CN108580338A - It can be used for the unmanned purging system that optically focused microscope group cleans in Photospot solar equipment - Google Patents
It can be used for the unmanned purging system that optically focused microscope group cleans in Photospot solar equipment Download PDFInfo
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- CN108580338A CN108580338A CN201711275820.1A CN201711275820A CN108580338A CN 108580338 A CN108580338 A CN 108580338A CN 201711275820 A CN201711275820 A CN 201711275820A CN 108580338 A CN108580338 A CN 108580338A
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- scavenging machine
- locator
- cleaning
- cell
- unmanned
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- 238000010926 purge Methods 0.000 title claims abstract description 23
- 230000002000 scavenging effect Effects 0.000 claims abstract description 121
- 238000004140 cleaning Methods 0.000 claims abstract description 86
- 238000000034 method Methods 0.000 claims description 8
- 239000000428 dust Substances 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 239000000203 mixture Substances 0.000 description 6
- 241001269238 Data Species 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005494 condensation Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- 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, brushes, or analogous members
-
- B08B1/50—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Abstract
Can be used for the unmanned purging system that optically focused microscope group cleans in Photospot solar equipment, including long-range control host machine, scavenging machine, region locator, cell location device and depot the invention discloses a kind of.The unmanned purging system of the present invention is mainly used for unmanned, the fixed time cleaning on the optically focused microscope group surface of Photospot solar equipment, can implement cleaning task in Three-Dimensional Dynamic space；The unmanned purging system can replace battery and cleaning head automatically at work, can continuously work long hours, and prosthetic participates in；The unmanned purging system it is of low cost, can keep optically focused microscope group be in the light dust minimum, to obtain cheap solar electric power.
Description
Technical field
The present invention relates to unmanned cleaning technology field, optically focused microscope group especially a kind of equipment suitable for Photospot solar
The unmanned purging system cleaned.
Background technology
In Photospot solar equipment, since the surface covering dust of solar energy receiving panel has blocked part sunlight,
The transformation efficiency of solar cell is caused to be greatly reduced.In the prior art, one is using hand sweeping, there is cleaning not side
Just, problem of high cost；Another kind is to use roller brush automatic cleaning, and there are installation cost height to lead to unpractical drawback.
Therefore, it is necessary to a kind of novel unmanned purging systems to come in completing to equip Photospot solar periodically, at low cost
Unmanned, the timing of optically focused microscope group clean, to obtain efficient, inexpensive solar electric power.
Invention content
Can be used for the unmanned cleaning that optically focused microscope group cleans in Photospot solar equipment the purpose of the present invention is to provide a kind of
System.
To achieve the above object, the present invention uses the following contents：
It is a kind of to can be used for the unmanned purging system that optically focused microscope group cleans in Photospot solar equipment, including remote control master
Machine, scavenging machine, region locator, cell location device and depot：The long-range control host machine is for preserving working cell and benefit
Coordinate data to station simultaneously triggers cleaning task to scavenging machine；The scavenging machine has cleaning head and scavenging machine locator, described
Scavenging machine locator is ultrasonic signal emission device and/or receiver；The region locator is arranged in each operating area, by
3 or more ultrasonic signal emission devices and/or receiver composition, interact with scavenging machine locator for planning scavenging machine in each work
Make the mobile route between unit；The cell location device is arranged in each working cell, by 3 or more ultrasonic signal emissions
Device and/or receiver composition, the sweep-out pattern for planning scavenging machine in working cell is interacted with scavenging machine locator；It is described
Depot includes cell arrangements platform and cleaning head layout platform, for replacing battery and cleaning head to scavenging machine.
Further, the long-range control host machine includes that host computer, wireless data with storage and control function are received
Bill member；The scavenging machine includes wireless data transceiver module；It include wireless data transceiver module in each locator.
Further, the scavenging machine includes shell, mobile fan blade, fan blade connecting rod, cleaning head, cleaning bar, connector, cleaning
Machine locator, battery and the first cell station；Shell is the cylindrical structure for having hollow structure, and the first battery is arranged inside
Station；Three mobile fan blades are fixed on the side wall one week of shell through fan blade connecting rod respectively；Cleaning bar penetrates the upper top surface of shell, under
End connects cleaning head through connector；The lower end of each fan blade connecting rod sets that there are one scavenging machine locators.
