CN108173508A - A kind of sweeping robot system and control method suitable for the transfer of distributed power station front and rear row - Google Patents
A kind of sweeping robot system and control method suitable for the transfer of distributed power station front and rear row Download PDFInfo
- Publication number
- CN108173508A CN108173508A CN201711420624.9A CN201711420624A CN108173508A CN 108173508 A CN108173508 A CN 108173508A CN 201711420624 A CN201711420624 A CN 201711420624A CN 108173508 A CN108173508 A CN 108173508A
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- China
- Prior art keywords
- transfer
- sweeping robot
- rear row
- power station
- distributed power
- 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.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 45
- 238000012546 transfer Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title abstract description 9
- 238000004140 cleaning Methods 0.000 claims abstract description 15
- 230000005611 electricity Effects 0.000 claims description 4
- 238000010926 purge Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000003786 synthesis reaction Methods 0.000 abstract 1
- 230000007704 transition Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- 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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B10/00—Integration of renewable energy sources in buildings
- Y02B10/10—Photovoltaic [PV]
-
- 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
- Manipulator (AREA)
Abstract
The present invention provides a kind of sweeping robot system and control method suitable for the transfer of distributed power station front and rear row, mainly includes：Cover board, main frame, cleaning part, power supply, directive wheel, control system, driving wheel, commutation transfer system, Auxiliary Track system, guide rail etc.；The cleaning part both sides are connect with main frame；The power supply is fixed on main frame, and the driving wheel and directive wheel are fixed on main frame；The power supply is connected by control system with each moving cell；The commutation transfer system is hinged on main frame, and the guide rail is laid on roofing；Described Auxiliary Track system one end is fixed on the frame of component, and other end is fixed on roofing.The present invention has the features such as simple for structure, high degree of automation, working efficiency is high, and synthesis is at low cost.
Description
Technical field
The invention belongs to photovoltaic modulies to clean field, and in particular to a kind of suitable for the clear of distributed power station front and rear row transfer
Sweep robot system and control method.
Background technology
The dust accumulation on photovoltaic module surface seriously restricts the energy conversion efficiency of photo-voltaic power generation station, directly affects the hair in power station
Electricity, domestic more owners have found that the component generated energy after cleaning promotes 10-15%, for long-play by comparing
Photovoltaic generating system, the cleaning of panel dust accumulation are imperative.
At present, distributed photovoltaic power generation station owner will use hand sweeping and sweeping robot to clean two ways.Wherein people
Work is cleaned there are some significant disadvantages, such as：1) the cleaning primary required time is longer, and cannot clean in real time, most feelings
Under condition, whole year cleans 3-6 times, to the promotion effect unobvious of annual generated energy；2) clean level and the responsibility of worker cleaned
The heart is related, cleans effect and is difficult to control.
Most of existing sweeping robot can only clean single in the market, can not carry out across row's cleaning work, Ke Yishi
It now is required in addition set transfer cart across clearing the robot swept, not only needs in addition to increase a set of transmission system and sensing is
System, increases trouble point, and transfer cart is of high cost, is unfavorable for the popularization of product.
Invention content
The array gradient majority of distributed power station is 5%~15%, and small with inclination angle, front and rear array pitch is small, is attached to
The features such as on roofing, as shown in Figure 8.
In view of the defects existing in the prior art, the present invention provides a kind of cleaning suitable for the transfer of distributed power station front and rear row
Robot system and control method can effectively solve the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of sweeping robot system and control method suitable for the transfer of distributed power station front and rear row,
Mainly include cover board (1), main frame (2), cleaning part (3), power supply (4), directive wheel (5), control system (6), driving wheel
(7), commutation transfer system (8), Auxiliary Track system (9), guide rail (10) etc..
The cover board (1) is mainly wrapped in the outside of main frame (2), with passes such as protection power source (3), control systems (6)
Button apparatus, while can also improve overall stiffness, the stability of product.
The main frame (2) by the way of splicing, can couple segmented frame according to purging zone size,
Achieve the purpose that be adjusted the length of main frame.
The power supply (3) is fixed on main frame (2), be it is a kind of can multiple charge and discharge DC power supply.
The cleaning part (4) is mainly made of hairbrush, bearing and driving, and the both ends of hairbrush pass through bearing main frame
(2) it connects, driving can be motor special, can also pass through the kinds of drive such as chain drive, V belt translation or gear drive and driving
The shared driving motor of wheel, hairbrush use Modularized splice, can adjust length according to purging zone.
Further, the control system (6) can send out the signals such as shutdown, transfer according to the signal of each sensor, real
When control sweeping robot movement.
Further, the commutation transfer system (8) is mainly by telescopic rod (801), hound (802), diagonal brace pole spacing
Block (803), reverse wheel (804) composition.One end of wherein telescopic rod is hinged on main frame, and other end is hinged on reverse wheel branch
On seat, the telescopic rod has current protection to prevent telescopic rod overcurrent from telescopic rod being caused electrically to destroy, and telescopic rod also sets up limit
Position device, for ensureing the elongated distance of telescopic rod.Reverse wheel is fixed on commutation wheeling support, and one end of hound is hinged on master
On frame, other end is hinged on commutation wheeling support, and hound block is fixed on main frame, is mainly used for limiting hound
Movement, prevent commutation wheel drive when, hound occur " slipping bar ".
Further, the Auxiliary Track system (9) is to have withdrawn from sweeping area after sweeping robot has cleaned an array
Domain prepares the transition guide of commutation, mainly by transition guide (901), block (902), torsional spring (903), panel (904), hinge
(905) it forms, one end of wherein transition guide is fixed on the frame of the outermost component of array, and other end passes through support element
It is fixed on roofing, block is fixed on the end of transition guide, is mainly used for coordinating range sensor measurement distance and scavenging machine
The shutdown position-limiting action of device people, one end of torsional spring couple with transition guide, and other end couples with panel, panel by hinge with
Transition guide couples, and the rotation angle of hinge can be used for the opening direction of control panel, and when preventing the driven wheel from passing through, panel is to mistake
It crosses on the inside of guide rail and opens, panel is mainly used for temporary support of the directive wheel when being moved in transition guide, when reverse wheel pushes face
During plate, under the thrust of reverse wheel, torsional spring deformation, panel opening ensures that reverse wheel passes through, when reverse wheel passes through
Afterwards, panel drives Regression in situ in torsional spring,
Further, the guide rail (10) is laid on roofing, and for concatenating each row's component, guide rail is mainly by guide rail mould
Block (1001), attachment bolt, limited block (1002) composition.Attachment bolt links up all rail modules to form entire electricity
The guide track system stood, limited block are the small-sized rail modules with gap, according to the situation of live guide rail to the position of limited block into
Row adjustment, the fore-and-aft distance that the distance of limited block and Auxiliary Track system takes turns to driven wheel with commutating mutually are coordinated, are mainly used for matching
Close the precise positioning that control system completes reverse wheel.When sweeping robot carries out front and rear row transfer, commutation transfer system edge is led
Transfer is realized in rail movement.
The present invention also provides a kind of novel photovoltaic module sweeping robot driving method, including：
An array has been cleaned in sweeping robot and has reached auxiliary guide rail, and the range sensor that robot carries at this time is sent out
Signal, sweeping robot are shut down, and under inertia force effect, robot will continue to move ahead, until touching block.
After sweeping robot cleans shutdown, control system gives one electric current letter of telescopic rod of four sets of commutation transfer systems simultaneously
Number, telescopic rod starts that deflecting roller is driven to move down, and hound is also driven movement at this time.After deflecting roller and guide rail contact,
Control system can increase the electric current of telescopic rod, the elongated distance until reaching setting, and telescopic rod locks at this time, at this time sweeping machine
The weight of people's complete machine is divided evenly to be disengaged to four deflecting rollers, driving wheel and driven wheel and twilight orbit.Control system starts
Current signal is sent out, and gradually increase electric current according to the preset increment of program to deflecting roller, when the driving for reaching deflecting roller
After power, deflecting roller starts to rotate forward along guide rail.
