CN106379406A - Mobile equipment and photovoltaic module cleaning robot - Google Patents
Mobile equipment and photovoltaic module cleaning robot Download PDFInfo
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- CN106379406A CN106379406A CN201611020256.4A CN201611020256A CN106379406A CN 106379406 A CN106379406 A CN 106379406A CN 201611020256 A CN201611020256 A CN 201611020256A CN 106379406 A CN106379406 A CN 106379406A
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- mobile device
- vehicle frame
- controller
- battery
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses mobile equipment. The mobile equipment comprises a vehicle frame as well as a controller and a navigation and location part which are mounted on the vehicle frame, wherein driving wheels and steering wheels are mounted at the bottom of the vehicle frame, driving parts are mounted on the driving wheels, and steering parts are mounted on the steering wheels; and the controller is used for making comparison on the current position information of the vehicle frame, detected by the navigation and location part, and the target position information, determining a target driving direction, controlling the steering wheels to rotate to the target driving direction by virtue of the steering parts and simultaneously driving the driving wheels to move to the target position by virtue of the driving parts. The mobile equipment disclosed by the invention has an autonomous movement capacity, so that the unmanned operation is realized, the human input is reduced, the all weather operation capacity of the equipment is realized, the working time is prolonged, the nighttime cleaning capacity of a cleaning robot can be assisted to be realized, and the power generating efficiency of a photovoltaic board is improved. The invention further discloses a photovoltaic module cleaning robot including the mobile equipment.
Description
Technical field
The present invention relates to photovoltaic module cleaning machine field of mobile equipment, more particularly to a kind of mobile device.Additionally, this
The bright photovoltaic module cleaning robot further relating to a kind of above-mentioned mobile device of inclusion.
Background technology
Requirement with environmental protection and the lifting to sustainable energy demand, the proportion of clean energy resource account for the ratio of total energy by
Year lifting, the cleaning demand of photovoltaic module progressively heats up.
Photovoltaic array cleaning has two reasons：First, dirt can lead to photovoltaic plate surface to produce heat conduction difference, ultimately causes
" hot spot ", damages photovoltaic module；2nd, dirt leads to photovoltaic panel surface transmission rate to reduce, thus affecting photovoltaic panel assembly array
Photothermal conversion rate, that is, reduce generating efficiency.Therefore do not decline to ensure generating efficiency, it is to avoid photovoltaic module damages, photovoltaic panel
Cleaning is necessary.
In prior art, typically using semi-automatic cleaning, cleaning machine on main inclusion ground washing car and plate.Wherein,
The chassis of ground washing car is identical with mini-excavator, and mechanical arm configuration is also similar to the arm of digging machine, and two track drive are advanced；
Cleaning is completed by the round brush of mechanical arm tail end, can spray water in cleaning process.For ground washing car, have the disadvantages that：
(1) travel speed is slower；(2) cleaning operation is complicated, operator is required higher, needs while traveling between photovoltaic plate array
Pay close attention to the situation that cleaning round brush is contacted with photovoltaic plate face, cleaning Vehicle will keep constant with the distance of photovoltaic module, otherwise, cleaning
Brush cannot cover whole photovoltaic plate face height, lead to omit cleaning surface；(3) road pavement requirement is higher, when there is hole on road surface
During the section of depression, when particularly crawler belt corresponding ground in both sides has difference in height, car body can be led to sidewinder, now original and minute surface keeps flat
Angle of arrival deviation between the round brush of row and photovoltaic panel；(4) ground washing car is furnished with driver's cabin, is carried out appointing by pilot steering
Business, it is desirable to have the personnel of excavator driving experience, and, chassis is driven by internal combustion engine, needs hand oiling, cleaning way water
Amount is larger, and water tank volume is limited, needs manually repeatedly to add water in cleaning process, and less, the time that back and forth adds water is long, clearly for chassis speed
Wash efficiency to reduce again.
Therefore, how to improve the automatization level of mobile device, reduce human input, be that those skilled in the art need at present
Technical problem to be solved.
