CN107991915A - A kind of photovoltaic panel sweeping robot control system - Google Patents
A kind of photovoltaic panel sweeping robot control system Download PDFInfo
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- CN107991915A CN107991915A CN201710957164.7A CN201710957164A CN107991915A CN 107991915 A CN107991915 A CN 107991915A CN 201710957164 A CN201710957164 A CN 201710957164A CN 107991915 A CN107991915 A CN 107991915A
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- module
- power supply
- photovoltaic panel
- sweeping robot
- control system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Photovoltaic Devices (AREA)
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Abstract
The present invention relates to a kind of photovoltaic panel sweeping robot control system, including CPU control units, cell input unit, communications interface unit, power module, cleaning and movable motor driving unit and extended interface unit；The CPU control units are electrically connected with cell input unit, communications interface unit, power supply unit, cleaning and movable motor driving unit and extended interface unit respectively.A kind of photovoltaic panel sweeping robot control system of the present invention can control photovoltaic panel sweeping robot to clean photovoltaic panel；Wherein, control system by driving and controlling multiple movable motors at the same time, and has blocking rotation ability；Remote control can be achieved, be convenient for people to remote operation photovoltaic panel sweeping robot, improve convenience；Meanwhile control system can detect Changes in weather, and for different weather carry out it is specific clean scheme or parking, so as to fulfill intelligence clean with it is energy saving.
Description
Technical field
The present invention relates to Machinery Control System field, and in particular to a kind of photovoltaic panel sweeping robot control system.
Background technology
In the case where fossil fuel is reduced increasingly, government advocates energy-saving and emission-reduction energetically, as a kind of emerging renewable
The solar energy of the energy becomes the important component that the mankind use the energy, and nearly ten years, application of solar energy technology is each in the world
State is all grown rapidly.
Solar panel is also referred to as photovoltaic panel, refers to the photogenic voltage effect occurred using semi-conducting material under illumination condition
Solar energy should be converted directly into the device of electric energy.The place for having sunlight can just generate electricity, therefore photovoltaic panel is suitable for from big
Type power station is developed rapidly in recent years to a variety of occasions such as small portable charger.
The working environment of photovoltaic panel can only be outdoor, and the greatest problem for influencing its work is not wind and rain thunder and lightning, but
The dust accumulated throughout the year.Dust or other attachments are attached with photovoltaic panel, the light transmittance of panel plate can be influenced, hinders photoelectricity
Efficiency, so that the efficiency that panel directly acquires sunlight can be seriously affected, reduces the energy absorption and transfer efficiency of panel, and then drop
Low generating efficiency.
The photovoltaic panel of the prior art can only rely on manually periodically complete cleaning work in use, due to photovoltaic panel face
Product is larger, large-scale power station panel used at the same time is more, and dust can be accumulated, it is necessary to clean repeatedly repeatedly；Therefore human cost
It is very high, cleaning efficiency is low, cleaning effect is poor.
In many occasions, in order to improve space availability ratio, photovoltaic panel is set aloft using stent, this is just to clear
Science and engineering brings the difficulty and risk of bigger.The user of many photovoltaic panels can only select not clear up to reduce disposal costs,
Electric energy loss caused by undertaking dust can only be so forced.So, it is desirable to a new automatic cleaning equipment, to photovoltaic face
Plate is cleared up automatically.
Existing photovoltaic panel sweeping robot is arranged on the top of photovoltaic panel more, and passes through a shaft-driven side mostly
Formula is moved, still, once a driving motor can then cause the overall inclined of whole sweeping robot there is a situation where stall
Move crooked；And existing photovoltaic panel sweeping robot can not achieve remote control, another person, existing photovoltaic panel scavenging machine
Device people cannot carry out different cleaning schemes according to weather condition, therefore not possess energy-saving effect.
The content of the invention
The purpose of the present invention is：A kind of photovoltaic panel sweeping robot control system is provided, overcomes drawbacks described above.