When the transition guide where sweeping robot close to next row component, range sensor sends out electricity to control system
Signal is flowed, control system disconnects the electric current of deflecting roller, and robot continues slowly to move ahead, until the two of front side under effect of inertia
A deflecting roller enters in limited block, because without lasting driving force, deflecting roller is just stopped in limited block.
After robot to be cleaned comes to a complete stop, control system can reaffirm the signal of range sensor, after confirmation is errorless, control
System starts to send out reverse current signal to telescopic rod, and telescopic rod starts to shrink at, and hound is driven to move, in contraction process
In, driving wheel is gradually fallen on twilight orbit, and main screw lift is undertaken again by driving wheel, when telescopic rod is contracted to extreme position
Afterwards, the limiting device of telescopic rod sends out electric signal, and control system disconnects the electric current of telescopic rod, starts to provide electric current letter to driving wheel
Number, and gradually increasing electric current according to the preset increment of program, after the driving power for reaching driving wheel, sweeping robot is opened
Begin to clean next row component.
Compared with prior art, the beneficial effects of the present invention are：
The present invention can not only realize the front and rear row transfer of sweeping robot, but also not need to transfer cart, have trouble point it is few,
The advantages such as easy for installation, comprehensive use cost is low.
Description of the drawings
Fig. 1 is the general structure schematic diagram of sweeping robot of the present invention；
Fig. 2 is the structure diagram under the commutation transfer system working condition of sweeping robot of the present invention；
Fig. 3 is the structure diagram under the drive wheel works state of sweeping robot of the present invention；
Fig. 4 is that the guide rail of sweeping robot of the present invention is laid with schematic diagram；
Fig. 5 is that the guide rail of sweeping robot of the present invention and Auxiliary Track system are laid with schematic diagram；
Fig. 6 is that the guide rail of sweeping robot of the present invention and Auxiliary Track system are laid with C-C schematic diagrames；
Fig. 7 is that the guide rail of sweeping robot of the present invention and Auxiliary Track system are laid with D to schematic diagram；
Fig. 8 is the structure diagram of distributed power station；
In figure, the meaning of each symbol is as follows：
1 cover board, 2 main frames, 3 cleaning parts, 4 power supplys, 5 directive wheels, 6 control systems, 7 driving wheels, 8 commutation transfer systems
System, 9 Auxiliary Track systems, 10 guide rails, 801 telescopic rods, 802 hounds, 803 hound blocks, 804 reverse wheels, 901 transition are led
Rail, 902 blocks, 903 torsional springs, 904 panels, 905 hinges, 1001 rail modules, 1002 limited blocks.
Specific embodiment
The invention belongs to photovoltaic modulies to clean field, and in particular to a kind of suitable for the clear of distributed power station front and rear row transfer
Robot system and control method are swept, as shown in Figure 1, a kind of sweeping robot suitable for the transfer of distributed power station front and rear row
System, mainly including cleaning part (3), power supply (4), directive wheel (5), control system (6), driving wheel (7), commutation transfer system
System (8), Auxiliary Track system (9), guide rail (10) etc..
The cleaning part of sweeping robot, power supply, directive wheel, control system, driving wheel, commutation transfer system are in workshop
Installation is completed, by the way of complete machine delivery, during in-site installation, it is only necessary to according to the deployment scenarios of power station array be laid with guide rail and
Auxiliary Track system after the completion of laying, first carries out whole place trial operation to sweeping robot, debugs each observing and controlling sensor and structure
Position, sweeping robot can organize work after the completion of debugging.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (9)
1. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row, it is characterised in that：Mainly include：Lid
Plate, main frame, cleaning part, power supply, directive wheel, control system, driving wheel, commutation transfer system, Auxiliary Track system, guide rail
Deng.
2. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row according to claim 1, special
Sign is：The main frame (2) is modular product, can be clear by splicing adjustment according to project scene purging zone size
Sweep the length of equipment.
3. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row according to claim 1, special
Sign is：The power supply (3) is fixed on main frame, and electricity is provided for entire sweeping robot.
4. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row according to claim 1, special
Sign is：The cleaning part (4) is mainly made of hairbrush, bearing and driving, and the both ends of hairbrush pass through bearing main frame (2)
Connection, driving can be motor special, can also be total to by the kinds of drive such as chain drive, V belt translation or gear drive and driving wheel
Driving motor is enjoyed, hairbrush uses Modularized splice, can adjust length according to purging zone.
5. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row according to claim 1, special
Sign is：The control system (6) according to the feedback information of sensor-based system, can control the cleaning of sweeping robot in real time with before
After shift.
6. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row according to claim 1, special
Sign is：Four angles up and down of totally four sets of the commutation transfer system, respectively sweeping robot, commutation transfer system hinge
It is connected on main frame, is operated when sweeping robot carries out front and rear transfer.
7. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row according to claim 5, special
Sign is：Described Auxiliary Track system one end is fixed on the frame of the outermost component of array, and other end passes through support element
It is fixed on roofing, sweeping robot can be smoothly introduced to the direction of guide rail from assembly array.
8. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row according to claim 5, special
Sign is：The directive wheel and driving wheel is all fixed on main frame, and directive wheel is moved along the outer of frame, and driving wheel is along side
The medial motion of frame.
9. a kind of sweeping robot system suitable for the transfer of distributed power station front and rear row according to claim 1, special
Sign is：The guide rail is laid on roofing, and when sweeping robot carries out front and rear row transfer, commutation transfer system is transported along guide rail
It is dynamic to realize transfer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711420624.9A CN108173508A (en) | 2017-12-25 | 2017-12-25 | A kind of sweeping robot system and control method suitable for the transfer of distributed power station front and rear row |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711420624.9A CN108173508A (en) | 2017-12-25 | 2017-12-25 | A kind of sweeping robot system and control method suitable for the transfer of distributed power station front and rear row |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108173508A true CN108173508A (en) | 2018-06-15 |
Family
ID=62520165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711420624.9A Pending CN108173508A (en) | 2017-12-25 | 2017-12-25 | A kind of sweeping robot system and control method suitable for the transfer of distributed power station front and rear row |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108173508A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104096698A (en) * | 2014-06-25 | 2014-10-15 | 徐冉 | Intelligent solar energy battery component cleaning system |
| CN104627148A (en) * | 2015-02-10 | 2015-05-20 | 广州信邦汽车装备制造有限公司 | Novel transverse parking robot |
| CN105381969A (en) * | 2015-12-21 | 2016-03-09 | 中信博新能源科技（苏州）有限公司 | Rail type portable photovoltaic array cleaning device |
| US20170157775A1 (en) * | 2014-06-25 | 2017-06-08 | Miraikikai, Inc. | Self-propelled robot |
-
2017
- 2017-12-25 CN CN201711420624.9A patent/CN108173508A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104096698A (en) * | 2014-06-25 | 2014-10-15 | 徐冉 | Intelligent solar energy battery component cleaning system |
| US20170157775A1 (en) * | 2014-06-25 | 2017-06-08 | Miraikikai, Inc. | Self-propelled robot |
| CN104627148A (en) * | 2015-02-10 | 2015-05-20 | 广州信邦汽车装备制造有限公司 | Novel transverse parking robot |
| CN105381969A (en) * | 2015-12-21 | 2016-03-09 | 中信博新能源科技（苏州）有限公司 | Rail type portable photovoltaic array cleaning device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180615 |