Content of the invention
It is an object of the invention to provide a kind of mobile device, this mobile device can exempt artificial operation, breaks through working environment
Limit, realize all weather operations, can also realize independently supplying.It is a further object of the present invention to provide a kind of include above-mentioned movement
The photovoltaic module cleaning robot of equipment.
For achieving the above object, the present invention provides following technical scheme：
A kind of mobile device, including vehicle frame and be arranged on the controller on described vehicle frame and navigator fix part, described
The bottom of vehicle frame is provided with driving wheel and deflecting roller, and described driving wheel is provided with driver part, and described deflecting roller is provided with
Turning member；
The current location information of the described vehicle frame for being detected according to described navigator fix part for the described controller, contrast
Target position information, determines target travel direction, and controls described steered wheel rotation to described target by described turning member
Travel direction, drives described driving wheel movement to target location by described driver part simultaneously.
Preferably, described driver part is specially motor, described motor is also equipped with described for detecting
The encoder of motor rotating speed, the testing result that described controller is additionally operable to according to described encoder calculates described driving wheel
Operating range.
Preferably, described deflecting roller is also equipped with the angular transducer of the steering angle for detecting described deflecting roller,
Described controller is additionally operable to judge whether described deflecting roller turns to target travel according to the testing result of described angular transducer
Angle, if it is not, then adjusted the rotational angle of described rotating wheel to described target travel angle by described turning member.
Preferably, the front end of described vehicle frame is also equipped with for detecting whether barrier enters the anticollision sensing of induction range
Device；Described controller is additionally operable to, when described barrier enters the induction range of described obstacle avoidance sensor, control described driving electricity
Machine stops the driving to described driving wheel.
Preferably, the front end circumference of described vehicle frame is additionally provided with for the elastic baffle of mechanical anticollision and is kept off with described elasticity
The mechanical type crash sensor that plate connects.
Preferably, described vehicle frame is also equipped with the battery for powering to cleaning machine on plate；
Described controller is additionally operable to whether judge the electricity of described battery less than warning electricity, if it is, control moving
Equipment movement feeds position to target, and controls charging pile to open, and is that described battery charges；
Described controller is additionally operable to judge whether described battery is full of, if it is, controlling described mobile device to return just
Beginning position.
Preferably, described battery is also equipped with monitor part for the battery electric quantity detecting described battery electric quantity, described
Testing result can be sent to described controller by battery electric quantity monitoring part.
Preferably, described vehicle frame is also equipped with the water tank for supplying water to cleaning machine on plate；
Described controller is additionally operable to judge whether the water level of described water tank is less than warning line, if it is, control moving
Equipment movement feeds position to target, and controls outlet to open, and is described water tank moisturizing；
Described controller is additionally operable to judge whether described water tank is filled it up with, if it is, controlling described mobile device to return just
Beginning position.
Preferably, described water tank is also equipped with the monitoring water level part for detecting described cistern water level, described water level
Testing result can be sent to described controller by monitoring part.
The present invention also provides a kind of photovoltaic module cleaning robot, including the mobile device described in above-mentioned any one.
Mobile device provided by the present invention, wherein mobile device include vehicle frame and are arranged on the control on described vehicle frame
Device and navigator fix part, the bottom of described vehicle frame is provided with driving wheel and deflecting roller, and described driving wheel is provided with drive division
Part, described deflecting roller is provided with turning member；Described controller is used for according to described navigator fix part detects
The current location information of vehicle frame, contrasts target position information, determines target travel direction, and controls institute by described turning member
State steered wheel rotation to described target travel direction, described driving wheel movement is driven to target position by described driver part simultaneously
Put.This mobile device, by the control to described driver part and described turning member for the described controller, realizes described deflecting roller
Turn to and described driving wheel movement, automatically by this mobile device movement to target location, so realize to photovoltaic panel clean
The movement of machine, this mobile device has autonomous ability it is achieved that Unmanned operation, reduces human input, saves clear
Wash cost, reduce the operation easier of mobile device meanwhile, after Unmanned operation, achieve the energy of this kind equipment all weather operations
Power, extend this kind equipment and consisting of cleaning robot working time, may also aid in cleaning robot real simultaneously
Existing night purge ability, further increases the generating efficiency of photovoltaic panel.