Further, 3 or more ultrasonic signal emission devices and/or receiver are respectively distributed in the region locator
3 or more different positions of operating area.
Further, 3 or more ultrasonic signal emission devices and/or receiver are respectively distributed in the cell location device
3 or more different positions of working face.
Further, the region locator interacts the positioning control to depot for scavenging machine with scavenging machine locator
System.
Further, if the cell arrangements platform is equipped with the second cell station, dry cell and battery and feeds cell location
Device, battery supply cell location device is interacted with scavenging machine locator is used for location control of the scavenging machine in cell arrangements platform；Institute
State cleaning head layout platform and be equipped with Rinsing Area, several maching wringing tubes and cleaning head cell location device, cleaning head cell location device with it is clear
Sweep location control of the machine locator interaction for scavenging machine in cleaning head layout platform.
The present invention has the following advantages：
The unmanned purging system of the present invention is mainly used for unmanned, the timing on the optically focused microscope group surface of Photospot solar equipment
Cleaning can implement cleaning task in Three-Dimensional Dynamic space；The unmanned purging system can replace battery and clear automatically at work
Head is swept, can continuously be worked long hours, and prosthetic participates in；The unmanned purging system it is of low cost, optically focused microscope group can be kept
The dust that is in the light minimizes, to obtain cheap solar electric power.
Description of the drawings
Specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the composition schematic diagram of the unmanned purging system of the present invention.
Fig. 2 is region locator and the position arrangement schematic diagram of cell location device.
Fig. 3 is the structural schematic diagram of the scavenging machine of the present invention.
Fig. 4 is state signal when the unmanned purging system of the present invention works in the working face of some optically focused mirror unit
Figure.
Fig. 5 is the structural schematic diagram of cell arrangements platform.
Fig. 6 is the structural schematic diagram of cleaning head layout platform.
Specific implementation mode
In order to illustrate more clearly of the present invention, with reference to preferred embodiment, the present invention is described further.Ability
Field technique personnel should be appreciated that following specifically described content is illustrative and be not restrictive, this should not be limited with this
The protection domain of invention.
Embodiment
As shown in Figure 1, being the composition schematic diagram of the unmanned purging system of the present invention.This can be used in Photospot solar equipment
The unmanned purging system that optically focused microscope group cleans, including：Long-range control host machine 1, region locator 2, cell location device 3, scavenging machine 4
With depot 5.
Long-range control host machine 1 is used to preserve the coordinate data and benefit of each optically focused mirror unit present position in operating area
To the coordinate data at station, and cleaning task is sent to scavenging machine 4.Specifically, long-range control host machine 1 is by carrying storage and control work(
The compositions such as host computer, the wireless data transceiving unit of energy；Host computer preserves each optically focused mirror unit institute for advance typing
Locate position (i.e. operating area) coordinate data, and using between wireless data transceiving unit and scavenging machine into row data communication come
Cleaning task is triggered to scavenging machine 4.It include wireless data transceiver module on scavenging machine 4.Equally, present document relates to each locator in
Include between wireless data transceiver module, with scavenging machine 4 into row data communication.Those skilled in the art can be used existing
Realization method anticipate to realize data preservation and the triggering task function of host computer, herein without detailed description.
As shown in Fig. 2, having multiple working cells 8 in an operating area 7.It is fixed it to be equipped with region in each operating area 7
Position device 2.It is equipped with cell location device 3 in each working cell 8.
Region locator 2 makes scavenging machine obtain its three-dimensional location coordinates in operating area 7, for scavenging machine each
Location control between working cell 8 is made of 3 or more ultrasonic signal emission devices and/or receiver, is respectively distributed to make
3 or more different positions of the periphery in industry region.When executing location tasks each time, scavenging machine 4 and each group of locator
Communication obtains 3 or more ranging datas.
Cell location device 3 makes scavenging machine obtain its three-dimensional location coordinates in each working cell 8, exists for scavenging machine
Location control in some working cell 8 is made of 3 or more ultrasonic signal emission devices and/or receiver, is respectively distributed to
3 or more different positions of working face.When executing location tasks each time, scavenging machine 4 is communicated with each group of locator,
Obtain 3 or more ranging datas.
