CN107276204B - Energy-saving object carrying robot - Google Patents
Energy-saving object carrying robot Download PDFInfo
- Publication number
- CN107276204B CN107276204B CN201710512054.XA CN201710512054A CN107276204B CN 107276204 B CN107276204 B CN 107276204B CN 201710512054 A CN201710512054 A CN 201710512054A CN 107276204 B CN107276204 B CN 107276204B
- Authority
- CN
- China
- Prior art keywords
- solar photovoltaic
- photovoltaic panel
- photosensitive
- group
- light sensing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering with light sensitive cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- 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
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
- H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
-
- 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
- H02S40/30—Electrical components
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention provides an energy-saving carrying robot which is widely applied to carrying and carrying operation of boiler accessories, garbage and parts in a production workshop. According to the invention, the solar photovoltaic panel group which can rotate relative to the objective table is designed, the robot fully utilizes solar energy to charge, the dependence on common energy is reduced, and the light energy conversion rate can be obviously improved, so that the green environment-friendly robot is provided.
Description
Technical Field
The invention relates to the field of robots, in particular to an energy-saving object carrying robot.
Background
The object carrying operation plays an important role in modern industry, wherein the object carrying robot is mainly used for carrying materials or changing the placing posture of the materials, and is widely applied to most fields, for example, the traditional boiler is mainly installed by manpower, or some non-special lifting appliances are manufactured on site to carry heavy heat exchangers or boilers, which wastes time and labor; the heat exchanger is a key component of the boiler, and once the heat exchanger falls down or collides with a boiler support, the service life of the boiler can be influenced, and even the carrying personnel can be injured. If a large boiler is installed, some large mechanical equipment such as a tower crane and a truck crane can be used, but if a small boiler and a heat exchanger are installed, the large equipment has dead zones, and the equipment is troublesome to dismantle.
Meanwhile, in real life, the problem of garbage disposal is always a concern of people, and the existing garbage disposal method is to manually seal and package the garbage by plastic bags, temporarily stack and manage the garbage, and then transport the garbage by a garbage truck. This treatment method tends to have the following problems: the garbage is directly filled into the garbage bag without being treated, the garbage is fluffy and irregular, and the utilization rate of the garbage bag is low; in the process of collecting, treating and stacking the garbage, the occupied area is large, and the space utilization capacity is poor; the garbage belts are simply sealed, so that garbage is easily scattered from the garbage bag, and the ground sanitation is poor; less garbage is filled in unit volume, and the transportation cost is high.
In addition to the above situations, the parts transportation and the treatment of the explosive and corrosive substances in the production workshop greatly improve the working conditions of operators and improve the production efficiency by adopting the object carrying robot; the existing carrying robot generally directly adopts a rechargeable power supply, such as a storage battery, or directly connects an external power supply, the working strength and efficiency of the robot are low, the robot needs to be charged at variable time, meanwhile, a specially-assigned person is needed to monitor under most conditions, and the automation degree is low; meanwhile, with the decreasing of fossil fuels, solar energy has become an important component of energy used by human beings, and is continuously developed. Solar energy is utilized in a photo-thermal conversion mode and a photoelectric conversion mode, solar power generation is an emerging renewable energy source, wherein a photovoltaic panel assembly is a power generation device which can generate direct current when exposed to sunlight and consists of solid photovoltaic cells which are almost made of semiconductor materials (such as silicon). How to effectively utilize solar energy to provide power to drive the loading robot is a hot problem in the present day.
Disclosure of Invention
The invention provides an energy-saving object carrying robot. The invention is realized by the following technical scheme:
an energy-saving object carrying robot comprises an object carrying table and a solar photovoltaic panel group, wherein a storage battery is fixed at the lower part of the object carrying table and is connected with the solar photovoltaic panel group to store electric energy converted from solar energy by the solar photovoltaic panel group; the solar photovoltaic panel group is composed of N pairs of solar photovoltaic panel groups, and each solar photovoltaic panel group comprises two solar photovoltaic panels which are oppositely arranged;
the object carrying robot further comprises a movement mechanism, and the movement mechanism is connected with the storage battery.
Furthermore, the first connecting parts of the two solar photovoltaic panels in each solar photovoltaic panel group are rotatably connected with the objective table; two solar photovoltaic panels in each solar photovoltaic panel group are connected through a telescopic mechanism, the telescopic mechanism comprises a motor and a telescopic rod controlled by the motor, and the angle of each solar photovoltaic panel changes through the telescopic rod.
