotating speed of right driving motor 36 and rotation direction.Scheme in disposable revolution
In, radius of turn is equal to the half of width of the carbody, the front-wheel of turning medial stops operating or pole jogging speed rotate forward (if to
A left side carries out U-shaped revolution, then the near front wheel stops operating；If carrying out to the right U-shaped revolution, then off-front wheel stops operating), outside turning
Front-wheel rotates the most forward, it is achieved U-shaped revolution to the left or to the right.In the scheme turned round stage by stage, can be as the case may be
Schemes different at calculating, is preferably as follows scheme in the present embodiment: first control car body 1 and first do 90 degree to the left or to the right in original place and turn
Curved, control car body the most again and move forward the distance of a body width, control car body the most again and do to the left or to the right in original place
90 degree of turnings, both can realize U-shaped revolution to the left or to the right, and just travel adjacent with previous track after U-shaped revolution
Track on so that the space that the robot ride of the present embodiment is crossed can realize not repeating, without the effect at dead angle.
Dynamical system 3 also includes at least one wheel hub gear teeth 38, is uniformly arranged on left front wheel hub 311, left back wheel hub 331, the right side
Front hub 321, the annular sidewall outer surface of off hind wheel hub 341；And at least one crawler belt internal tooth 372, it is uniformly arranged on crawler belt
The interior side-wall surface of 37, crawler belt internal tooth 372 engages with the wheel hub gear teeth 38, it is ensured that when two front-wheels 31,32 rotate, crawler belt 37 can
To match with two wheel hubs, normally used.
In the present embodiment, having technical effect that of dynamical system 3, use crawler belt and non-slipping block structure to make sweeping robot
Car body can act on one's own without landing on solar panel；Left and right front-wheel bi-motor drives respectively, can be to car
The traveling situation of body realizes accurately controlling, and makes car body can adjust direct of travel the most for greater flexibility and realize pirouette
Curved, the coverage of driving path can be increased as far as possible.
As shown in Figure 8, in the present embodiment, control system 4 includes data acquisition unit 41, processor 42 and at least
Memory element 43.Data acquisition unit 41 includes multiple sensors, in order to gather at least one work ginseng in car body 1 traveling process
Number；Processor 42 is connected to data acquisition unit 41, sends at least one traveling according to described running parameter to dynamical system 3 and controls
Instruction, sends at least one cleaning control instruction according to described running parameter to clearing apparatus 2.Memory element 43 is connected to processor
42, in order to the running parameter stored during car body 1 travels across and other parameters precalculating or arranging.Described running parameter includes
The real time acceleration data of car body 1, real-time direct of travel data, liquid distributing container real-time level data, each Distance-sensing
The parameters such as distance between device and solar panel, the image in car body front.Other parameters precalculating or arranging include work
The various operational datas preset as personnel, such as the sweeping robot driving path (path optimizing) precalculating and planning, liquid
Liquid level data alarm threshold value (when reaching this threshold value, alarm unit is reported to the police) in body distribution container 25, liquid level data shut-down threshold
(when reaching this threshold value, suction pump 28 is out of service), etc..
Staff by the path optimizing typing planned to control system 4, provides road for sweeping robot car body in advance
Navigating in footpath, control system 4 carries out computing and planning according to described path optimizing, and when will start, when stop, when straight line
Travel, 90 degree of turnings the most to the left or to the right, the most to the left or to the right 90 degree carry out the control information such as U-shaped revolution, with various controls
The mode of system instruction is sent to dynamical system, to control car body action in traveling.
In the present embodiment, data acquisition unit 41 can also include at least one range sensor 413, includes but not limited to
Ultrasonic sensor and light pulse sensor.Range sensor 413 is arranged at robot 100(car body 1) at external margin, specifically
Ground says, car body 1(vehicle body 11 can be arranged on) four angles on, as in figure 2 it is shown, work as robot 100 up in a rectangular slope
When sailing, range sensor 413 front end is towards rectangular slope direction.Range sensor 413 is connected to processor 42；In order to adopt in real time
Collection range sensor 413 and the range data of rectangular slope；Processor 42 is according to range sensor 413 and described rectangular slope
Range data, it is judged that whether car body 1 is positioned at edge or the corner of described rectangular slope.
In the present embodiment, range sensor 413 number is four, is respectively arranged at four corners of robot (car body)
Place；When only two range sensors 413 can collect described range data, processor 42 judges that robot (car body) is positioned at
The edge of rectangular slope 300, sends at least one steering order (U-shaped revolution) to dynamical system 3；When only one of which Distance-sensing
When device collects described range data, described processor judges that robot (car body) is positioned at a certain corner of rectangular slope 300,
At least one steering order (turning or U-shaped revolution for 90 degree) is sent to dynamical system 3.Four range sensors 413 can also be distinguished
Being arranged at the middle part of each side of car body 1, processor finds that the range sensor 413 on a certain side cannot collect distance number
According to time, it is possible to judge that this side is positioned at the edge of rectangular slope；If there have two adjacent sides to be all positioned at rectangle to be oblique
Slope edge, it is possible to judge that car body 1 is positioned at a certain corner of solar panel 200.Range sensor 413 number can also
It is eight, is respectively arranged at four corners or the middle part of car body 1 four direction side of car body 1.
Control system 4 can also include an enumerator 414, in order to calculate car body 1 angle of process in slope plane travels
Fall, in the one action of robot, when processor 42 judges that car body arrives a certain corner, just add on enumerator
One.Technical result that processor 42 is fed back by enumerator 414 is it is apparent that the order (the in the corner that arrives of car body 1
Several corners).
Staff is in advance by the memorizer of the path optimizing typing planned to control system 4, described processor root
Send control instruction according to the real time position of described guidance path and robot (car body) to dynamical system 3, including start, stop,
Keep straight on, 90 degree turnings to the left or to the right, to the left or to the right U-shaped turn round (forwarding turning through 180 degree on adjacent lane to), to control car
Body travels according to guidance path in traveling.
Data acquisition unit 41 also includes a liquid level sensor 259, is connected to processor 42, divides for Real-time Collection liquid
Sending out the liquid level data in container 25, in clearing apparatus works, control system 4 can real-time according in liquid distributing container 25
Liquid level data sends at least one suction pump 28 control signal to start or stop the operation of suction pump 28 to suction pump 28, or control
Liquid mass rate of emission processed.Such as, when the real-time level data in liquid distributing container 25 are reduced to a predetermined threshold value, control system
System 4 can send suction pump 28 deceleration instruction, controls suction pump 28 and slows down speed of drawing water；Reality in liquid distributing container 25
Time liquid level data when bottoming out, or, when control system 4 sends a car body halt instruction, control system 4 can be sent out
Go out suction pump 28 halt instruction, control suction pump 28 out of service.