Fig. 3 is the structural schematic diagram of scavenging machine.Scavenging machine 4 includes mobile 42, the three fan blade connecting rods of fan blade of shell 41, three
43, cleaning head 44, cleaning bar 45, connector 46, scavenging machine locator 47, battery, the first cell station 48.Shell 41 is in having
The cylindrical structure of hollow structure, the first cell station 48 is arranged inside, and (481 indicate packed battery station in figure, and 482 indicate empty
Not busy cell station).Three mobile fan blades 42 are fixed on the side wall one week of shell 41 through fan blade connecting rod 43 respectively.Cleaning bar 45 penetrates
The upper top surface of shell 41, lower end connect cleaning head 44 through connector 46.It is fixed that the lower end of each fan blade connecting rod 43 sets that there are one scavenging machines
Position device 47.Scavenging machine locator 47 be at least one ultrasonic signal emission device and/or receiver, it is fixed with region locator, unit
Position device is corresponding, and (i.e. if region locator, cell location device are ultrasonic signal emission devices, scavenging machine locator 47 is ultrasound
Signal receiver；Vice versa.) scavenging machine 4 scavenging machine locator 47 and region locator 2 or cell location device 3 between assist
It runs, to obtain the geometric position residing for scavenging machine 4.The mobile control division of itself point of scavenging machine 4 can be used in the prior art
Arbitrary flight unmanned air vehicle technique, herein without detailed description.
Depot 5 is used to feed back cell station information to scavenging machine 4, while being filled according to the triggering of the feedback data of scavenging machine 4
Electricity or cleaning cleaning head task.Depot 5 includes cell arrangements platform, cleaning head layout platform and depot's control unit, integrally may be used
It is arranged in some operating area, can also be to be provided separately within some position for being closer to operating area.It can be provided with
One or more depots 5.It is similar with region locator 2 above if being equipped with multiple depots 5, it is entire to feed in unit
It is additionally provided with depot's region locator (not shown) for being positioned between multiple depots 5.If only there are one supplies
Stand 5, then the coordinate using area locator 2 of depot 5 can position, and no longer need to setting depot region locator.Or
Depot 5 can be regarded as it is similar with a working cell, for feed unit.
As shown in figure 5, cell arrangements platform 51 is equipped with the second cell station 52, (521 indicate spare batteries to be charged in figure
Station, 522 indicate completely to measure cell station) if, dry cell 54, battery supply cell location device 53.Battery feeds cell location device
53 make scavenging machine 4 obtain its three-dimensional location coordinates in cell arrangements platform 51, for scavenging machine in cell arrangements platform 51
Location control is made of 3 or more ultrasonic signal emission devices and/or receiver, is respectively distributed to 3 of cell arrangements platform 51
Or more different positions.When executing location tasks each time, scavenging machine 4 is communicated with each group of locator, obtains 3 or more
Ranging data.
As shown in fig. 6, cleaning head layout platform is equipped with Rinsing Area 56, maching wringing tube 57 (there are two in figure, is respectively used to place
Wait for water dumping cleaning head and water dumping cleaning head), cleaning head cell location device 58.Cleaning head cell location device 58 makes scavenging machine 4 obtain
Its three-dimensional location coordinates in cleaning head layout platform is obtained, for location control of the scavenging machine in cleaning head layout platform, by 3
Or more ultrasonic signal emission device and/or receiver composition, be respectively distributed to cleaning head layout platform on 3 or more it is different
Position.When executing location tasks each time, scavenging machine 4 is communicated with each group of locator, obtains 3 or more ranging datas.
It is also provided with circulating water strainer on cleaning head layout platform, is not shown in figure.