Furthermore, each solar photovoltaic panel group is uniformly provided with a light sensing device and a control device, the light sensing device is in communication connection with the control device, and the control device controls a motor in a telescopic mechanism corresponding to the solar photovoltaic panel group so as to control the angle of the solar photovoltaic panel;
the light sensing device is internally provided with a light sensing circuit and a selection circuit, the light sensing circuit is divided into a first light sensing circuit and a second light sensing circuit, the first light sensing circuit is laid on a first solar photovoltaic plate of the solar photovoltaic plate group, and the second light sensing circuit is laid on a second solar photovoltaic plate of the solar photovoltaic plate group; the light sensing circuits are used for sensing the light intensity received by each part of the solar photovoltaic panel group, each light sensing circuit comprises two light sensing branches connected in parallel, the first branch is used for sensing the light intensity of the solar photovoltaic panel in the X-axis direction, and the second branch is used for sensing the light intensity of the solar photovoltaic panel in the Y-axis direction;
the selection circuit receives the electric signals sent by the first photosensitive circuit and the second photosensitive circuit, comprehensively selects the electric signals with high intensity, and transmits the selected electric signals to the control device so that the control device can adjust the posture of the solar photovoltaic panel corresponding to the selected electric signals in real time to realize the preferred posture control of the oppositely arranged solar photovoltaic panel.
Further, the movement mechanism comprises a supporting platform, a driving motor and more than one wheel assembly, the supporting platform is connected with the object stage through more than one supporting rod, the driving motor is connected with the storage battery, and the wheel assembly is controlled by the driving motor.
Further, the movement mechanism further comprises a control module, and the control module is used for controlling the driving motor so as to drive the wheels to move.
Furthermore, the wheel assembly comprises an outer wheel and an inner wheel, wherein a first groove is formed in the outer wheel along the inner circumference of the outer wheel, the inner wheel is fixedly arranged in the first groove, the wheel assembly further comprises a balance piece, the balance piece is slidably arranged on the outer circumference of the inner wheel and contained in the first groove, and the gravity of the balance piece is greater than the friction force between the balance piece and the inner wheel.
Further, the length of the balance member is one sixth of the circumference of the inner wheel.
The invention has the beneficial effects that:
the invention provides an energy-saving carrying robot, which has the following beneficial effects:
the solar photovoltaic panel group which can rotate relative to the objective table is designed, and the solar photovoltaic panel group is controlled by the telescopic mechanism and can automatically adjust the rotation angle relative to the objective table, so that the angle of the photovoltaic panel can be adjusted in real time according to the illumination direction, the light receiving surface of the photovoltaic panel always tends to be perpendicular to the sunlight in the sun illumination process, and the light energy conversion rate is obviously improved; the solar energy is fully utilized for charging, the dependence on common energy is reduced, and the solar energy charging device can be widely applied to the carrying operation of boiler accessories, garbage and parts in a production workshop.
Drawings
Fig. 1 is a schematic diagram of a basic structure of a loading robot provided by an embodiment of the invention;
fig. 2 is a schematic diagram of a solar photovoltaic panel group arrangement provided by an embodiment of the invention;
fig. 3 is a block diagram of an electronic eye-based control module according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
An energy-saving object carrying robot is shown in fig. 1 and comprises an object carrying table 1 and a solar photovoltaic panel group 2, wherein a storage battery 3 is fixed at the lower part of the object carrying table 1, and the storage battery 3 is connected with the solar photovoltaic panel group 2 to store electric energy converted from solar energy by the solar photovoltaic panel group; the solar photovoltaic panel group 2 is composed of N pairs of solar photovoltaic panel groups, and each solar photovoltaic panel group comprises two solar photovoltaic panels which are oppositely arranged;
the carrying robot further comprises a movement mechanism 4, and the movement mechanism 4 is connected with the storage battery.
In a possible embodiment of the invention, as shown in fig. 2, the solar photovoltaic panel group 2 has three pairs of solar photovoltaic panel groups, namely a solar photovoltaic panel group 21, a solar photovoltaic panel group 22 and a solar photovoltaic panel group 23.