In a preferred embodiment, described vehicle frame is also equipped with the battery for powering to cleaning machine on plate；Institute
State controller and whether be additionally operable to judge the electricity of described battery less than warning electricity, if it is, controlling mobile device mobile extremely
Target feeds position, and controls charging pile to open, and is that described battery charges；Described controller is additionally operable to whether judge described battery
It is full of, if it is, controlling described mobile device to return initial position.Above-mentioned setting is so that this mobile device possesses autonomous benefit
To ability, it is capable of work cycle, and the work into line period, unmanned cleaning photovoltaic panel can be assisted.
Photovoltaic module cleaning robot provided by the present invention is provided with above-mentioned mobile device, because described mobile device has
Above-mentioned technique effect, therefore, the photovoltaic module cleaning robot being provided with this mobile device should also be as thering is corresponding technique effect.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of specific embodiment of mobile device provided by the present invention；
Wherein：(1) vehicle frame, (2) controller, (3) battery, (4) navigator fix part, (5) water tank, (6) obstacle avoidance sensor,
(7) elastic baffle, (8) deflecting roller, (9) driving wheel.
Specific embodiment
The core of the present invention is to provide a kind of mobile device, this mobile device high degree of automation, can exempt artificial operation,
Break through working environment to limit, realize all weather operations.Another core of the present invention is to provide a kind of inclusion above-mentioned mobile device
Photovoltaic module cleaning robot.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1, Fig. 1 is a kind of structural representation of specific embodiment of mobile device provided by the present invention.
In this embodiment, mobile device includes vehicle frame 1, controller 2 and navigator fix part 4.
Wherein, controller 2 and navigator fix part 4 are installed on vehicle frame 1, and the bottom of vehicle frame 1 is provided with driving wheel 9 He
Deflecting roller 8, driving wheel 9 is provided with driver part, and deflecting roller 8 is provided with turning member, driver part, turning member and
Navigator fix part 4 is connected with controller 2 respectively；
The current location information of the vehicle frame 1 for being detected according to navigator fix part 4 for the controller 2, contrasts target location
Information, determines target travel direction, and controls deflecting roller 8 to turn to target travel direction by turning member, passes through to drive simultaneously
Dynamic component drives driving wheel 9 mobile to target location.
Controller 2 includes host controller 2 and the drive control device 2 for controlling driver part, and driver part specifically may be used
Think motor or hydraulic motor, corresponding, drive control device 2 can be electric machine controller 2 or hydraulic valve controller 2.
Further, driver part is specially motor, motor is also equipped with for detecting motor rotating speed
Encoder, controller 2 is additionally operable to calculate the operating range of driving wheel 9 according to the testing result of encoder, the setting of encoder,
So that controller 2 accurately obtains the displacement of driving wheel 9, and then can more accurately judge the position of this mobile device
Confidence ceases.
In addition, being also equipped with the angular transducer of the steering angle for detecting deflecting roller 8 on deflecting roller 8, controller 2 is also
For judging whether deflecting roller 8 turns to target travel angle according to the testing result of angular transducer, if it is not, then by turning
To part, the rotational angle of rotating wheel is adjusted to target travel angle.
Need exist for illustrating, target travel angle is and target travel directional correlation, residing for current driving wheel
Differential seat angle between angle, and the angle of the driving wheel corresponding to target travel direction, i.e. target travel angle.
Specifically, when angular transducer is used to feedback steering, turning member, for example drive oil cylinder, act on deflecting roller
On make the angle that deflecting roller turns over, the data that this detects can with the angle of turn in the order of the turning of execution carry out right
To feed back deflecting roller either with or without rotateing in place, this angle of turn can be determined according to target travel direction ratio by controller.
Independently the operation principle on driving vehicle frame 1 chassis is：Using controllability is preferable, the obvious drive division of linear properties
Part, such as motor or hydraulic motor etc., steadily control chassis travel speed by electric machine controller or hydraulic valve controller,
Simultaneously need to the instruction changing speed can issue electric machine controller or hydraulic valve controller by host controller 2；Turn to
Take turns and angular transducer is installed at 8, the steering angle of energy Real-time Feedback deflecting roller 8, drive the device tool that deflecting roller 8 is turned to
Body can be hydraulic cylinder or electric cylinders, and the linearity is good, more can accurately drive deflecting roller 8 to turn over given angle on target and be
Can；It is also equipped with encoder on motor, motor rotating speed can be fed back, calculate and can be converted to by host controller 2
The mileage number of tire running；Travel speed, angle of turn, three indexs of operating range are at closed loop control in system above
In system, the closed loop control process setting in host controller 2 instead of the logic of artificial judgment, and this has just established movement
The basis of chassis autonomous.
This mobile device, by the control to driver part and turning member for the controller 2, realize deflecting roller 8 steering and
The movement of driving wheel 9, automatically by this mobile device movement to target location, and then realizes the movement of photovoltaic module cleaning robot,
This mobile device has autonomous ability it is achieved that Unmanned operation, reduces human input, saves cleaning cost, with
When, reduce the operation easier of mobile device, achieve the ability of this kind equipment all weather operations after Unmanned operation, extend
This kind equipment and consisting of cleaning robot working time, may also aid in cleaning robot simultaneously and realize night purge
Ability, further increases the generating efficiency of photovoltaic panel.
On the basis of any one specific embodiment above-mentioned, vehicle frame 1 is also equipped with for supplying to cleaning machine on plate
The battery 3 of electricity, this battery 3 is preferably the battery 3 of repeatable discharge and recharge；
Controller 2 is additionally operable to whether judge the electricity of battery 3 less than warning electricity, if it is, controlling mobile device to move
Move and feed position to target, and control charging pile to open, be that battery 3 charges；Controller 2 is additionally operable to judge whether battery 3 is full of,
If it is, controlling mobile device to return initial position.
Specifically, after controller 2 controls mobile device movement to target supply position, arrive with charging pile communication acknowledgement
Position, and drive the charging contacts of battery 3 to contact with charging pile, start to charge up.
Above-mentioned setting, so that this mobile device possesses autonomous supply capacity, is capable of work cycle, and can carry out
The work of the cycle, unmanned cleaning photovoltaic panel.
Meanwhile, battery 3 is also equipped with monitor part for the battery electric quantity detecting battery 3 electricity, battery electric quantity monitors
Testing result can be sent to controller 2 by part.After charging has been expired, battery electric quantity monitoring part can feed back a signal to
Host controller 2, host controller 2 sends ON- and OFF- command, and driving wheel 9 still returns work with the help of navigator fix part 4
Make post, battery electric quantity monitoring part, also can be to controller 2 sending signal when electricity is detected less than warning electricity.
Likewise, on the basis of any one specific embodiment above-mentioned, vehicle frame 1 is also equipped with for plate supernatant
The water tank 5 that washing machine supplies water；Controller 2 is additionally operable to judge whether the water level of water tank 5 is less than warning line, if it is, control moving
Dynamic equipment movement feeds position to target, and controls outlet to open, and is water tank 5 moisturizing；Controller 2 is additionally operable to judge water tank 5
Whether fill it up with, if it is, controlling driving wheel 9 to return initial position.
Preferably, water tank 5 is also equipped with the monitoring water level part for detecting water tank 5 water level, monitoring water level part can
Testing result is sent to controller 2.I.e. water tank 5 hydropenia or all can trigger liquid level monitoring part after filling, equally upper
Controller 2 can receive feedback signal, starts or terminate moisturizing work, and mobile device sets out or returns.
In above-mentioned setting, by increasing the autonomous makeup function of mobile device, refer mainly to the supplying cell 3 of mobile device
Recharging, applies in photovoltaic array cleaning robot, certainly, also includes the makeup function independently adding water.Should
On the basis of the function of autonomous supply primarily rests on independent navigation, by supply point is marked on the path of navigation system,
Mobile device just can receive supply order after, the commander along navigation system moves close to supply point, when mobile device with
After supply point position is close enough, alignment sensor on chassis, such as photoswitch, travel switch etc. just can feed back bottom
The information that puts in place of disk, when the time comes corresponding charging pile or outlet open after receiving the signal that puts in place, thus start to charge up or
Moisturizing.
Specifically, water tank 5 and deflecting roller 8 may be mounted at the front end of vehicle frame 1, and navigator fix part 4 may be mounted at car
On battery 3 in the middle of frame 1, driving wheel 9 installs the afterbody of vehicle frame 1, and controller 2 is arranged on the side near deflecting roller 8 for the battery 3
On, certainly, above-mentioned arrangement is only one of example of autonomous vehicle frame 1, is not unique way of realization, particularly drives
Driving wheel 9 and the arrangement form in front and back of deflecting roller 8, the design attitude of the position of navigator fix part 4 and obstacle avoidance sensor 6
Deng the mode it is not limited to given by the present embodiment all can be adjusted as needed, for example, in order to improve to this shifting
The driving effect of dynamic equipment, driving wheel 9 can be arranged on the front end of vehicle frame 1.
On the basis of any one specific embodiment above-mentioned, the front end of vehicle frame 1 is also equipped with for detecting barrier
Whether enter the obstacle avoidance sensor 6 of induction range, controller 2 is additionally operable to enter the induction range of obstacle avoidance sensor 6 in barrier
When, control motor to stop the driving to driving wheel 9.
Specifically, obstacle avoidance sensor 6 is specifically as follows inductive transducer, such as sonac, falling similar to automobile
Car radar operation principle, can set to ultrasonic distance of reaction, and when mobile device periphery, to have barrier to occur in ultrasonic
When in the induction range of sensor, sonac will give host controller 2 sending signal, as obstruction warning, corresponding,
Alarm device also should be provided with vehicle frame 1；Signal generally as security protection is directly accessed slave computer, such as ultrasonic
Ripple detects obstacle signal, can be fed directly to drive motor controller 2, so that motor is braked and mobile device stops,
Therefore avoid bumping against with preceding object thing.
Meanwhile, the front end circumference of vehicle frame 1 be also provided with for mechanical anticollision elastic baffle 7 and with elastic baffle 7
The mechanical type crash sensor connecting.The function phase of the function of Mechanical prevention design and sensing sensing with, main purpose be in order to
Avoid the occurrence of the situation that barrier omitted by obstacle avoidance sensor 6, the elastic baffle 7 of mechanical protection can Crush trigger formula collision sensing
Device, also can transmit signal to host controller 2 or lower level controller 2, mobile device be stopped, certainly, supplemented by elastic baffle 7
Help structure it is also possible to not adopt.
In above-mentioned anticollision setting, the protection Design of redundancy, effectively increase photovoltaic cleaning robot human reriability and safety
Property.
Need exist for illustrating, for the navigator fix part 4 in this mobile device, navigation mode has a lot
Kind, such as laser navigation, magnetic stripe navigation, GPS navigation etc., what the present embodiment was applied is GPS navigation, in conjunction with Inertial Measurement Unit
And the integrated navigation part of mileage coder integrated application.
GPS navigation has the characteristics that：1st, round-the-clock, it is difficult to be affected by any weather；2nd, Global coverage rate is up to
98%；3rd, three-dimensional fixed point constant speed timing high accuracy；4th, without intervisibility between survey station；5th, quick, save time, high efficiency；6th, be widely used,
Multi-functional；7th, may move positioning.