To achieve these goals, the present invention provides following technical solution：
A kind of photovoltaic panel sweeping robot control system, including with lower unit：
CPU control units, including controller, to sending for data processing, storage and instruction；
Cell input unit, to detect many kinds of parameters by multiple sensors；
Communications interface unit, to carry out the transmission of the information of various ways；
Power supply unit, to be powered to each electronic component；
Cleaning and movable motor driving unit, to drive the cleaning motor of sweeping robot and movable motor；
Extended interface unit, the extended interface unit include expansion connection module, to increase expansion according to particular case
Open up module；
The CPU control units respectively with cell input unit, communications interface unit, power supply unit, cleaning and walking
Electric-motor drive unit and extended interface unit are electrically connected.
Further, the CPU control units specifically further include clock module, power supply selecting module, crystal oscillator module, master control
Making sheet temperature detecting module, the first reseting module and the second reseting module；The controller is selected with clock module, power supply respectively
Module, crystal oscillator module, master board temperature detecting module, the first reseting module and the second reseting module is selected to be electrically connected.
Further, the cell input unit specifically includes the spacing module of starting point, final limit module, starting point two level
Spacing module, the spacing module of terminal two level, rainfall detection module, automatically cleaning locating module, external trigger module and starting point are set
Put module；The spacing module of the starting point, final limit module, the spacing module of starting point two level, the spacing module of terminal two level, rainfall inspection
Module, automatically cleaning locating module, external trigger module and starting point setup module is surveyed to be electrically connected with controller.
Further, the communications interface unit specifically includes great power bidirectional communication module, hand-held remote controller Working mould
Under block, control model selecting module, 485 interface modules, voice interaction module, temperature sensor interface module and USB programs
Carry module；The great power bidirectional communication module, hand-held remote controller operational module, control model selecting module, 485 interface moulds
Block, voice interaction module, temperature sensor interface module and USB download programs module are electrically connected with controller；It is described
Great power bidirectional communication module is electrically connected with 485 interface modules and control model selecting module at the same time.
Further, the power supply unit specifically includes motor power supply module, power import protection module, major loop input
Voltage monitoring module, core power supply module, CPU power supply modules, wireless module power supply module, sensor power supply module and main road
Current detection module；The main road current detection module is defeated with motor power supply module, power import protection module, major loop respectively
Enter voltage monitoring module, core power supply module and sensor power supply module are electrically connected, the main road current detection module with
Controller is electrically connected, and the power import protection module is also monitored with motor power supply module and major loop input voltage at the same time
Module is electrically connected, and the core power supply module is also electrically connected with CPU power supply modules and wireless module power supply module at the same time.
Further, the cleaning and movable motor driving unit specifically include movable motor drive module, relay drives
Dynamic model block, clean motor drive module and movable motor speed governing drive module；The movable motor drive module, relay drive
Dynamic model block, cleaning motor drive module and movable motor speed governing drive module are electrically connected with controller, the walking electricity
Machine speed governing drive module electrically connects with movable motor drive module, relay driving module and cleaning motor drive module respectively
Connect.
Further, movable motor speed governing drive module module spacing with starting point, final limit module, starting point respectively
The spacing module of two level, the spacing module of terminal two level, rainfall detection module, automatically cleaning locating module, USB download programs module with
And expansion connection module is electrically connected；The expansion connection module respectively with controller, voice interaction module and main road electric current
Detection module is electrically connected.
Beneficial effects of the present invention are：A kind of photovoltaic panel sweeping robot control system, by CPU control units, passes
Sensor input unit, communications interface unit, power supply unit, cleaning and movable motor driving unit and extended interface unit are matched somebody with somebody
Close and use, controllable photovoltaic panel sweeping robot cleans photovoltaic panel；Wherein, control system by driving simultaneously at the same time
Multiple movable motors are controlled to realize the movement of photovoltaic panel sweeping robot, and there is blocking rotation ability, can be avoided because of list
Stall, which occurs, for a movable motor makes the crooked adverse consequences of photovoltaic panel sweeping robot overall offset；And it can realize long-range control
System, to be convenient for people to remote operation photovoltaic panel sweeping robot, improves convenience；Meanwhile control system can detect weather change
Change, strong wind can be directed to, rained etc. bad weather carry out it is specific clean scheme or parking, cleaned so as to fulfill intelligence and energy saving
Effect.
Brief description of the drawings
Fig. 1 is a kind of system entirety block diagram of photovoltaic panel sweeping robot control system of the present invention.