Each process when now being run to the unmanned purging system is summarized as follows：
1, in the flight to the plane of the target operation unit in region of scavenging machine 4, include the following steps：
1-1) long-range control host machine 1 triggers cleaning task to scavenging machine 4, and by the current location of working cell in region
Coordinate data is sent to scavenging machine 4；
1-2) the scavenging machine locator 47 of scavenging machine 4 is communicated in a manner of radio wave between region locator 2；Scavenging machine
Locator 47 generate one group of timer, and ask region locator 2 generate and when timer；Scavenging machine locator 47 sends out super
Acoustical signal, and record and send out the time；Region locator 2 records receiving time after receiving ultrasonic signal, and receiving time is sent
To scavenging machine locator 47；Scavenging machine locator 47 according to the time difference and acoustic wave propagation velocity for sending out time and receiving time come
Calculate the distance of launch point and receiving point；The distance for computing repeatedly launch point and receiving point, be cleaned machine multiple points and
The distance between multiple points in region；
1-3) according to the range data of acquisition, according to geometrical principle, coordinate and the scavenging machine 4 for calculating working cell are current
Residing relative coordinate cooks up the mobile route of scavenging machine 4 according to station-keeping data；It is real in 4 moving process of scavenging machine
Shi Jinhang step 1-2), real-time station-keeping data is obtained, until reaching 1-1) in working cell, task terminates.It is moving
During dynamic, when difference occurs for the mobile route of practical current location and planning, the motion track of scavenging machine 4 is adjusted, so that
Practical motion track and the mobile route of planning close to.
2, scavenging machine 4 carries out cleaning task in the working face, includes the following steps：
2-1) scavenging machine 4 reach working face in after, scavenging machine locator 47 in a manner of radio wave with cell location device 3
Between communicate, obtain its current location in unit；
2-2) scavenging machine locator 47 generate one group of timer, and request unit locator 3 generate and when timer；Clearly
It sweeps machine locator 47 and sends out ultrasonic signal, and record and send out the time；Cell location device 3, which receives, to be recorded after ultrasonic signal when receiving
Between, and receiving time is sent to scavenging machine locator 47；Scavenging machine locator 47 according to send out time and receiving time when
Between difference and acoustic wave propagation velocity calculate the distance of launch point and receiving point；Compute repeatedly out launch point and receiving point away from
From the distance between the multiple points being cleaned in the multiple points and the working face of machine 4；
2-3) according to the range data of acquisition, according to geometrical principle, calculate multiple points in working face coordinate and
The relative coordinate that scavenging machine 4 is presently in cooks up the cleaning mobile route and avoidance route of scavenging machine 4；In the clear of scavenging machine 4
Sweep in moving process, carry out step 2-2 in real time)~2-3), real-time station-keeping data is obtained, until the covering of scavenging machine 4 should
The all the points of working face, task terminate.
Fig. 4 is state signal when the unmanned purging system of the present invention works in the working face of some optically focused mirror unit
Figure.In Fig. 4, surface is connected with Condensation photovoltaic battery box 61 to optically focused microscope group 6 through battery case connecting rod 62 on it, is passed through in its lower surface
Solar tracking adjusting rod 63 is connected to ground fixed column 64.
3, scavenging machine 4 replaces dirty cleaning head, includes the following steps：
3-1) according to the total length of the sweep-out pattern set, triggering cleaning head replaces task；
3-2) scavenging machine 4 asks long-range control host machine 1 to provide coordinate data of the cleaning head layout platform in region, scavenging machine
4 interact with region locator 2 obtained from the changing coordinates data in region, and scavenging machine 4 interacts (tool with region locator 2
Body step is similar with above 1, and details are not described herein), it is moved on cleaning head layout platform；
3-3) (specific steps are similar with above 2, no longer superfluous herein with the interaction of cleaning head cell location device 58 for scavenging machine 4
State), it is moved in Rinsing Area 56, lifts cleaning head after cleaning head is immersed in water；
3-4) repeat 3-3) step several times after, scavenging machine 4 is interacted with cleaning head cell location device 58 again, by cleaning head
Mobile to be put into vacant maching wringing tube 57 and unload cleaning head, triggering water dumping task to depot's control unit triggers water dumping；
After 3-5) completing water dumping task, scavenging machine 4 is interacted with cleaning head cell location device 58 again, and it is complete to be moved to water dumping
At maching wringing tube at, decline and entangle cleaning head and load the cleaning head that has cleaned up, return to working cell later.
4, scavenging machine 4 replaces battery, includes the following steps：
When 4-1) battery of scavenging machine 4 exhausts soon, battery task is replaced in triggering；
4-2) scavenging machine 4 asks long-range control host machine 1 to provide coordinate data of the cell arrangements platform in region, scavenging machine 4
It is interacted with region locator 2 obtained from the changing coordinates data in region, scavenging machine 4 is interacted with region locator 2, mobile
Onto cell arrangements platform；
4-3) (specific steps are similar with above 2, herein no longer with 53 interaction of battery supply cell location device for scavenging machine 4
Repeat), the angle completely where amount cell station 522 is obtained, the second cell station 52 is moved to and rotates and replace the first battery work
The angle of position 51 keeps the horizontal coordinate of spare batteries station 481 consistent with the angle where completely amount cell station 522；
It 4-5) drops on the second cell station 52, connects new battery, disconnect battery to be exhausted；By cell station to be charged
521 location information feeds back to depot's control unit, triggering charging.
The unmanned purging system of the present invention is mainly used for unmanned, the timing on the optically focused microscope group surface of Photospot solar equipment
Cleaning, whole system only use cheap ultrasonic sensor and carry out range-finding navigation；The unmanned purging system can be in Three-Dimensional Dynamic
Implement cleaning task in space；The unmanned purging system can replace battery and cleaning head automatically at work, can continuous long-time work
Make, and prosthetic participates in；The unmanned purging system it is of low cost, can keep optically focused microscope group be in the light dust minimum, to
Obtain cheap solar electric power.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is every to belong to this hair
Row of the obvious changes or variations that bright technical solution is extended out still in protection scope of the present invention.
Claims (9)
1. a kind of can be used for the unmanned purging system that optically focused microscope group cleans in Photospot solar equipment, which is characterized in that including：
Long-range control host machine, coordinate data for preserving working cell and depot simultaneously trigger cleaning task to scavenging machine；
Scavenging machine has cleaning head and scavenging machine locator, and the scavenging machine locator is ultrasonic signal emission device and/or reception
Device；
Region locator is arranged in each operating area, is made of 3 or more ultrasonic signal emission devices and/or receiver,
It is interacted with scavenging machine locator and is used for location control of the scavenging machine between each working cell；
Cell location device is arranged in each working cell, is made of 3 or more ultrasonic signal emission devices and/or receiver,
It is interacted with scavenging machine locator and is used for location control of the scavenging machine in working cell；And
Depot, including cell arrangements platform and cleaning head are laid out platform, for replacing battery and cleaning head to scavenging machine.
2. a kind of unmanned cleaning system can be used for optically focused microscope group cleaning in Photospot solar equipment according to claim 1
System, which is characterized in that the scavenging machine includes shell, mobile fan blade, fan blade connecting rod, cleaning head, cleaning bar, connector, scavenging machine
Locator, battery and the first cell station；Shell is the cylindrical structure for having hollow structure, and the first battery work is arranged inside
Position；Three mobile fan blades are fixed on the side wall one week of shell through fan blade connecting rod respectively；Cleaning bar penetrates the upper top surface of shell, lower end
Cleaning head is connected through connector；The lower end of each fan blade connecting rod sets that there are one scavenging machine locators.
3. a kind of unmanned cleaning system can be used for optically focused microscope group cleaning in Photospot solar equipment according to claim 1
System, which is characterized in that 3 or more ultrasonic signal emission devices and/or receiver are respectively distributed to make in the region locator
3 or more the different positions in industry region.
4. a kind of unmanned cleaning system can be used for optically focused microscope group cleaning in Photospot solar equipment according to claim 1
System, which is characterized in that 3 or more ultrasonic signal emission devices and/or receiver are respectively distributed to work in the cell location device
Make 3 or more different positions of plane.
5. a kind of unmanned cleaning system can be used for optically focused microscope group cleaning in Photospot solar equipment according to claim 1
System, which is characterized in that the region locator interacts the location control to depot for scavenging machine with scavenging machine locator.
6. a kind of according to claim 1 or 5 can be used for the unmanned cleaning that optically focused microscope group cleans in Photospot solar equipment
System, which is characterized in that if the cell arrangements platform is equipped with the second cell station, dry cell and battery and feeds cell location
Device, battery supply cell location device is interacted with scavenging machine locator is used for location control of the scavenging machine in cell arrangements platform.
7. a kind of according to claim 1 or 5 can be used for the unmanned cleaning that optically focused microscope group cleans in Photospot solar equipment
System, which is characterized in that the cleaning head layout platform is equipped with Rinsing Area, several maching wringing tubes and cleaning head cell location device, clearly
It sweeps head unit locator and interacts the location control for being used for scavenging machine in cleaning head layout platform with scavenging machine locator.