Specifically, a first connecting portion 201-1 of a first solar photovoltaic panel and a first connecting portion 202-1 of a second solar photovoltaic panel in each solar photovoltaic panel group are rotatably connected with the objective table 1; the two solar photovoltaic panels in each solar photovoltaic panel group are connected through a telescopic mechanism 5, the telescopic mechanism 5 comprises a motor 51 and a telescopic rod 52 controlled by the motor, and the angle of the solar photovoltaic panel is changed through the telescopic rod 52, so that the solar photovoltaic panel can be perpendicular to light as much as possible, and the light conversion rate is improved; specifically, the telescopic rod 52 includes a first supporting rod and a second supporting rod, and the first supporting rod and the second supporting rod are connected through a revolute pair; two solar photovoltaic panels in each solar photovoltaic panel group are members with uniform texture, the mass center of each solar photovoltaic panel is provided with a fixed connecting piece, the mass center of the first solar photovoltaic panel is provided with a first fixed connecting piece 201-2, the mass center of the second solar photovoltaic panel is provided with a second fixed connecting piece 202-2, the first fixed connecting piece 201-2 is hinged to the first supporting rod, and the second fixed connecting piece 202-2 is hinged to the second supporting rod.
Each solar photovoltaic panel group is uniformly provided with a light sensation device 6 and a control device 7, and specifically, the light sensation device 6 and the control device 7 are in communication connection and can be fixed on the telescopic mechanism 5. The light sensation device 6 is in communication connection with the control device 7, and the control device 7 controls the motor 51 in the telescopic mechanism 5 corresponding to the solar photovoltaic panel group so as to control the angle of the solar photovoltaic panel.
Specifically, be provided with photosensitive circuit and selection circuit among the light sense device, specifically, photosensitive circuit divide into first photosensitive circuit and second photosensitive circuit, first photosensitive circuit lays in the first solar photovoltaic board of solar photovoltaic board group, second photosensitive circuit lays in the second solar photovoltaic board of solar photovoltaic board group. The photosensitive circuit is used for sensing the light intensity received by each part of the solar photovoltaic panel group. Each photosensitive circuit comprises two photosensitive branches connected in parallel, the first branch is used for sensing the light intensity of the solar photovoltaic panel in the X-axis direction, and the second branch is used for sensing the light intensity of the solar photovoltaic panel in the Y-axis direction.
The selection circuit receives electric signals sent by the first photosensitive circuit and the second photosensitive circuit, comprehensively selects the electric signals sent by the photosensitive circuits with stronger electric signals, and sends the electric signals to the control device so that the control device can adjust the posture of the solar photovoltaic panel in real time according to the current received light conditions of the solar photovoltaic panel receiving the stronger signals, and the posture of the solar photovoltaic panel perpendicular to the sunlight is achieved as far as possible to improve the light conversion rate of the solar photovoltaic panel. The selection circuit realizes the preferential control of the oppositely arranged solar photovoltaic panels, namely controls the postures of the solar photovoltaic panels capable of receiving more solar energy.
Specifically, each branch of each photosensitive circuit comprises two voltage comparators and two photosensitive branches, wherein a first photosensitive element group and a PC1 are connected in series with a second photosensitive element group PC2 through a first potentiometer RP1 to form a first photosensitive branch; the third photosensitive element group PC3 the second potentiometer RP2 and the fourth photosensitive element group PC4 are connected in series to form a second photosensitive branch; the negative input ends of the two voltage comparators are communicated, the positive input end of the first voltage comparator is communicated with the first potentiometer RP1, and the positive input end of the second voltage comparator is communicated with the second potentiometer RP 2; the first photosensitive element group, the PC1 and the third photosensitive element group PC3 are distributed along the X-axis direction of the solar photovoltaic panel, and the second photosensitive element group PC2 and the fourth photosensitive element group PC4 are distributed along the Y-axis direction of the solar photovoltaic panel.
In order to enable the electrical signal to be amplified for selection by the selection circuit, the first potentiometer RP1 is connected to a first amplifier and the second potentiometer RP2 is connected to a second amplifier. The photosensitive circuit is designed in such a way, when the PC1, the PC2, the PC3 and the PC4 are simultaneously acted by environmental natural light, the voltages of the central points of the RP1 and the RP2 are unchanged, the output voltage is minimum, the electric signal is weakest, and the posture of the current solar photovoltaic panel does not need to be changed; in both cases, the first amplifier outputs a high level signal if only the PC1, PC3 are exposed to sunlight, and the second amplifier outputs a high level signal if only the PC2, PC4 are exposed to sunlight, which may cause the control device to adjust the posture of the current solar photovoltaic panel.