Fig. 2 is a kind of controller schematic diagram of the CPU control units of photovoltaic panel sweeping robot control system of the present invention.
Fig. 3 is a kind of clock module signal of CPU control units of photovoltaic panel sweeping robot control system of the present invention
Figure.
Fig. 4 is a kind of power supply selecting module of the CPU control units of photovoltaic panel sweeping robot control system of the present invention
Schematic diagram.
Fig. 5 is a kind of crystal oscillator module signal of CPU control units of photovoltaic panel sweeping robot control system of the present invention
Figure.
Fig. 6 is a kind of master board temperature of the CPU control units of photovoltaic panel sweeping robot control system of the present invention
Detection module schematic diagram.
Fig. 7 is a kind of first reseting module of the CPU control units of photovoltaic panel sweeping robot control system of the present invention
Schematic diagram.
Fig. 8 is a kind of second reseting module of the CPU control units of photovoltaic panel sweeping robot control system of the present invention
Schematic diagram.
Fig. 9 is a kind of schematic diagram of the cell input unit of photovoltaic panel sweeping robot control system of the present invention.
Figure 10 is a kind of great power bidirectional of the communications interface unit of photovoltaic panel sweeping robot control system of the present invention
Communication module and hand-held remote controller operational module schematic diagram.
Figure 11 is a kind of control model choosing of communications interface unit of photovoltaic panel sweeping robot control system of the present invention
Select module diagram.
Figure 12 is a kind of 485 interface modules of the communications interface unit of photovoltaic panel sweeping robot control system of the present invention
Schematic diagram.
Figure 13 is a kind of interactive voice mould of the communications interface unit of photovoltaic panel sweeping robot control system of the present invention
Block schematic diagram.
Figure 14 is a kind of temperature sensor of the communications interface unit of photovoltaic panel sweeping robot control system of the present invention
Interface module schematic diagram.
Figure 15 is a kind of USB download programs of the communications interface unit of photovoltaic panel sweeping robot control system of the present invention
Module diagram.
Figure 16 is a kind of power supply unit schematic diagram of photovoltaic panel sweeping robot control system of the present invention.
Figure 17 is cleaning and the movable motor driving unit of a kind of photovoltaic panel sweeping robot control system of the present invention
First schematic diagram of movable motor drive module.
Figure 18 is cleaning and the movable motor driving unit of a kind of photovoltaic panel sweeping robot control system of the present invention
Second schematic diagram of movable motor drive module.
Figure 19 is cleaning and the movable motor driving unit of a kind of photovoltaic panel sweeping robot control system of the present invention
Relay driving module schematic diagram.
Figure 20 is cleaning and the movable motor driving unit of a kind of photovoltaic panel sweeping robot control system of the present invention
Clean the first schematic diagram of motor drive module.
Figure 21 is cleaning and the movable motor driving unit of a kind of photovoltaic panel sweeping robot control system of the present invention
Clean the second schematic diagram of motor drive module.
Figure 22 is cleaning and the movable motor driving unit of a kind of photovoltaic panel sweeping robot control system of the present invention
Movable motor speed governing drive module schematic diagram.
Figure 23 is a kind of extended interface unit schematic diagram of photovoltaic panel sweeping robot control system of the present invention.
Figure 24 is a kind of brushless motor driver module schematic diagram of photovoltaic panel sweeping robot control system of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is described in further detail.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
With reference to figure 1, a kind of photovoltaic panel sweeping robot control system, including with lower unit：
CPU control units 1, including controller 11, to sending for data processing, storage and instruction；
Cell input unit 2, to detect many kinds of parameters by multiple sensors；
Communications interface unit 3, to carry out the transmission of the information of various ways；
Power supply unit 4, to be powered to each electronic component；
Cleaning and movable motor driving unit 5, to drive the cleaning motor of sweeping robot and movable motor；
Extended interface unit 6, the extended interface unit includes expansion connection module 61, to be increased according to particular case
Expansion module；
The CPU control units 1 respectively with cell input unit 2, communications interface unit 3, power supply unit 4, clean and
Movable motor driving unit 5 and extended interface unit 6 are electrically connected.