Certainly, the navigator fix part 4 provided in the present embodiment can also adopt the integrated navigation system of other forms,
As combining of inertial navigation system and GPS navigation, the combination of inertial navigation system and mileage coder, or inertial navigation system
With the combination of Doppler etc., using such integrated navigation system, can effectively reduce the requirement to gyro, low cost, high precision.
The mobile device that the present embodiment is provided, mobile for automatization technology application is cleaned field in solar energy photovoltaic panel,
One possessed comprising modules as photovoltaic cleaning robot for the mobile device independently driving, navigating；Autonomous bottom
Disk achieves the function that the cleaning equipment of existing movable type does not possess：Unattended, driving, can assist to complete photovoltaic plate array
The work of cleaning, and independently feed；Meanwhile, the automatization level of equipment using safety and Protection, can be effectively improved, reduce
Human input, meanwhile, exempts artificial operation, breaks through working environment and limit, realize all weather operations, and, it is capable of autonomous
Supply, intelligently completes cycle of operation, and cost reduces, and efficiency improves.
In addition to above-mentioned mobile device, present invention also offers a kind of photovoltaic module cleaning including above-mentioned mobile device
Robot, other Each part of this photovoltaic module cleaning robot refer to prior art, repeats no more herein.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Above mobile device provided by the present invention is described in detail.Specific case used herein is to this
Bright principle and embodiment are set forth, the explanation of above example be only intended to help understand the method for the present invention and its
Core concept.It should be pointed out that for those skilled in the art, in the premise without departing from the principle of the invention
Under, the present invention can also be carried out with some improvement and modify, these improve and modify the protection also falling into the claims in the present invention
In the range of.
Claims (10)
1. a kind of mobile device it is characterised in that include vehicle frame (1) and be arranged on controller (2) on described vehicle frame (1) and
Navigator fix part (4), the bottom of described vehicle frame (1) is provided with driving wheel (9) and deflecting roller (8), and described driving wheel (9) is upper to pacify
Equipped with driver part, described deflecting roller (8) is provided with turning member；
The present bit confidence of the described vehicle frame (1) for being detected according to described navigator fix part (4) for the described controller (2)
Breath, contrasts target position information, determines target travel direction, and controls described deflecting roller (8) to rotate by described turning member
To described target travel direction, pass through described driver part simultaneously and drive described driving wheel (9) mobile to target location.
2. mobile device according to claim 1 is it is characterised in that described driver part is specially motor, described
Encoder for detecting described motor rotating speed is also equipped with motor, described controller (2) is additionally operable to according to institute
The testing result stating encoder calculates the operating range of described driving wheel (9).
3. mobile device according to claim 1 is it is characterised in that be also equipped with for detecting on described deflecting roller (8)
The angular transducer of the steering angle of described deflecting roller (8), described controller (2) is additionally operable to the inspection according to described angular transducer
Survey result and judge whether described deflecting roller (8) turns to target travel angle, if it is not, then will be described by described turning member
The rotational angle of rotating wheel adjusts to described target travel angle.
4. mobile device according to claim 1 is it is characterised in that the front end of described vehicle frame (1) is also equipped with for examining
Survey the obstacle avoidance sensor (6) whether barrier enters induction range；Described controller (2) is additionally operable to enter institute in described barrier
State obstacle avoidance sensor (6) induction range when, control described motor to stop the driving to described driving wheel (9).
5. mobile device according to claim 4 it is characterised in that the front end circumference of described vehicle frame (1) be additionally provided with for
The elastic baffle (7) of mechanical anticollision and the mechanical type crash sensor being connected with described elastic baffle (7).
6. the mobile device according to claim 1 to 5 any one is it is characterised in that be also equipped with described vehicle frame (1)
For the battery (3) powered to cleaning machine on plate；
Described controller (2) is additionally operable to whether judge the electricity of described battery (3) less than warning electricity, if it is, control moving
Dynamic equipment movement feeds position to target, and controls charging pile to open, and is that described battery (3) charges；
Described controller (2) is additionally operable to judge whether described battery (3) is full of, if it is, controlling described mobile device to return
Initial position.
7. mobile device according to claim 6 is it is characterised in that be also equipped with for detecting on described battery (3)
State the battery electric quantity monitoring part of battery (3) electricity, testing result can be sent to described control by described battery electric quantity monitoring part
Device (2) processed.
8. the mobile device according to claim 1 to 5 any one is it is characterised in that be also equipped with described vehicle frame (1)
For the water tank (5) supplying water to cleaning machine on plate；
Described controller (2) is additionally operable to judge whether the water level of described water tank (5) is less than warning line, if it is, control moving
Dynamic equipment movement feeds position to target, and controls outlet to open, and is described water tank (5) moisturizing；
Described controller (2) is additionally operable to judge whether described water tank (5) is filled it up with, if it is, controlling described mobile device to return
Initial position.
9. mobile device according to claim 8 is it is characterised in that be also equipped with for detecting on described water tank (5)
State the monitoring water level part of water tank (5) water level, testing result can be sent to described controller (2) by described monitoring water level part.
10. a kind of photovoltaic module cleaning robot, including cleaning machine on plate, for the carrier of cleaning machine on described plate of slinging,
And for driving the mobile device of described carrier movement it is characterised in that described mobile device is that claim 1-9 is any
Mobile device described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611020256.4A CN106379406A (en) | 2016-11-17 | 2016-11-17 | Mobile equipment and photovoltaic module cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611020256.4A CN106379406A (en) | 2016-11-17 | 2016-11-17 | Mobile equipment and photovoltaic module cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106379406A true CN106379406A (en) | 2017-02-08 |
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ID=57959032
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611020256.4A Pending CN106379406A (en) | 2016-11-17 | 2016-11-17 | Mobile equipment and photovoltaic module cleaning robot |
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| CN (1) | CN106379406A (en) |
Cited By (17)
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| CN106790730A (en) * | 2017-03-31 | 2017-05-31 | 思依暄机器人科技（深圳）有限公司 | A kind of information issuing method, device and mobile distribution apparatus |
| CN106821164A (en) * | 2017-04-19 | 2017-06-13 | 厦门华蔚物联网科技有限公司 | Horizontal walking curtain cleaning robot and its cleaning method |
| CN107020286A (en) * | 2017-05-17 | 2017-08-08 | 天津南玻节能玻璃有限公司 | Driven cleaning dolly for photovoltaic battery panel |
| CN107257226A (en) * | 2017-07-31 | 2017-10-17 | 深圳正玺绿色建筑科技工程有限公司 | A kind of photovoltaic clean robot |
| CN107491078A (en) * | 2017-09-30 | 2017-12-19 | 江西洪都航空工业集团有限责任公司 | A kind of intelligent large photovoltaic plant sweeping robot system |
| CN107962054A (en) * | 2017-11-23 | 2018-04-27 | 浙江国自机器人技术有限公司 | Interchangeable plate operation cleaning robot applied to photovoltaic array changes plate method |
| CN108393903A (en) * | 2018-05-18 | 2018-08-14 | 王栓林 | Intelligent hog house disinfection cleaning robot |
| CN108749589A (en) * | 2018-06-19 | 2018-11-06 | 云南农业大学 | A kind of Multifunctional new energy vehicle |
| CN109567681A (en) * | 2018-12-31 | 2019-04-05 | 龙祖祥 | It can lifting type corridor and level land clean robot |
| CN109602356A (en) * | 2019-01-22 | 2019-04-12 | 深圳拓邦股份有限公司 | A kind of clean robot, intelligent method for supplementing water and moisturizing station |