8. a kind of unmanned cleaning system can be used for optically focused microscope group cleaning in Photospot solar equipment according to claim 1
System, which is characterized in that the process that the region locator is interacted with scavenging machine locator is：The scavenging machine locator of scavenging machine with
It is communicated between radio wave mode and region locator；Scavenging machine locator generates one group of timer, and asks region locator
Timer when generating simultaneously；Scavenging machine locator sends out ultrasonic signal, and records and send out the time；Region locator receives ultrasonic letter
Receiving time is recorded after number, and receiving time is sent to scavenging machine locator；Scavenging machine locator the time and connects according to sending out
Time difference and acoustic wave propagation velocity between time receiving calculate the distance of launch point and receiving point；Compute repeatedly launch point and reception
The distance of point, the distance between the multiple points being cleaned in the multiple points and region of machine；According to the range data of acquisition, according to
Geometrical principle calculates the coordinate of working cell and relative coordinate that scavenging machine is presently in, is planned according to station-keeping data
Go out the mobile route of scavenging machine.
9. a kind of unmanned cleaning system can be used for optically focused microscope group cleaning in Photospot solar equipment according to claim 1
System, which is characterized in that the process that the cell location device is interacted with scavenging machine locator is：Scavenging machine reaches in working face
Afterwards, scavenging machine locator is communicated in a manner of radio wave between cell location device, obtains its current location in unit；Clearly
Sweep machine locator generate one group of timer, and request unit locator generate and when timer；Scavenging machine locator sends out super
Acoustical signal, and record and send out the time；Cell location device records receiving time after receiving ultrasonic signal, and receiving time is sent to
Scavenging machine locator；Scavenging machine locator is calculated according to the time difference and acoustic wave propagation velocity that send out time and receiving time
The distance of launch point and receiving point；The distance for computing repeatedly out launch point and receiving point is cleaned the multiple points and the work of machine
Make the distance between multiple points in plane；It is calculated in working face according to geometrical principle according to the range data of acquisition
The relative coordinate that the coordinate and scavenging machine of multiple points are presently in cooks up the cleaning mobile route and avoidance route of scavenging machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711275820.1A CN108580338B (en) | 2017-12-06 | 2017-12-06 | Unmanned cleaning system for cleaning condenser lens group in concentrating solar equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711275820.1A CN108580338B (en) | 2017-12-06 | 2017-12-06 | Unmanned cleaning system for cleaning condenser lens group in concentrating solar equipment |
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| CN108580338A true CN108580338A (en) | 2018-09-28 |
| CN108580338B CN108580338B (en) | 2021-02-26 |
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| CN201711275820.1A Expired - Fee Related CN108580338B (en) | 2017-12-06 | 2017-12-06 | Unmanned cleaning system for cleaning condenser lens group in concentrating solar equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109746209A (en) * | 2019-02-14 | 2019-05-14 | 浙江中控太阳能技术有限公司 | A kind of heliostat cleaning equipment and its cleaning method |
| CN113644731A (en) * | 2021-07-23 | 2021-11-12 | 国家电网有限公司 | Open-air power supply system for supplying power to unmanned aerial vehicle nest |
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| CN105786017A (en) * | 2016-04-01 | 2016-07-20 | 常州天合光能有限公司 | Photovoltaic power station survey, operation and maintenance system based on unmanned aerial vehicle |
| CN106272336A (en) * | 2016-08-30 | 2017-01-04 | 浙江克里蒂弗机器人科技有限公司 | A kind of intelligent cleaning robot device for photovoltaic battery panel group and the localization method of cleaning robot |
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| CN109746209A (en) * | 2019-02-14 | 2019-05-14 | 浙江中控太阳能技术有限公司 | A kind of heliostat cleaning equipment and its cleaning method |
| CN113644731A (en) * | 2021-07-23 | 2021-11-12 | 国家电网有限公司 | Open-air power supply system for supplying power to unmanned aerial vehicle nest |
| CN113644731B (en) * | 2021-07-23 | 2024-04-23 | 国家电网有限公司 | Open-air power supply system that supplies power to unmanned aerial vehicle nest |
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