With reference to figure 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, the CPU control units 1 specifically further include clock
Module 12, power supply selecting module 13, crystal oscillator module 14, master board temperature detecting module 15, the first reseting module 16 and
Two reseting modules 17；The controller 11 respectively with clock module 12, power supply selecting module 13, crystal oscillator module 14, master board
Temperature detecting module 15, the first reseting module 16 and the second reseting module 17 are electrically connected；The controller 11 is specially
C51-8901 type microcontrollers, the controller 11, clock module 12, crystal oscillator module 14, the first reseting module 16 and second are multiple
Position module 17 be microcontroller minimum composition system, the power supply selecting module 13 be used for select from 5VCC or USB5.0V into
Row power supply, the master board temperature detecting module 15 is used for the temperature for detecting master board, when the temperature of master board is excessive
When, supply of cutting off the power；First reseting module 16 is used to automatically reset, and second reseting module 17 is used for artificial
Triggering reset button is resetted.
With reference to figure 1 and Fig. 9, the cell input unit 2 specifically includes the spacing module 21 of starting point, final limit module
22nd, the spacing module 23 of starting point two level, the spacing module 24 of terminal two level, rainfall detection module 25, automatically cleaning locating module 26, outside
Trigger module 27 and starting point setup module 28；The spacing module 21 of the starting point, final limit module 22, the spacing mould of starting point two level
The spacing module 24 of block 23, terminal two level, rainfall detection module 25, automatically cleaning locating module 26, external trigger module 27 and rise
Point setup module 28 is electrically connected with controller 11；The spacing module 21 of starting point be used for sweeping robot start position into
Row detection, the final limit module 22 are used to be detected the final position of sweeping robot, and the starting point two level is spacing
It is spacing that module 23 is used to carrying out the start position of sweeping robot secondary detection, and the spacing module 24 of terminal two level is used for pair
The final position of sweeping robot carries out the spacing detection of two level, the rainfall detection module 25 be used to detecting weather whether there is rainfall with
And rainfall number, the automatically cleaning locating module 26 be used for sweeping robot carry out automatically cleaning operation when position carry out
Detection and localization, the starting point setup module 28 are used for the start position for setting sweeping robot.
With reference to figure 1, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15, the communications interface unit 3 specifically includes greatly
Power bi-directional communication module 31, hand-held remote controller operational module 32, control model selecting module 33,485 interface modules 34, language
Sound interactive module 35, temperature sensor interface module 36 and USB download programs module 37；The great power bidirectional communicates mould
Block 31, hand-held remote controller operational module 32, control model selecting module 33,485 interface modules 34, voice interaction module 35, temperature
Degree sensor interface module 36 and USB download programs module 37 are electrically connected with controller 11；The great power bidirectional leads to
News module 31 is electrically connected with 485 interface modules 34 and control model selecting module 33 at the same time；The great power bidirectional communication
The working frequency of module 31 is 433MHZ, and for remote control, its control range is 6~8KM, the hand-held remote controller work
Module 32 is matched with remote controler, its working frequency is 315MHZ, and the control model selecting module 33 is selected for public family
Control model is selected, 485 interface module 34 is protected for forceful electric power, and the voice interaction module 35 is used for interactive voice, can record
Sound processed simultaneously plays under specific circumstances, and the temperature sensor interface module 36 is used to detect battery temperature and external rings respectively
The temperature in border, the USB download programs module 37 is used for each chip recording program, while a journey can only be downloaded
Sequence.
With reference to figure 1 and Figure 16, the power supply unit 4 specifically includes motor power supply module 41, power import protection module
42nd, major loop input voltage monitoring modular 43, core power supply module 44, CPU power supply modules 45, wireless module power supply module 46,
Sensor power supply module 47 and main road current detection module 48；The main road current detection module 48 respectively with motor power mould
Block 41, power import protection module 42, major loop input voltage monitoring modular 43, core power supply module 44 and sensor power supply
Module 47 is electrically connected, and the main road current detection module 48 is electrically connected with controller 11, the power import protection module
42 are also electrically connected with motor power supply module 41 and major loop input voltage monitoring modular 43 at the same time, the core power supply module
44 are also electrically connected with CPU power supply modules 45 and wireless module power supply module 46 at the same time；The motor power supply module 41 is used for
Movable motor and cleaning motor are powered, and there is short-circuit protection, rotation-clogging protection and overvoltage protection；It is described
Power import protection module 42 is used to protect circuit, has the function of overvoltage protection, overcurrent protection, prevents reversed and antistatic,
The major loop input voltage measurement module 43 is used to monitor the input voltage of major loop in real time, the core power supply mould
Block 44 is used to be powered CPU power supply modules 45 and wireless module power supply module 46, and the sensor power supply module 47 is used for
Each sensor is powered, the main road current detection module 48 is used to monitor the electric current of major loop in real time.