| WO2019100625A1 (en) * | 2017-11-23 | 2019-05-31 | 浙江国自机器人技术有限公司 | Cleaning method of photovoltaic cleaning robot |
| CN112147997A (en) * | 2019-06-28 | 2020-12-29 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN112655696A (en) * | 2020-12-21 | 2021-04-16 | 正从科技(上海)有限公司 | Multi-work maintenance robot based on artificial intelligence and maintenance method |
| CN112684798A (en) * | 2020-12-21 | 2021-04-20 | 正从科技(上海)有限公司 | Solar panel and heliostat cleaning robot working environment cleaning structure |
| CN112799390A (en) * | 2019-11-14 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Self-moving equipment and working method thereof |
| CN115122459A (en) * | 2022-07-06 | 2022-09-30 | 宁津县双利建材设备有限公司 | Upright post machine for prefabricating cement board enclosing wall and using method thereof |
| WO2022267336A1 (en) * | 2021-06-20 | 2022-12-29 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot based on visual slam |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106790730A (en) * | 2017-03-31 | 2017-05-31 | 思依暄机器人科技（深圳）有限公司 | A kind of information issuing method, device and mobile distribution apparatus |
| CN106821164A (en) * | 2017-04-19 | 2017-06-13 | 厦门华蔚物联网科技有限公司 | Horizontal walking curtain cleaning robot and its cleaning method |
| CN107020286A (en) * | 2017-05-17 | 2017-08-08 | 天津南玻节能玻璃有限公司 | Driven cleaning dolly for photovoltaic battery panel |
| CN107257226A (en) * | 2017-07-31 | 2017-10-17 | 深圳正玺绿色建筑科技工程有限公司 | A kind of photovoltaic clean robot |
| CN107491078A (en) * | 2017-09-30 | 2017-12-19 | 江西洪都航空工业集团有限责任公司 | A kind of intelligent large photovoltaic plant sweeping robot system |
| WO2019100625A1 (en) * | 2017-11-23 | 2019-05-31 | 浙江国自机器人技术有限公司 | Cleaning method of photovoltaic cleaning robot |
| CN107962054A (en) * | 2017-11-23 | 2018-04-27 | 浙江国自机器人技术有限公司 | Interchangeable plate operation cleaning robot applied to photovoltaic array changes plate method |
| CN108393903A (en) * | 2018-05-18 | 2018-08-14 | 王栓林 | Intelligent hog house disinfection cleaning robot |
| CN108749589A (en) * | 2018-06-19 | 2018-11-06 | 云南农业大学 | A kind of Multifunctional new energy vehicle |
| CN109567681A (en) * | 2018-12-31 | 2019-04-05 | 龙祖祥 | It can lifting type corridor and level land clean robot |
| CN109602356A (en) * | 2019-01-22 | 2019-04-12 | 深圳拓邦股份有限公司 | A kind of clean robot, intelligent method for supplementing water and moisturizing station |
| CN112147997A (en) * | 2019-06-28 | 2020-12-29 | 坎德拉（深圳）科技创新有限公司 | Indoor distribution robot |
| CN112799390A (en) * | 2019-11-14 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Self-moving equipment and working method thereof |
| CN112799390B (en) * | 2019-11-14 | 2024-04-12 | 苏州宝时得电动工具有限公司 | Self-moving equipment and working method thereof |
| CN112655696A (en) * | 2020-12-21 | 2021-04-16 | 正从科技(上海)有限公司 | Multi-work maintenance robot based on artificial intelligence and maintenance method |
| CN112684798A (en) * | 2020-12-21 | 2021-04-20 | 正从科技(上海)有限公司 | Solar panel and heliostat cleaning robot working environment cleaning structure |
| CN112684798B (en) * | 2020-12-21 | 2024-04-30 | 正从科技(上海)有限公司 | Solar panel and heliostat cleaning robot operation environment cleaning structure |
| WO2022267336A1 (en) * | 2021-06-20 | 2022-12-29 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot based on visual slam |
| CN115122459A (en) * | 2022-07-06 | 2022-09-30 | 宁津县双利建材设备有限公司 | Upright post machine for prefabricating cement board enclosing wall and using method thereof |
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Application publication date: 20170208 |