Further, the moving mechanism comprises a supporting platform 41, a driving motor 42 and more than one wheel assembly 43, the supporting platform 41 is connected with the object stage 1 through more than one supporting rod (not shown in the figure), the driving motor 42 is connected with the storage battery 3, and the wheel assembly 43 is controlled by the driving motor 42. The movement mechanism further comprises a control module, and the control module is used for controlling the driving motor so as to drive the wheels to move. The movement mechanism also comprises a communication module, and the communication module is used for communicating with the outside; the communication module supports 2G, 3G, 4G, infrared, Bluetooth and WIFI communication.
In order to enable the cargo carrying robot to carry and transport cargos more stably, the embodiment of the invention also provides an improvement on a wheel assembly of the cargo carrying robot, wherein the wheel assembly comprises an outer wheel and an inner wheel, the outer wheel is provided with a first groove along the inner circumference of the outer wheel, the inner wheel is fixedly arranged in the first groove, the wheel assembly further comprises a balancing piece, the balancing piece is slidably arranged on the outer circumference of the inner wheel and is accommodated in the first groove, and the gravity of the balancing piece is greater than the friction force between the balancing piece and the inner wheel. The length of the balancing piece is one sixth of the circumference of the inner wheel. The improved purpose of the wheel assembly is that the balance piece in the motion mechanism is always kept below the inner wheel due to the gravity of the balance piece, so that the gravity center of the wheel of the loading robot is stable, and the vehicle is not easy to overturn in the running process.
In order to improve the intelligence of the object carrying robot, the control module provided by the embodiment of the invention is an electronic eye-based control module, the electronic eye is an image shooting and identifying device for identifying a preset road sign, the preset road sign is composed of a black background regular hexagon outline and a plurality of white features, and the features are solid circles. The design of black and white preset road signs can avoid the problem that the recognition effect is not ideal when the illumination range is greatly changed. The design of regular hexagon profile is even under the totally different circumstances in the gesture for the camera of road sign and electronic eye, and the electronic eye also can accurately discern the road sign, and the design of the solid circle of white can make under the out-of-focus condition of degree of depth, can avoid in image identification process, the image produces the adhesion through the characteristic portion after the binarization.
Specifically, the electronic eye-based control module, as shown in fig. 3, includes:
and the image shooting unit is used for shooting preset road signs appearing in the traveling process of the object carrying robot.
And the image preprocessing unit is used for cutting the shot image containing the preset road sign to obtain a target image only containing the preset road sign.
And the feature extraction unit is used for extracting features of the target image to obtain a key point descriptor.
Specifically, the following operations are performed at the feature extraction unit:
(1) and constructing a plurality of analysis templates of the target image, wherein an acquisition formula of the analysis templates is M (x, y, s) ═ T (x, y, ks) -T (x, y, s)) -I (x, y), wherein I (x, y) is a target image area, s identifies the smoothness degree of the image, and T (x, y) is a fuzzy.
In particular, the amount of the solvent to be used,
wherein the size of the fuzzy template used in the fuzzy seed is m × n.
(2) Obtaining a key point descriptor based on an analysis template: and (3) carrying out Taylor expansion on the analysis template in the step (1), solving the extreme point of the analysis template to obtain the coordinate of the key point, and forming a key point descriptor by the gray value at the key point.
And the control instruction storage unit is used for storing a standard key point descriptor, and the standard key point descriptor is extracted according to a preset road sign corresponding to the control instruction.
And the control instruction initial judgment unit is used for comparing the key point descriptors obtained in the feature extraction unit with the key point descriptors in the control instruction storage unit one by one to obtain suspected target key point descriptors, and the suspected target key point descriptors are the key point descriptors with the Euclidean distance closest to the specification of the key point descriptors obtained in the feature extraction unit.
And a control instruction confirming unit, configured to determine whether an euclidean distance between the suspected target key point descriptor and the key point descriptor obtained in the feature extraction unit is smaller than a preset threshold, if so, use a control instruction corresponding to the target key point descriptor as a control instruction obtained by the carrier robot, and control the wheel assembly 43 to move according to the obtained control instruction.