Control system 4 also includes at least one alarm unit 44, is connected to processor 42, and alarm unit 44 can be to be arranged on
A red light outside car body or buzzer.When a certain running parameter exceedes setting threshold value, described alarm unit sends alarm signal
Number, such as, when the liquid level data in liquid distributing container 25 is less than a certain predetermined threshold value, or work as power system 5 electric power not
During foot, or when described sweeping robot sends fault, alarm unit 44 can send alarm signal to remind user.
Data acquisition unit 41 includes at least one image sensor 415 or photographic head, is connected to processor 42, is arranged at car
Body 1 front end (as shown in Figure 2 and Figure 3), in order to gather the image in car body 1 front in car body 1 traveling process, these images can be deposited
Storage is to described memory element so that staff checks the duty of robot.
In the present embodiment, having technical effect that of control system 4, it is provided that multiple clean robot is up at solar panel
The control method that the path optimizing entered and robot advance at slope plane and straight line, it is ensured that robot can not repeatedly pass by
Whole spaces of solar panel, area coverage is big, will not fall from solar panel edge, both can ensure that cleaning effect
Really, can ensure that again work efficiency.
Solar panel sweeping robot 100 can also include at least one wireless communication unit 45, is wirelessly connected to clothes
Business device 400, communicates for setting up between solar panel sweeping robot 100 with server 400.The image in car body 1 front
Can send in real time to server 400, in order to staff realizes sweeping robot effectively checking in the progress of work, has
When in effect solution prior art, solar panel is positioned at eminence, sweeping robot is the technology of Working Status Monitoring difficulty on panel
Problem.
In the present embodiment, as it is shown on figure 3, power system 5 be one or one group be arranged in battery case 51 disposable
Battery or rechargeable battery (not shown), need staff periodically to be taken off from solar panel by described sweeping robot,
It is replaced Battery disposal or charging process so that it is can work on.
Embodiment 1 provides a kind of solar panel sweeping robot, can free-running operation on solar panel, effectively go
Except the dust on panel and other attachments, clean effect is good；The sweeping robot of the present invention runs on solar panel
During, travel according to the path optimizing set, can whole spaces of not repeatedly cover plate, work efficiency is high；This
Bright sweeping robot can be turned according to Automatic Program or tune, it is achieved automatically controls, easy to operate.
Embodiment 2
Embodiment 2 is identical with embodiment 1 major part technical scheme, and its distinguishing feature is, embodiment 2 also includes one too
Sun energy panel sweeping robot wireless charging system (wireless charging system can be called for short), as shown in Figure 10 ~ Figure 12, wireless charging system
System 6 includes at least one wireless power transmission apparatus 61 being arranged on outside sweeping robot, and is arranged on inside sweeping robot
Or a wireless power of outer surface receives device 62.
Each wireless power transmission apparatus 61 includes a transmitting coil 611, and transmitting coil 611 either directly or indirectly connects
To a power supply；Wireless power receives device 62 and includes a receiving coil 621, and receiving coil 621 is either directly or indirectly connected to
One rechargeable battery 622；When above receiving coil 612 is positioned at transmitting coil 611, receiving coil 612 is real with transmitting coil 611
Existing electromagnetic induction coupling or magnetic resonance coupling, transmitting coil 611 by wireless power transmission to receiving coil 612.
For concrete know-why and solution, current wireless charging technology mainly have induction, magnetic is common
Shake formula, radio waves, four kinds of basic modes of field coupling formula, be respectively suitable for short range, medium or short range and remote power transmission；This
Invention uses induction and magnetic resonance type, the most induction.In wireless charging field, the most ripe,
Most common is induction, and its cardinal principle is to utilize electromagnetic induction principle, is similar to transformator, in transmitting terminal and reception
End is respectively arranged with a coil, and the alternating current of logical certain frequency on primary coil, owing to electromagnetic induction produces necessarily in secondary coil
Electric current, thus energy is transferred to receiving terminal from transmitting terminal.
In the present embodiment, in order to ensure the energy conversion efficiency of solar panel, wireless power transmission apparatus 61 can be pacified
It is contained near solar panel 200, but the normal work of panel can not be affected.As shown in figure 11, transmitting coil 611 can set
Being placed in the lower surface of arbitrary solar panel 200, as shown in figure 12, receiving coil 612 can be arranged at sweeping robot 100 end
The lower surface in portion, receiving coil 612 is placed in the outside of car body 1, in the bottom of car body so that receiving coil 612 and transmitting
Coil 611 is apart from furthering as far as possible.In view of the thickness ratio of solar panel 200 is relatively thin, general only several centimetres, therefore, this enforcement
In example, receiving coil 612 can also be arranged at sweeping robot 100 inner bottom.
As shown in figure 13, transmitting coil 611 can also be arranged at the seam of any two pieces of adjacent solar panel 200 junctions
Below gap 201, if gap 201 is bigger, transmitting coil 611 can be arranged in gap 201.As shown in figure 14, line is received
Stopping when circle 612 is above traveling to transmitting coil 611, receiving coil 612 couples with transmitting coil 611.
Transmitting coil 611 is persistently connected with the alternating current of certain frequency, above robot ride to transmitting coil 611
Time, transmitting terminal is set up with receiving terminal and is communicated, and due to the effect of electromagnetic induction coupling, also can produce certain in receiving coil 612
The alternating current of frequency, thus energy is transferred to wireless power from wireless power transmission apparatus 61 and receives device 62.Robot
Travelling to transmitting coil 611 communication established above, receiving coil 612 can be directly over transmitting coil 611, it is also possible to launching
Near directly over coil 611, as long as setting up communication just can realize wireless charging, when receiving coil 612 is positioned at transmitting coil 611
During surface, coupling effect is best, and charge efficiency is the highest, charging rate is the fastest.
Induction wireless charging technology is disadvantageous in that, the coverage of electric energy transmission is closer, Zhi Neng
Several millimeters can transmit energy with stability and high efficiency between several centimeters, the most in the present embodiment, it is required that receiving coil 612
And the distance between transmitting coil 611 is the most nearest.When receiving coil 612 be positioned at above transmitting coil 611, receiving coil
612 realize electromagnetic induction when coupling with transmitting coil 611, and transmitting coil 611 is 1mm ~ 40mm with the distance of receiving coil 612,
Preferably 2mm, 5mm, 10mm, 15mm and 20mm, to guarantee to realize charge function with stability and high efficiency, it is simple to install and safeguard.