With reference to figure 1, Figure 17, Figure 18, Figure 19, Figure 20, Figure 21 and Figure 22, the cleaning and movable motor driving unit 5
Specifically include movable motor drive module 51, relay driving module 52, clean motor drive module 53 and movable motor tune
Fast drive module 54；The movable motor drive module 51, relay driving module 52, clean motor drive module 53 and
Movable motor speed governing drive module 54 is electrically connected with controller 11, the movable motor speed governing drive module 54 respectively with row
Walk motor drive module 51, relay driving module 52 and clean motor drive module 53 to be electrically connected；The movable motor
Drive module 51 is used to drive movable motor, realizes the movement of sweeping robot, and with anti-reversed, anti-electromagnetic interference and block up
The functions such as rotation protection；The relay driving module 52 be used for being preheated in cold environment to battery, with realize it is antifreeze simultaneously
Increase the effect of battery, while relay driving module 52 is additionally operable to be supplied for buzzer and CPU radiator fans
Electricity, buzzer are used for sounding alarm under specific circumstances, and the CPU radiator fans are used to radiate to CPU, make the temperature of CPU
Degree is in 30~45 DEG C；The cleaning motor drive module 53, which is used to drive, cleans motor, cleans motor driving hairbrush to realize
Cleaning to photovoltaic panel.
With reference to figure 1 and Figure 23, module 21 spacing with starting point, terminal limit the movable motor speed governing drive module 54 respectively
Position module 22, the spacing module 23 of starting point two level, the spacing module 24 of terminal two level, rainfall detection module 25, automatically cleaning locating module
26th, USB download programs module 37 and expansion connection module 61 are electrically connected, and the movable motor speed governing drive module 54 is used for
The state of all motors is managed, and all failure and data are fed back into CPU；The expansion connection module 61 respectively with control
Device 11, voice interaction module 35 and main road current detection module 48 processed are electrically connected；The expansion connection module 61 is used to connect
External expansion interface is connect, to adapt to and meet varying environment or use demand.
With reference to figure 24, Figure 24 drives the driving principle figure of brushless electric machine, brushless motor driver module 7 for CPU control units 1
It is electrically connected with extended interface unit 6, is the external expansion of photovoltaic panel sweeping robot control system；Brushless electric machine
Service life is longer, and accuracy is high, and employs PWM speed adjusting techniques, and photovoltaic panel sweeping robot can be made to put down when walking
Steady operation, while reduce vibration.
Above-described embodiment is used for that the present invention is further illustrated, but does not limit the invention to these specific implementations
Mode.All any modification, equivalent and improvement made within the spirit and principles of the invention etc., should be understood as at this
Within the protection domain of invention.
Claims (7)
1. a kind of photovoltaic panel sweeping robot control system, it is characterised in that including with lower unit：
CPU control units (1), including controller (11), to sending for data processing, storage and instruction；
Cell input unit (2), to detect many kinds of parameters by multiple sensors；
Communications interface unit (3), to carry out the transmission of the information of various ways；
Power supply unit (4), to be powered to each electronic component；
Cleaning and movable motor driving unit (5), to drive the cleaning motor of sweeping robot and movable motor；
Extended interface unit (6), the extended interface unit includes expansion connection module (61), to be increased according to particular case
Expansion module；
The CPU control units (1) respectively with cell input unit (2), communications interface unit (3), power supply unit (4), clear
Sweep and movable motor driving unit (5) and extended interface unit (6) are electrically connected.
A kind of 2. photovoltaic panel sweeping robot control system according to claim 1, it is characterised in that：The CPU controls
Unit (1) processed specifically further includes clock module (12), power supply selecting module (13), crystal oscillator module (14), the inspection of master board temperature
Survey module (15), the first reseting module (16) and the second reseting module (17)；The controller (11) respectively with clock module
(12), power supply selecting module (13), crystal oscillator module (14), master board temperature detecting module (15), the first reseting module (16)
And second reseting module (17) be electrically connected.
A kind of 3. photovoltaic panel sweeping robot control system according to claim 1, it is characterised in that：The sensor
Input unit (2) specifically includes the spacing module of starting point (21), final limit module (22), the spacing module of starting point two level (23), end
Put the spacing module of two level (24), rainfall detection module (25), automatically cleaning locating module (26), external trigger module (27) and rise
Point setup module (28)；The spacing module of starting point (21), final limit module (22), the spacing module of starting point two level (23), end
Put the spacing module of two level (24), rainfall detection module (25), automatically cleaning locating module (26), external trigger module (27) and rise
Point setup module (28) is electrically connected with controller (11).
A kind of 4. photovoltaic panel sweeping robot control system according to claim 1, it is characterised in that：The communication connects
Mouth unit (3) specifically includes great power bidirectional communication module (31), hand-held remote controller operational module (32), control model selection mould
Block (33), 485 interface modules (34), voice interaction module (35), temperature sensor interface module (36) and USB download programs
Module (37)；The great power bidirectional communication module (31), hand-held remote controller operational module (32), control model selecting module
(33), 485 interface modules (34), voice interaction module (35), temperature sensor interface module (36) and USB download program moulds
Block (37) is electrically connected with controller (11)；The great power bidirectional communication module (31) at the same with 485 interface modules (34)
And control model selecting module (33) is electrically connected.
A kind of 5. photovoltaic panel sweeping robot control system according to claim 1, it is characterised in that：The power supply list
First (4) specifically include motor power supply module (41), power import protection module (42), major loop input voltage monitoring modular
(43), core power supply module (44), CPU power supply modules (45), wireless module power supply module (46), sensor power supply module (47)
And main road current detection module (48)；The main road current detection module (48) respectively with motor power supply module (41), power supply
Ingress protection module (42), major loop input voltage monitoring modular (43), core power supply module (44) and sensor power supply mould
Block (47) is electrically connected, and the main road current detection module (48) is electrically connected with controller (11), the power import protection
Module (42) while also it is electrically connected with motor power supply module (41) and major loop input voltage monitoring modular (43), the core
Heart power supply module (44) while also it is electrically connected with CPU power supply modules (45) and wireless module power supply module (46).
A kind of 6. photovoltaic panel sweeping robot control system according to claim 1, it is characterised in that：It is described cleaning and
Movable motor driving unit (5) specifically includes movable motor drive module (51), relay driving module (52), cleans motor drive
Dynamic model block (53) and movable motor speed governing drive module (54)；The movable motor drive module (51), relay driving mould
Block (52), cleaning motor drive module (53) and movable motor speed governing drive module (54) electrically connect with controller (11)
Connect, the movable motor speed governing drive module (54) respectively with movable motor drive module (51), relay driving module (52)
And clean motor drive module (53) and be electrically connected.
7. a kind of photovoltaic panel sweeping robot control system according to claim 1~6 any one, its feature exist
In：The movable motor speed governing drive module (54) respectively with the spacing module of starting point (21), final limit module (22), starting point two
The spacing module (23) of level, the spacing module of terminal two level (24), rainfall detection module (25), automatically cleaning locating module (26), USB journeys
Sequence download module (37) and expansion connection module (61) are electrically connected；The expansion connection module (61) respectively with controller
(11), voice interaction module (35) and main road current detection module (48) are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710957164.7A CN107991915B (en) | 2017-10-16 | 2017-10-16 | Photovoltaic panel cleans machine people control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710957164.7A CN107991915B (en) | 2017-10-16 | 2017-10-16 | Photovoltaic panel cleans machine people control system |
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| CN107991915A true CN107991915A (en) | 2018-05-04 |
| CN107991915B CN107991915B (en) | 2021-01-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873802A (en) * | 2018-08-02 | 2018-11-23 | 佛山职业技术学院 | A kind of circuit control system cleaning detection robot for photovoltaic module |
| CN114237327A (en) * | 2021-12-09 | 2022-03-25 | 浙江库科自动化科技有限公司 | Weather adaptation system of photovoltaic module sweeper |
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