The control device based on the electronic eye provided by the embodiment of the invention can enable the carrying robot to move automatically according to a certain preset road sign, thereby obviously improving the intelligence of the carrying robot.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. An energy-saving object carrying robot is characterized in that:
the carrying robot comprises a carrying table and a solar photovoltaic panel group, wherein a storage battery is fixed at the lower part of the carrying table and is connected with the solar photovoltaic panel group to store electric energy converted from solar energy by the solar photovoltaic panel group; the solar photovoltaic panel group is composed of N pairs of solar photovoltaic panel groups, and each solar photovoltaic panel group comprises two solar photovoltaic panels which are oppositely arranged;
the carrying robot also comprises a movement mechanism, and the movement mechanism is connected with the storage battery;
each solar photovoltaic panel group is uniformly provided with a light sensing device and a control device, the light sensing devices are in communication connection with the control device, and the control device controls the motors in the telescopic mechanisms corresponding to the solar photovoltaic panel groups so as to control the angles of the solar photovoltaic panels;
the light sensing device is internally provided with a light sensing circuit and a selection circuit, the light sensing circuit is divided into a first light sensing circuit and a second light sensing circuit, the first light sensing circuit is laid on a first solar photovoltaic plate of the solar photovoltaic plate group, and the second light sensing circuit is laid on a second solar photovoltaic plate of the solar photovoltaic plate group; the light sensing circuits are used for sensing the light intensity received by each part of the solar photovoltaic panel group, each light sensing circuit comprises two light sensing branches connected in parallel, the first branch is used for sensing the light intensity of the solar photovoltaic panel in the X-axis direction, and the second branch is used for sensing the light intensity of the solar photovoltaic panel in the Y-axis direction;
the selection circuit receives the electric signals sent by the first photosensitive circuit and the second photosensitive circuit, comprehensively selects the electric signals with higher intensity, and transmits the selected electric signals to the control device so that the control device can adjust the posture of the solar photovoltaic panel corresponding to the selected electric signals in real time to realize the preferred posture control of the oppositely arranged solar photovoltaic panel;
the selection circuit receives the electric signals sent by the first photosensitive circuit and the second photosensitive circuit, comprehensively selects the electric signals sent by the photosensitive circuits with stronger electric signals, and transmits the electric signals to the control device so that the control device can adjust the posture of the solar photovoltaic panel in real time according to the current received light condition of the solar photovoltaic panel receiving the stronger signals, and the posture of the solar photovoltaic panel is perpendicular to the solar light as far as possible to improve the light conversion rate of the solar photovoltaic panel;
each branch of each photosensitive circuit comprises two voltage comparators and two photosensitive branches, wherein a first photosensitive element group and a second photosensitive element group PC1 are connected in series with a first potentiometer RP1 through a second potentiometer PC2 to form a first photosensitive branch; the third photosensitive element group PC3 the second potentiometer RP2 and the fourth photosensitive element group PC4 are connected in series to form a second photosensitive branch; the negative input ends of the two voltage comparators are communicated, the positive input end of the first voltage comparator is communicated with the first potentiometer RP1, and the positive input end of the second voltage comparator is communicated with the second potentiometer RP 2; the first photosensitive element group, the PC1 and the third photosensitive element group PC3 are distributed along the X-axis direction of the solar photovoltaic panel, and the second photosensitive element group PC2 and the fourth photosensitive element group PC4 are distributed along the Y-axis direction of the solar photovoltaic panel;
the first potentiometer RP1 is connected with a first amplifier, and the second potentiometer RP2 is connected with a second amplifier, so that when the PC1, the PC2, the PC3 and the PC4 are simultaneously acted by ambient natural light, the voltages of central points of RP1 and RP2 are unchanged, at the moment, the output voltage is minimum, the electric signal is weakest, and the posture of the current solar photovoltaic panel is not changed; if only the PC1 and the PC3 are irradiated by sunlight, the first amplifier outputs a high level signal, and if only the PC2 and the PC4 are irradiated by the sunlight, the second amplifier outputs a high level signal, and under the two conditions, the control device is triggered to adjust the posture of the current solar photovoltaic panel.
2. An energy efficient carrier robot as recited in claim 1, further comprising:
the first connecting parts of the two solar photovoltaic panels in each solar photovoltaic panel group are rotatably connected with the objective table; two solar photovoltaic panels in each solar photovoltaic panel group are connected through a telescopic mechanism, the telescopic mechanism comprises a motor and a telescopic rod controlled by the motor, and the angle of each solar photovoltaic panel changes through the telescopic rod.