Transmitting coil 611 refers to the distance of receiving coil 612, when transmitting coil 611 is parallel with receiving coil 612, and transmitting coil
611 place planes and the distance of receiving coil 612 place plane.In the present embodiment, transmitting coil 611 and receiving coil 612
Between exist medium be all non-metallic material, medium therebetween includes solar panel, robot shells, air etc.,
Solar panel material be standard silicon materials, robot shells material be rigid plastics (such as macromolecule resin material).Solar energy
Panel itself, any two pieces of adjacent solar panel junctions (such as frame etc.) can not have metal material, when receiving coil 612
Realize electromagnetic induction with transmitting coil 611 when coupling, once there is metal in electromagnetic field, may result in parts heating damage, because of
Metal can not be there is near this receiving coil 612, transmitting coil 611.
As shown in Figure 10, wireless power transmission apparatus 61 can include DC source 612, inverter circuit 613 and
One transmitting terminal controller 614.DC source 612 is used for providing DC current；Inverter circuit 613 input connects DC source
612, its outfan is connected to transmitting coil 611；Transmitting terminal controller 614 is connected to inverter circuit 613, is used for controlling inversion electricity
The output on road 613；Inverter circuit 613 for being converted to the alternating current of variable frequency and dutycycle by described DC current
Stream, and described alternating current is exported to transmitting coil 611.
As shown in figure 15, DC source 612 can be at least one solar electrical energy generation module 6121, and the present embodiment is directly should
For solar panel 200, therefore can be directly as the DC source of the present embodiment after solar electrical energy generation, due to solar energy
The DC voltage of power generation module group 6121 output is unstable, and therefore wireless power transmission apparatus 61 also needs to arrange a DC-DC voltage stabilizing
Circuit 6122, its input is connected to solar electrical energy generation module 6121, and its outfan is connected to the input of inverter circuit 613；
Wherein, DC-DC mu balanced circuit 6122 is in order to carry out voltage stabilizing process to described DC current so that inverter circuit 613 obtains stable
DC current source.
As shown in figure 16, DC source 612 can also include alternating current power supply 6123 and an AC-DC adapter 6124；
Alternating current power supply 6123 generally civil power, in order to provide alternating current；The input of AC-DC adapter 6124 is connected to alternating current power supply
6123, its outfan is connected to the input of inverter circuit 613；AC-DC adapter 6124 is for changing described alternating current
For galvanic current stream.
As shown in Figure 10, wireless power receive device 62 also include rectification circuit 623, DC-DC change-over circuit 624 with
And a receiving terminal controller 625.The input of rectification circuit 623 is connected to receiving coil 612, for by defeated for receiving coil 612
The alternating current gone out is converted into DC current；The input of DC-DC change-over circuit 624 is connected to the outfan of rectification circuit 623,
Its outfan is connected to rechargeable battery 622；Receiving terminal controller 625 is connected to DC-DC change-over circuit 624；Receiving terminal controls
Device 625 internal memory contains at least one charging curve of rechargeable battery 622, calculates rechargeable battery 622 according to charging curve
Good charging voltage；Wherein, the voltage of the DC current that rectification circuit 623 is exported by DC-DC change-over circuit 624 is converted into chargeable
The optimum charging voltage of battery, and charge for rechargeable battery.Receiving terminal controller 625 and the control system of sweeping robot 100
System 4 is connected, or, receiving terminal controller 625 is a part for control system 4, when sweeping robot 100 marches to launch line
Time above circle, receiving coil couples with transmitting coil, produces faradic current in receiving coil, and receiving terminal controller 625 is according to can
The electricity of rechargeable battery is confirmed whether to need charging, if needing charging, control system 4 sends at least one control instruction so that
Sweeping robot 100 stops advancing and cleaning work, resides in and is persistently charged on solar panel 200；To be charged complete
After, control system 4 sends at least one control instruction so that sweeping robot 100 continues on and cleaning work.
As shown in Figure 10, wireless power reception device 62 also includes a battery information harvester 626, a wireless charging switch
627 and a battery manager 628.
Battery information harvester 626 is connected to rechargeable battery 622, for gathering the residual capacity of rechargeable battery 622
SOC value；One end of wireless charging switch 627 is connected to DC-DC change-over circuit 624, and its other end is connected to rechargeable battery 622
Or rectification circuit 623；One end of battery manager 628 is connected to battery information harvester 626, to obtain rechargeable battery in real time
The residual capacity SOC value of 622；Its other end be connected to wireless charging switch 627, with control wireless charging switch 627 Guan Bi or
Disconnect；Wherein, when the power threshold that the residual capacity SOC value of rechargeable battery 622 is preset less than, battery manager 628
Control wireless charging switch 627 Guan Bi；When the residual capacity SOC value of rechargeable battery 622 is more than or equal to a charging capacity threshold
During value (such as 90% or 100%), battery manager 628 controls wireless charging switch 627 disconnection.Battery manager 628 moment monitors
The electricity of wireless charging battery, when needing charging, wireless charging switch 627 Guan Bi, when, after charging complete, wireless charging switchs
627 disconnect.The control system 4 of sweeping robot 100 is connected to battery manager 628, when, after charging complete, control system 4 can
To send at least one control instruction to clearing apparatus 2 and dynamical system 3, start clearing apparatus 2 and dynamical system 3, sweeping machine
People 100 installs path set in advance and continues to run with.
Solar panel sweeping robot, during wireless charging, needs to solve wireless power transmission apparatus 61 with wireless
Power receiving system 62 realizes the technical problem of data communication.
As shown in figure 17, wireless power transmission apparatus 61 forms a wireless communication system with wireless power reception device 62
63, wherein, wireless power transmission apparatus 61 includes that a transmitting terminal signal is loaded into unit 631, is connected to transmitting coil 611；And one
Transmitting terminal signal lead-out unit 632, is connected to transmitting coil 611；Wireless power receives device 62 and includes that a receiving end signal carries
Enter unit 633, be connected to receiving coil 612；And a receiving end signal lead-out unit 634, it is connected to receiving coil 612.