3. An energy efficient carrier robot as recited in claim 2, further comprising:
the movement mechanism comprises a supporting platform, a driving motor and more than one wheel assembly, the supporting platform is connected with the objective table through more than one supporting rod, the driving motor is connected with the storage battery, and the wheel assembly is controlled by the driving motor.
4. An energy efficient carrier robot as recited in claim 3, further comprising:
the movement mechanism further comprises a control module, and the control module is used for controlling the driving motor so as to drive the wheels to move.
5. An energy efficient carrier robot as recited in claim 4, wherein:
the wheel assembly comprises an outer wheel and an inner wheel, wherein a first groove is formed in the inner circumference of the outer wheel, the inner wheel is fixedly arranged in the first groove, the wheel assembly further comprises a balance piece, the balance piece is slidably arranged on the outer circumference of the inner wheel and contained in the first groove, and the gravity of the balance piece is greater than the friction force between the balance piece and the inner wheel.
6. An energy efficient carrier robot as recited in claim 5, wherein:
the length of the balancing piece is one sixth of the circumference of the inner wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710512054.XA CN107276204B (en) | 2017-06-28 | 2017-06-28 | Energy-saving object carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710512054.XA CN107276204B (en) | 2017-06-28 | 2017-06-28 | Energy-saving object carrying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107276204A CN107276204A (en) | 2017-10-20 |
| CN107276204B true CN107276204B (en) | 2020-10-09 |
Family
ID=60069781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710512054.XA Active CN107276204B (en) | 2017-06-28 | 2017-06-28 | Energy-saving object carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107276204B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108809231B (en) * | 2018-06-20 | 2020-06-12 | 苏州优冠机械设备有限公司 | Machining robot powered by clean energy |
| CN108736811B (en) * | 2018-06-20 | 2019-11-22 | 游秀凤 | A kind of solar power supply apparatus of operating punch machine robot |
| CN109018055B (en) * | 2018-07-16 | 2021-06-01 | 安徽工程大学 | Six-wheel foot type robot |
| CN110065052A (en) * | 2019-05-15 | 2019-07-30 | 沈阳航空航天大学 | It is a kind of independently to seek light charging intelligent domestic robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2895135Y (en) * | 2006-01-16 | 2007-05-02 | 高汉文 | Multi-energy charging automobile |
| CN201509165U (en) * | 2009-09-29 | 2010-06-16 | 北京意科通信技术有限责任公司 | Two-dimensional photovoltaic sun-positioning mechanism |
| CN101837194A (en) * | 2009-03-21 | 2010-09-22 | 鸿富锦精密工业（深圳）有限公司 | toy wheel |
| CN101850741A (en) * | 2010-04-02 | 2010-10-06 | 刘盛里 | Solar mobile vehicle for living |
| CN101876163A (en) * | 2008-12-30 | 2010-11-03 | 沈阳美邦环保设备有限公司 | Light motor vehicle for cleaning road surface |
| CN202244972U (en) * | 2011-08-22 | 2012-05-30 | 同均企业有限公司 | Electric Garbage Compression Energy Saving System for Garbage Trucks |
| CN103138640A (en) * | 2013-03-13 | 2013-06-05 | 杭州师范大学 | Vertical rod type double-shaft sun-facing tracking power generating device |
| CN103358970A (en) * | 2013-07-12 | 2013-10-23 | 首帆动力设备制造(上海)有限公司 | Solar mobile power van |
| CN203767389U (en) * | 2014-03-28 | 2014-08-13 | 栾义峰 | Garbage truck special for landscaping |
| CN204452165U (en) * | 2015-03-18 | 2015-07-08 | 权沛阳 | A kind of media vehicle |
| CN204947994U (en) * | 2015-09-08 | 2016-01-06 | 国网山东夏津县供电公司 | A kind of solar biaxial tracking system |
| CN206270767U (en) * | 2016-12-16 | 2017-06-20 | 河南师范大学 | A motor-driven photovoltaic collector plate light-following device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201233535Y (en) * | 2008-07-30 | 2009-05-06 | 任鸿频 | Sunlight tracker |
| US9273672B2 (en) * | 2014-05-19 | 2016-03-01 | Fernando Ramon Martin-Lopez | Solar energy collector with XY or XYZ sun tracking table |