When receiving coil 612 realize with transmitting coil 611 electromagnetic induction couple time, wireless power transmission apparatus 61 is with wireless
Power receiving system 62 realizes carrier communication；The information that transmitting terminal signal loading unit 631 will be launched is with carrier frequency K1
Being loaded onto after modulation in the emission current of transmitting coil 611, receiving end signal lead-out unit 634 will receive line with modulating frequency K1
The information received in the electric current demodulation post filtering of circle 612 is derived；The information that receiving end signal loading unit 633 will be launched is with one
Being loaded onto in the reception electric current of receiving coil 612 after the modulation of carrier frequency K2, transmitting terminal signal lead-out unit 632 is with modulating frequency
Information in the emission current of transmitting coil 611 is demodulated post filtering and derives by K2.
When receiving coil 612 realize with transmitting coil 611 magnetic resonance couple time, wireless power transmission apparatus 61 and radio
Power receives device 62 and realizes carrier communication；The information that transmitting terminal signal loading unit 631 will be launched with magnetic resonance frequency K3 is
Carrier modulation is in the emission current of the transmitting coil 611 of magnetic resonance, and receiving end signal lead-out unit 634 is from receiving coil 612
Reception electric current in magnetic resonance frequency K3 for carrier wave described information demodulated and filters derivation；Receiving end signal is loaded into unit
During 633 information that will launch are with magnetic resonance frequency K3 for carrier modulation to the reception electric current of magnetic resonance, transmitting terminal signal is derived
Described information is demodulated with magnetic resonance frequency K3 for carrier wave and filters derivation by unit 632.
Solar panel sweeping robot is during wireless charging, in order to improve utilization rate of electrical, extend battery use
Life-span and guarantee cell safety, need to solve to adjust charge power in real time according to the real time electrical quantity of rechargeable battery 622
Technical problem.To this end, in the present embodiment, transmitting terminal controller is connected to transmitting terminal signal and is loaded into unit 631, transmitting terminal signal
Lead-out unit 632；Receiving terminal controller 625 is connected to receiving end signal and is loaded into unit 633, receiving end signal lead-out unit 634；
Receiving terminal controller 625 internal memory contains at least one charging curve of rechargeable battery 622, obtains in real time according to described charging curve
The optimum charging voltage of rechargeable battery 622, calculates optimal charge power according to described optimum charging voltage, sends at least one and fill
Electrical power adjusts instruction；When receiving coil 612 realize with transmitting coil 611 electromagnetic induction couple time, receiving end signal is loaded into single
Described charge power is adjusted after instruction is modulated with carrier frequency K2 and is loaded onto in described reception electric current by unit 633, and transmitting terminal is believed
Described charge power in described emission current is adjusted instruction demodulation post filtering with modulating frequency K2 and derives by number lead-out unit 632
To described transmitting terminal controller 614；Or, when receiving coil 612 realize with transmitting coil 611 magnetic resonance couple time, receiving terminal
Signal is loaded into unit 633 and described charge power adjusts instruction with magnetic resonance frequency K3 for carrier modulation to the reception of magnetic resonance electricity
In stream, described charge power is adjusted instruction with magnetic resonance frequency K3 for carrier wave and demodulates and filter by transmitting terminal signal lead-out unit 632
Waveguide goes out to described transmitting terminal controller 614；Described transmitting terminal controller 614 is connected to described inverter circuit, fills according to described
Electrical power adjusts the transmitting power of instruction regulation transmitting coil 611.
Solar panel sweeping robot is during wireless charging, in order to improve utilization rate of electrical, improve wireless charging
Efficiency, needs the technical problem solving how to make transmitting coil 611 and receiving coil 612 can reach Best Coupling effect.
In the present embodiment, receiving terminal controller 625 detects in receiving coil 612 whether receive signal in real time；If receiving
Signal, transmitting coil 611 and receiving coil 612 can realize coupling, it is possible to achieve the effect of wireless charging, but now may be also
Non-optimal couple state.If receiving terminal controller 625 receives signal, detect signal intensity in receiving coil 612, and according to signal
Intensity judges the relative position of receiving coil 612 and transmitting coil 611；Control system 4 is according to receiving coil 612 and transmitting coil
The relative position of 611, sends at least one position adjustment instruction, controls sweeping robot and adjust its position so that receiving coil 612
Being positioned at directly over transmitting coil 611, transmitting coil 611, receiving coil 612 are the heaviest in the upright projection of solar panel 200
Close, make transmitting coil 611 and receiving coil 612 can reach Best Coupling effect.
In the present embodiment, also provide for the wireless charging method of a kind of solar panel sweeping robot, existing to solve
The charging operations that solar panel sweeping robot exists is complicated, the more high technical problem of maintenance cost.
The wireless charging method of the solar panel sweeping robot described in the present embodiment, comprises the steps: step
S501) or arranging at least one wireless power transmission apparatus inside at least one solar panel below, wireless power launches dress
Put and include a transmitting coil；Transmitting coil is arranged at the lower surface of arbitrary solar panel, or, it is arranged at any two pieces of phases
Below the gap of adjacent solar panel junction or inside gap；Step S502) the internal or outer surface at described sweeping robot
Arranging a wireless power and receive device, wireless power receives device and includes a receiving coil；Described receiving coil is arranged on institute
State sweeping robot inner bottom or described sweeping robot bottom lower surface；Step S503) described sweeping robot is at the sun
Advancing on energy panel and carry out cleaning work, whether described sweeping robot detects described receiving coil during advancing in real time
Produce electric current；Step S504) when above described receiving coil is positioned at described transmitting coil, described receiving coil and described transmitting
Coil realizes electromagnetic induction coupling or magnetic resonance coupling, and described receiving coil produces electric current；Step S505) judge described scavenging machine
At least one rechargeable battery of device people is the need of charging；If so, step S506 is performed)；If it is not, return step S503)；Step
S506) described sweeping robot stops advancing and cleaning work, resides on solar panel so that receiving coil and transmitting line
Circle keeps coupling；Step S507) wireless power transmission to receiving coil, is continuously described rechargeable battery and fills by transmitting coil
Electricity；Step S508) battery manager judges whether described rechargeable battery electricity is full of；If electricity has been filled with, stop charging；Return
Return step S503), sweeping robot continues advance on solar panel and carry out cleaning work.
Sweeping robot is on solar panel during normal operation, and whether detection receiving coil produces electric current in real time,
Whether there is, near namely moment detection sweeping robot (receiving coil), the transmitting coil coupled with receiving coil.Work as discovery
After the transmitting coil that neighbouring existence couples with receiving coil, according to the remaining capacity of rechargeable battery in sweeping robot, sentence
Disconnected the need of charging, if needing charging, it is out of service that control system controls sweeping robot, starts as in sweeping robot
Rechargeable battery carries out wireless charging.In charging process, whether detection rechargeable battery fills with in real time, if having been filled with,
Stopping charging, control system controls sweeping robot and continues to run with and carry out cleaning work.
Wherein, in described step S506) front can also comprise the steps: step S5061) according to electric current in receiving coil
Size judge receiving coil position relative with transmitting coil and relative distance；Step S5062) adjustment of described sweeping robot
Its position so that receiving coil is positioned at directly over transmitting coil.In the present embodiment, if receiving coil 612 producing electric current and receiving
To signal, transmitting coil 611 can realize coupling with receiving coil 612, it is possible to achieve the effect of wireless charging, but now may
Not Best Coupling state.Receiving terminal controller 625 judges receiving coil 612 according to signal intensity in receiving coil 612 and sends out
The relative position of ray circle 611；Control system 4, according to the relative position of receiving coil 612 with transmitting coil 611, sends at least
One position adjustment instruction, controls sweeping robot and adjusts its position so that receiving coil 612 is positioned at directly over transmitting coil 611,
Transmitting coil 611, receiving coil 612 are completely superposed in the upright projection of solar panel 200, make transmitting coil 611 He
Receiving coil 612 can reach Best Coupling effect.
Wherein, described step S505) specifically include following steps: step S5051) obtain described rechargeable battery in real time
Residual capacity SOC value；Step S5052) the residual capacity SOC value of described rechargeable battery is opposed with a power threshold preset
Ratio；Step S5053) if the residual capacity SOC value of described rechargeable battery less than one preset power threshold (as 10% or 15% or
25%, etc.) time, it is judged that described sweeping robot needs charging.Default power threshold is according to launching line near solar panel
The distribution situation of circle determines, default power threshold is greater than or arrives next transmitting coil consumption equal to sweeping robot
Electricity.If transmitting coil is evenly distributed, default power threshold is greater than or equal to sweeping robot in any two
The electricity that between adjacent transmission coil, one way consumes when running.
Wherein, described step S508) specifically include following steps: step S5081) obtain described rechargeable battery in real time
Residual capacity SOC value；Step S5082) by the residual capacity SOC value of described rechargeable battery and a charging capacity threshold value preset
Compare；Step S5083) if the residual capacity SOC value of described rechargeable battery is more than or equal to the charging capacity threshold value preset
Time (such as 95% or 100%), it is judged that described sweeping robot electricity has been filled with, stop charging.The control system of sweeping robot opens
Dynamic dynamical system and clearing apparatus, control described sweeping robot and work on.
The present embodiment advantage is, solar panel upper surface, inside or near arrange multiple wireless charging launch
Device, arranges multiple wireless charging receiver in sweeping robot inside or lower surface.At sweeping robot in solar energy face
On plate in operation process, when above sweeping robot traveling to wireless charging discharger, utilize electromagnetic induction coupled modes
Or magnetic resonance coupled modes carry out wireless charging to sweeping robot；Whole charging process can realize automatically controlling, it is not necessary to people
Sweeping robot is taken off from solar panel by work so that sweeping robot can run, certainly on solar panel automatically
Move charging, automatically power off, it is possible to achieve automatic continuous operation, effectively reduce management and maintenance cost.
Embodiment 3
Some solar panel is internal or edge may be provided with metal material, so, if using the technology of embodiment 2
Scheme, is arranged at transmitting coil 611 lower surface of arbitrary solar panel 200 or is arranged at any two pieces of adjacent solar energys
Below the gap 201 of panel 200 junction or in gap 201, when two coils realize electromagnetic induction coupling, may result in portion
Part heating damage, now, the technical scheme of embodiment 2 is improper, it is desirable to have a new technical scheme so that wireless charging system
System can work.
In order to solve the problems referred to above, as shown in Figure 18, Figure 19, embodiment 3 provides a kind of solar panel sweeping robot
Wireless charging system, major part technical scheme is same as in Example 2, and its distinguishing feature is, it is also possible to include at least one
Charging panel 500, each charging panel 500 is embedded on arbitrary solar panel 200 or is arranged at arbitrary solar panel 200
Edge；Charging panel 500 upper surface is in the same plane with solar panel 200 upper surface, and charging panel 500 is non-gold
Belong to material to make.
As shown in figure 18, charging panel 500 is embedded on arbitrary solar panel 200, refers to process at solar panel
During making, reserve a specific space specially, in order to embed charging panel 500, charging panel 500 upper surface after embedding with too
Sun energy panel 200 upper surface is concordant, in the same plane.
As shown in figure 19, charging panel 500 is arranged at solar panel 200 edge, refers to process at solar panel
During making, charging panel 500, this charging panel 500 upper surface and sun are installed by the edge on several limits of solar panel
Energy panel 200 upper surface is concordant, in the same plane.
Transmitting coil 611 can be arranged in arbitrary charging panel 500, it is also possible to is arranged at the following table of arbitrary charging panel
Face rather than be arranged at the lower surface of arbitrary solar panel or be arranged at any two pieces of adjacent solar panel junctions
In gap.
For solving above-mentioned technical problem, embodiment 3 provides the wireless charging side of another kind of solar panel sweeping robot
Method, comprises the steps: step S601) at least one solar panel, embed at least one charging panel；And/or, at least
One solar panel edge arranges at least one charging panel；Described charging panel upper surface is positioned at solar panel upper surface
On same plane；Step S602) at least one charging panel, at least one wireless power transmission apparatus is interiorly or exteriorly set, described
Wireless power transmission apparatus includes that a transmitting coil, described transmitting coil are connected to a power supply；Described transmitting coil is arranged at
In arbitrary charging panel, or, it is arranged at arbitrary charging panel upper surface or lower surface；Step S603) at described sweeping machine
People is internal or outer surface arranges a wireless power and receives device, and wireless power receives device and includes a receiving coil；Connect described
Take-up circle is arranged on described sweeping robot inner bottom or described sweeping robot bottom lower surface；Step S604) described clearly
Sweeping robot advance on solar panel and described charging panel and carry out cleaning work, described sweeping robot is traveling across
Journey detects whether described receiving coil produces electric current in real time；Step S605) it is positioned at described transmitting coil when described receiving coil
During top, described receiving coil realizes electromagnetic induction and couples or magnetic resonance coupling with described transmitting coil, and described receiving coil produces
Raw electric current；Step S606) judge that at least one rechargeable battery of described sweeping robot is the need of charging；If so, step is performed
Rapid S607)；If it is not, return step S604)；Step S607) described sweeping robot stop advance and clean, reside in described in fill
On electricity panel so that receiving coil keeps coupling with transmitting coil；Step S608) transmitting coil by wireless power transmission to receive
Coil, is continuously the charging of described rechargeable battery；Step S609) battery manager judges whether described rechargeable battery electricity fills
Full；If electricity has been filled with, stop charging；Return step S604), sweeping robot continues at described charging panel and the described sun
Advance on energy panel and carry out cleaning work.
Sweeping robot during normal operation, detects receiving coil on solar panel and described charging panel in real time
Whether produce electric current, whether exist near namely moment detection sweeping robot (receiving coil) couple with receiving coil
Ray circle.After there is, near finding, the transmitting coil coupled with receiving coil, according to rechargeable battery in sweeping robot
Remaining capacity, it may be judged whether need charging, if need charging, control system control sweeping robot out of service, start
Wireless charging is carried out for rechargeable battery in sweeping robot.In charging process, detection rechargeable battery is the most in real time
Being full of, if having been filled with, stopping charging, control system controls sweeping robot and continues to run with and carry out cleaning work.
Wherein, in described step S607) front can also comprise the steps: step S6071) according to electric current in receiving coil
Size judge receiving coil position relative with transmitting coil and relative distance；Step S6072) adjustment of described sweeping robot
Its position so that receiving coil is positioned at directly over transmitting coil.In the present embodiment, if receiving coil 612 producing electric current and receiving
To signal, transmitting coil 611 can realize coupling with receiving coil 612, it is possible to achieve the effect of wireless charging, but now may
Not Best Coupling state.Receiving terminal controller 625 judges receiving coil 612 according to signal intensity in receiving coil 612 and sends out
The relative position of ray circle 611；Control system 4, according to the relative position of receiving coil 612 with transmitting coil 611, sends at least
One position adjustment instruction, controls sweeping robot and adjusts its position so that receiving coil 612 is positioned at directly over transmitting coil 611,
Transmitting coil 611, receiving coil 612 are completely superposed in the upright projection of charging panel 500, make transmitting coil 611 and connect
Take-up circle 612 can reach Best Coupling effect.Wherein, described step S606) specifically include following steps: step S6061) real
Time obtain the residual capacity SOC value of described rechargeable battery；Step S6062) by the residual capacity SOC value of described rechargeable battery
Compare with a power threshold preset；Step S6063) if the residual capacity SOC value of described rechargeable battery is preset less than one
Power threshold (such as 10% or 15% or 25%, etc.) time, it is judged that described sweeping robot needs charging.Default power threshold is
Determining according to the distribution situation of transmitting coil near solar panel, default power threshold is greater than or equal to sweeping machine
People arrives the electricity that next transmitting coil consumes.If transmitting coil is evenly distributed, default power threshold be greater than or
The electricity consumed when running equal to sweeping robot one way between any two adjacent transmission coil.
Wherein, described step S609) specifically include following steps: step S6091) obtain described rechargeable battery in real time
Residual capacity SOC value；Step S6092) by the residual capacity SOC value of described rechargeable battery 622 and a charging capacity preset
Threshold value compares；Step S6093) if the residual capacity SOC value of described rechargeable battery 622 is held more than or equal to the charging preset
During amount threshold value (such as 95% or 100%), it is judged that described sweeping robot electricity has been filled with, stop charging.The control of sweeping robot
System start-up dynamical system and clearing apparatus, control described sweeping robot and work on.
The present embodiment advantage is, is independently arranged a charging panel, in the same plane with solar panel；Even if
Metal material is there is, it is also possible to make receiving coil can realize electromagnetic induction with transmitting coil and couple or magnetic on solar panel
Resonance coupling, and then realize the wireless charging to robot.Whole charging process can realize automatically controlling, it is not necessary to manually will be clear
Sweep robot to take off from solar panel so that sweeping robot can operation automatically on solar panel, automatic charging,
Automatically power off, it is possible to achieve automatic continuous operation, effectively reduce management and maintenance cost.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (22)
1. the wireless charging system of a solar panel sweeping robot, it is characterised in that including:
At least one solar panel；
One sweeping robot, travels at least one solar panel or stops；
One rechargeable battery, is arranged on inside described sweeping robot, for providing power for described sweeping robot；
At least one wireless power transmission apparatus, is arranged on outside described sweeping robot；Each wireless power transmission apparatus includes
One transmitting coil, described transmitting coil is connected to a power supply；And
One wireless power receives device, is arranged on described sweeping robot inside or outer surface；Described wireless power receives device
Including a receiving coil, described receiving coil is connected to described rechargeable battery；
Wherein, when above described receiving coil is positioned at described transmitting coil, described receiving coil realizes with described transmitting coil
Electromagnetic induction coupling or magnetic resonance coupling, described transmitting coil is by wireless power transmission to described receiving coil.
2. the wireless charging system of the solar panel sweeping robot described in claim 1, it is characterised in that described transmitting line
Circle is arranged at the lower surface of arbitrary solar panel, and/or, it is arranged at the gap of any two pieces of adjacent solar panel junctions
In lower section or gap.
3. the wireless charging system of the solar panel sweeping robot described in claim 1, it is characterised in that described reception line
Circle is arranged at described sweeping robot inner bottom, and/or, it is arranged at described sweeping robot bottom lower surface.
4. the wireless charging system of the solar panel sweeping robot described in claim 1, it is characterised in that also include
At least one charging panel, each charging panel is embedded on arbitrary solar panel or is arranged at arbitrary solar panel limit
At edge；Described charging panel upper surface is in the same plane with described solar panel upper surface；
Wherein, described transmitting coil is arranged in arbitrary charging panel, or, it is arranged at the lower surface of arbitrary charging panel.
5. the wireless charging system of the solar panel sweeping robot described in claim 1, it is characterised in that when described reception
When coil couples with described transmitting coil, described transmitting coil is 1mm ~ 40mm with the distance of described receiving coil；Described transmitting
Medium between coil and described receiving coil is all non-metallic material.
6. the wireless charging system of the solar panel sweeping robot described in claim 1, it is characterised in that described radio
Power discharger also includes
One DC source, is used for providing DC current；
One inverter circuit, its input is connected to described DC source, and its outfan is connected to described transmitting coil；And
One transmitting terminal controller, is connected to described inverter circuit, for controlling the output of described inverter circuit；
Wherein, described inverter circuit is used for being converted to described DC current the alternating current of variable frequency and dutycycle, and will
Described alternating current exports to described transmitting coil.
7. the wireless charging system of the solar panel sweeping robot described in claim 6, it is characterised in that described unidirectional current
Source is at least one solar energy electric discharge module；Described wireless power transmission apparatus also includes
One DC-DC mu balanced circuit, its input is connected to described DC source, and its outfan is connected to the defeated of described inverter circuit
Enter end；
Wherein, described DC-DC mu balanced circuit is in order to carry out voltage stabilizing process to described DC current so that described inverter circuit obtains
Galvanic current stream source.
8. the wireless charging system of the solar panel sweeping robot described in claim 6, it is characterised in that described unidirectional current
Source includes
One alternating current power supply, in order to provide alternating current；And
One AC-DC adapter, its input is connected to described alternating current power supply, and its outfan is connected to the input of described inverter circuit
End；Described AC-DC adapter is for being converted to DC current by described alternating current.
9. the wireless charging system of the solar panel sweeping robot described in claim 1, it is characterised in that described radio
Power receives device and also includes
One rectification circuit, its input is connected to described receiving coil, for the alternating current circulation exported by described receiving coil
Change DC current into；And
One DC-DC change-over circuit, its input is connected to the outfan of described rectification circuit, and its outfan is connected to described can fill
Electricity battery；
One receiving terminal controller, is connected to described DC-DC change-over circuit；Described receiving terminal controller internal memory contains described chargeable
At least one charging curve of battery, calculates the optimum charging voltage of described rechargeable battery according to described charging curve；
Wherein, the voltage of the DC current that described rectification circuit is exported by described DC-DC change-over circuit is converted into described chargeable
The optimum charging voltage of battery, and be the charging of described rechargeable battery.
10. the wireless charging system of the solar panel sweeping robot described in claim 1, it is characterised in that described wireless
Power receiving system also includes
One battery information harvester, is connected to described rechargeable battery, for gathering residual capacity SOC of described rechargeable battery
Value；
One wireless charging switch, its one end is connected to described DC-DC change-over circuit, and its other end is connected to described rechargeable battery
Or described rectification circuit；
One battery manager, its one end is connected to described battery information harvester, to obtain the surplus of described rechargeable battery in real time
Covolume amount SOC value；Its other end is connected to described wireless charging switch, to control described wireless charging switch Guan Bi or to disconnect；
Wherein, when the power threshold that the residual capacity SOC value of described rechargeable battery is preset less than or equal to, described battery
Manager controls described wireless charging switch Guan Bi；When the residual capacity SOC value of described rechargeable battery is filled more than or equal to one
During capacitance threshold value, described battery manager controls described wireless charging and switches off.
The wireless charging system of the solar panel sweeping robot described in 11. claim 1, it is characterised in that
Described wireless power transmission apparatus includes
One transmitting terminal signal is loaded into unit, is connected to described transmitting coil；And
One transmitting terminal signal lead-out unit, is connected to described transmitting coil；
Described wireless power receives device and includes
One receiving end signal is loaded into unit, is connected to described receiving coil；And
One receiving end signal lead-out unit, is connected to described receiving coil.
The wireless charging system of the solar panel sweeping robot described in 12. claim 11, it is characterised in that connect when described
Take-up circle realizes electromagnetic induction when coupling with described transmitting coil, and described wireless power transmission apparatus receives with described wireless power
Device realizes carrier communication；The information that described transmitting terminal signal loading unit will be launched is to load after a carrier frequency K1 modulation
To described transmitting coil emission current in, described receiving end signal lead-out unit with modulating frequency K1 by described receiving coil
The information demodulation post filtering received in electric current is derived；The information that described receiving end signal loading unit will be launched is with a carrier frequency
Being loaded onto in the reception electric current of described receiving coil after the modulation of rate K2, described transmitting terminal signal lead-out unit will with modulating frequency K2
Information demodulation post filtering in the emission current of described transmitting coil is derived.
The wireless charging system of the solar panel sweeping robot described in 13. claim 11, it is characterised in that connect when described
Take-up circle realizes magnetic resonance when coupling with described transmitting coil, and described wireless power transmission apparatus receives dress with described wireless power
Put and realize carrier communication；The information that described transmitting terminal signal loading unit will be launched arrives with magnetic resonance frequency K3 for carrier modulation
In the emission current of the described transmitting coil of magnetic resonance, described receiving end signal lead-out unit is from the reception electricity of described receiving coil
Described information is demodulated with magnetic resonance frequency K3 for carrier wave by stream and filters derivation；Described receiving end signal is loaded into unit and will send out
During the information penetrated is with magnetic resonance frequency K3 for carrier modulation to the reception electric current of magnetic resonance, described transmitting terminal signal lead-out unit with
Magnetic resonance frequency K3 is that described information is demodulated and filters derivation by carrier wave.
The wireless charging system of the solar panel sweeping robot described in 14. claim 12 or 13, it is characterised in that institute
State wireless power transmission apparatus also to include
One DC source, is used for providing DC current；
One inverter circuit, its input is connected to described DC source, and its outfan is connected to described transmitting coil；And
One transmitting terminal controller, is connected to described transmitting terminal signal and is loaded into unit, described transmitting terminal signal lead-out unit；
Described wireless power receives device and includes
One receiving terminal controller, is connected to described receiving end signal and is loaded into unit, described receiving end signal lead-out unit；
Wherein, described receiving terminal controller internal memory contains at least one charging curve of described rechargeable battery, according to described charging
Curve obtains the optimum charging voltage of described rechargeable battery in real time, calculates optimal charge merit according to described optimum charging voltage
Rate, sends at least one charge power and adjusts instruction；
When described receiving coil realize with described transmitting coil electromagnetic induction couple time, described receiving end signal is loaded into unit by institute
Stating after charge power adjustment instruction is modulated with carrier frequency K2 and be loaded onto in described reception electric current, described transmitting terminal signal is derived
Described charge power in described emission current is adjusted instruction demodulation post filtering with modulating frequency K2 and derives to described by unit
Penetrate side controller；Or, when described receiving coil realize with described transmitting coil magnetic resonance couple time, described receiving end signal carries
Enter unit by described charge power adjust instruction with magnetic resonance frequency K3 for carrier modulation to the reception electric current of magnetic resonance in, described
Described charge power is adjusted instruction with magnetic resonance frequency K3 for carrier wave and demodulates and filter derivation extremely by transmitting terminal signal lead-out unit
Described transmitting terminal controller；
Described transmitting terminal controller is connected to described inverter circuit, adjusts instruction according to described charge power and regulates described transmitting line
The transmitting power of circle.
The wireless charging method of 15. 1 kinds of solar panel sweeping robots, it is characterised in that comprise the steps:
Step S501) internal at least one solar panel or at least one wireless power transmission apparatus, described nothing are set below
Line power transmission device includes a transmitting coil；Described transmitting coil is arranged at the lower surface of arbitrary solar panel, or,
It is arranged at below the gap of any two pieces of adjacent solar panel junctions or in gap；
Step S502) a wireless power reception device is set in described sweeping robot, described wireless power receives device bag
Include a receiving coil；Under described receiving coil is arranged on bottom described sweeping robot inner bottom or described sweeping robot
Surface；
Step S503) described sweeping robot advances on described solar panel and cleans, and described sweeping robot is being advanced
During in real time detect whether described receiving coil produces electric current；
Step S504) when above described receiving coil is positioned at described transmitting coil, described receiving coil and described transmitting coil
Realizing electromagnetic induction coupling or magnetic resonance coupling, described receiving coil produces electric current；
Step S505) judge that at least one rechargeable battery of described sweeping robot is the need of charging；If so, step is performed
S506)；If it is not, return step S503)；
Step S506) described sweeping robot stop advance and clean, reside on solar panel so that receiving coil with send out
Ray circle keeps coupling；
Step S507) transmitting coil by wireless power transmission to receiving coil, be continuously described rechargeable battery charging；And
Step S508) battery manager judges whether described rechargeable battery electricity is full of；If electricity has been filled with, stop charging；
Return step S503).
The wireless charging method of the solar panel sweeping robot described in 16. claim 15, it is characterised in that in described step
Rapid S506) front can also comprise the steps:
Step S5061) judge the phase of described receiving coil and described transmitting coil according to the size of electric current in described receiving coil
To position and relative distance；And
Step S5062) described sweeping robot adjusts its position so that and described receiving coil is positioned at described transmitting coil and just goes up
Side.
The wireless charging method of the solar panel sweeping robot described in 17. claim 16, it is characterised in that described step
S508) following steps are specifically included:
Step S5081) the real-time residual capacity SOC value obtaining described rechargeable battery；
Step S5082) the residual capacity SOC value of described rechargeable battery is compared with a power threshold preset；
Step S5083) if the residual capacity SOC value of described rechargeable battery is less than the power threshold that presets, it is judged that described
Sweeping robot needs charging.
The wireless charging method of the solar panel sweeping robot described in 18. claim 17, it is characterised in that described step
S508) following steps are specifically included:
Step S5081) the real-time residual capacity SOC value obtaining described rechargeable battery；
Step S5082) the residual capacity SOC value of described rechargeable battery is compared with a charging capacity threshold value preset；
Step S5083) if the residual capacity SOC value of described rechargeable battery is more than or equal to the charging capacity threshold value preset,
Judge that described sweeping robot electricity has been filled with.
The wireless charging method of 19. 1 kinds of solar panel sweeping robots, it is characterised in that comprise the steps:
Step S601) at least one solar panel, embed at least one charging panel；Or, at least one solar panel limit
At least one charging panel is set at edge；Described charging panel upper surface is generally aligned in the same plane with described solar panel upper surface
On；
Step S602) at least one charging panel, at least one wireless power transmission apparatus, described radio are interiorly or exteriorly set
Power discharger includes that a transmitting coil, described transmitting coil are connected to a power supply；Described transmitting coil is arranged at arbitrary filling
In electricity panel, or, it is arranged at arbitrary charging panel upper surface or lower surface；
Step S603) or outer surface internal at described sweeping robot arrange a wireless power and receive device, described wireless power
Receive device and include a receiving coil；Described receiving coil is arranged on described sweeping robot inner bottom or described scavenging machine
Device people's bottom lower surface；
Step S604) described sweeping robot advances on solar panel and described charging panel and cleans, described scavenging machine
Device people detects whether described receiving coil produces electric current during advancing in real time；
Step S605) when above described receiving coil is positioned at described transmitting coil, described receiving coil and described transmitting coil
Realizing electromagnetic induction coupling or magnetic resonance coupling, described receiving coil produces electric current；
Step S609) judge that at least one rechargeable battery of described sweeping robot is the need of charging；If so, step is performed
S607)；If it is not, return step S604)；
Step S607) described sweeping robot stop advance and clean, reside on described charging panel so that receiving coil with
Transmitting coil keeps coupling；
Step S608) transmitting coil by wireless power transmission to receiving coil, be continuously described rechargeable battery charging；
Step S609) battery manager judges whether described rechargeable battery electricity is full of；If electricity has been filled with, stop charging；
Return step S604).
The wireless charging method of the solar panel sweeping robot described in 20. claim 19, it is characterised in that in described step
Rapid S607) front can also comprise the steps:
Step S6071) judge receiving coil position relative with transmitting coil and relatively according to the size of electric current in receiving coil
Distance；And
Step S6072) described sweeping robot adjusts its position so that and receiving coil is positioned at directly over transmitting coil.
The wireless charging method of the solar panel sweeping robot described in 21. claim 20, it is characterised in that described step
S609) following steps are specifically included:
Step S6091) the real-time residual capacity SOC value obtaining described rechargeable battery；
Step S6092) the residual capacity SOC value of described rechargeable battery is compared with a power threshold preset；
Step S6093) if the residual capacity SOC value of described rechargeable battery is less than the power threshold that presets, it is judged that described
Sweeping robot needs charging.
The wireless charging method of the solar panel sweeping robot described in 22. claim 20, it is characterised in that described step
S609) following steps are specifically included:
Step S6091) the real-time residual capacity SOC value obtaining described rechargeable battery；
Step S6092) the residual capacity SOC value of described rechargeable battery is compared with a charging capacity threshold value preset；
Step S6093) if the residual capacity SOC value of described rechargeable battery is more than or equal to the charging capacity threshold value preset,
Judge that described sweeping robot electricity has been filled with.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610835953.9A CN106208276A (en) | 2016-09-21 | 2016-09-21 | The wireless charging system of solar panel sweeping robot and wireless charging method |
| PCT/CN2017/072760 WO2018053982A1 (en) | 2016-09-21 | 2017-01-26 | Wireless charging system and wireless charging method for solar panel cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610835953.9A CN106208276A (en) | 2016-09-21 | 2016-09-21 | The wireless charging system of solar panel sweeping robot and wireless charging method |
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| CN106208276A true CN106208276A (en) | 2016-12-07 |
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ID=58067123
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| CN201610835953.9A Pending CN106208276A (en) | 2016-09-21 | 2016-09-21 | The wireless charging system of solar panel sweeping robot and wireless charging method |
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| WO (1) | WO2018053982A1 (en) |
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