| CN104317311A (en) * | 2014-10-23 | 2015-01-28 | 天津市畅悦电子科技有限公司 | Photovoltaic energy signal driving circuit |
| CN105841687B (en) * | 2015-01-14 | 2019-12-06 | 上海智乘网络科技有限公司 | indoor positioning method and system |
| CN106709499A (en) * | 2017-03-02 | 2017-05-24 | 西北工业大学 | SIFT image feature point extraction method based on Canny operator and Hilbert-Huang transform |
-
2017
- 2017-06-28 CN CN201710512054.XA patent/CN107276204B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2895135Y (en) * | 2006-01-16 | 2007-05-02 | 高汉文 | Multi-energy charging automobile |
| CN101876163A (en) * | 2008-12-30 | 2010-11-03 | 沈阳美邦环保设备有限公司 | Light motor vehicle for cleaning road surface |
| CN101837194A (en) * | 2009-03-21 | 2010-09-22 | 鸿富锦精密工业（深圳）有限公司 | toy wheel |
| CN201509165U (en) * | 2009-09-29 | 2010-06-16 | 北京意科通信技术有限责任公司 | Two-dimensional photovoltaic sun-positioning mechanism |
| CN101850741A (en) * | 2010-04-02 | 2010-10-06 | 刘盛里 | Solar mobile vehicle for living |
| CN202244972U (en) * | 2011-08-22 | 2012-05-30 | 同均企业有限公司 | Electric Garbage Compression Energy Saving System for Garbage Trucks |
| CN103138640A (en) * | 2013-03-13 | 2013-06-05 | 杭州师范大学 | Vertical rod type double-shaft sun-facing tracking power generating device |
| CN103358970A (en) * | 2013-07-12 | 2013-10-23 | 首帆动力设备制造(上海)有限公司 | Solar mobile power van |
| CN203767389U (en) * | 2014-03-28 | 2014-08-13 | 栾义峰 | Garbage truck special for landscaping |
| CN204452165U (en) * | 2015-03-18 | 2015-07-08 | 权沛阳 | A kind of media vehicle |
| CN204947994U (en) * | 2015-09-08 | 2016-01-06 | 国网山东夏津县供电公司 | A kind of solar biaxial tracking system |
| CN206270767U (en) * | 2016-12-16 | 2017-06-20 | 河南师范大学 | A motor-driven photovoltaic collector plate light-following device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107276204A (en) | 2017-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107276204B (en) | Energy-saving object carrying robot | |
| CN100463332C (en) | Maximum power tracking method of solar power system and solar power device | |
| CN104682832B (en) | A kind of post, field energy supplyystem | |
| CN105871303A (en) | Portable wind-solar complementary power storage and supply system | |
| CN106849848A (en) | Solar energy photovoltaic electricity generation system | |
| CN108631430A (en) | A kind of road photovoltaic charging system | |
| CN205693186U (en) | A kind of outdoor Special intelligent switch cabinet | |
| CN107272712A (en) | A kind of mobile robot and coil alignment method, the device towards mobile robot | |
| CN107443402A (en) | Solar energy climbing robot and its method of work | |
| CN107234606B (en) | Environment-friendly carrying robot | |
| CN204206064U (en) | A kind of field modularization energy supplyystem | |
| CN204535740U (en) | Monitoring is positioned at the terminal of the high-voltage power transmission tower on landslide | |
| CN106864294A (en) | A kind of buried solar recharging automobile knee | |
| CN107239087B (en) | A kind of intelligent control transfer robot | |
| CN205670752U (en) | A kind of domestic photovoltaic generating system | |
| CN205881072U (en) | Civilian security and protection project monitoring device | |
| WO2015165036A1 (en) | Wireless charging platform based on natural energy electrical storage | |
| CN203446060U (en) | Wind-solar complementary LED street lamp | |
| CN202817833U (en) | Wind and solar hybrid power generation control device applied to new energy industry | |
| CN115498950A (en) | Method for storing electricity by solar energy system with automatic sun tracking function | |
| CN207037480U (en) | A kind of solar energy photovoltaic panel tracks of device | |
| CN208298026U (en) | A kind of intelligent distributed plug and play Collapsible mobile solar power system | |
| CN206571205U (en) | A kind of ceiling stretching structure of bus platform | |
| CN207650658U (en) | A kind of solar energy tracking device | |
| CN207382225U (en) | A kind of new-energy automobile portable type solar energy charging unit and new-energy automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |