CN108580338B - Unmanned cleaning system for cleaning condenser lens group in concentrating solar equipment - Google Patents
Unmanned cleaning system for cleaning condenser lens group in concentrating solar equipment Download PDFInfo
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- CN108580338B CN108580338B CN201711275820.1A CN201711275820A CN108580338B CN 108580338 B CN108580338 B CN 108580338B CN 201711275820 A CN201711275820 A CN 201711275820A CN 108580338 B CN108580338 B CN 108580338B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 136
- 241001417527 Pempheridae Species 0.000 claims description 100
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 16
- 238000010408 sweeping Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims 3
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 239000000428 dust Substances 0.000 abstract description 4
- 230000000903 blocking effect Effects 0.000 abstract description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 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
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- B08B1/50—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Abstract
The invention discloses an unmanned cleaning system for cleaning a condenser lens group in a concentrating solar device. The unmanned cleaning system is mainly used for unmanned and timed cleaning of the surface of the condenser lens group of the concentrating solar equipment, and can perform cleaning tasks in a three-dimensional dynamic space; the unmanned cleaning system can automatically replace the battery and the cleaning head during working, can continuously work for a long time and has no manual participation; the unmanned cleaning system is low in cost, and can keep light blocking dust of the condenser lens group to be minimized, so that low-cost solar power is obtained.
Description
Technical Field
The invention relates to the technical field of unmanned cleaning, in particular to an unmanned cleaning system suitable for cleaning a condensing lens group in condensing solar equipment.
Background
In the concentrated solar equipment, the conversion efficiency of the solar cell is greatly reduced because the surface of the solar receiving panel is covered with dust to block part of sunlight. In the prior art, one method is to adopt manual cleaning, which has the problems of inconvenient cleaning and high cost; the other is that the roller brush is adopted for automatic cleaning, and the defect that the installation cost is high and the cleaning is not practical exists.
Therefore, a new unmanned cleaning system is needed to periodically and inexpensively complete the unmanned and timed cleaning of the collector lens group in the concentrating solar equipment, so as to obtain efficient and low-cost solar power.
Disclosure of Invention
The invention aims to provide an unmanned cleaning system for cleaning a condenser lens group in a concentrating solar device.
In order to achieve the above object, the present invention employs the following:
an unmanned cleaning system for cleaning a condenser lens group in a concentrating solar device comprises a remote control host, a cleaning machine, an area positioner, a unit positioner and a supply station: the remote control host is used for storing coordinate data of the working unit and the supply station and triggering a cleaning task to the cleaning machine; the sweeper has a sweeper head and a sweeper locator which is an ultrasonic signal transmitter and/or receiver; the area positioner is arranged in each working area, consists of 3 or more than 3 ultrasonic signal transmitters and/or receivers, and is interacted with the sweeper positioner for planning the moving route of the sweeper among the working units; the unit positioner is arranged in each working unit, consists of 3 or more than 3 ultrasonic signal transmitters and/or receivers, and is interacted with the sweeper positioner for planning a sweeping route of the sweeper in the working unit; the supply station comprises a battery layout table and a cleaning head layout table, and is used for replacing batteries and cleaning heads for the sweeping machine.
Furthermore, the remote control host comprises a computer host with storage and control functions and a wireless data transceiving unit; the sweeper comprises a wireless data transceiver module; each locator comprises a wireless data transceiver module.
Furthermore, the cleaning machine comprises a shell, a movable fan blade, a fan blade connecting rod, a cleaning head, a cleaning rod, a connector, a cleaning machine positioner, a battery and a first battery station; the shell is a cylindrical structure with a hollow structure, and a first battery station is arranged in the shell; the three movable fan blades are fixed on the side wall of the shell for a circle through fan blade connecting rods; the cleaning rod penetrates through the upper top surface of the shell, and the lower end of the cleaning rod is connected with the cleaning head through a joint; the lower end of each fan blade connecting rod is provided with a sweeper positioner.
Further, 3 or more ultrasonic signal transmitters and/or receivers in the area locator are distributed at 3 or more different positions of the working area, respectively.
Further, 3 or more ultrasonic signal transmitters and/or receivers in the unit locator are respectively distributed at 3 or more different positions of the working plane.
Further, the zone locator interacts with the sweeper locator for positioning control of the sweeper to the replenishment station.
Furthermore, a second battery station, a plurality of batteries and a battery replenishment unit positioner are arranged on the battery layout table, and the battery replenishment unit positioner and the cleaning machine positioner are used for positioning control of the cleaning machine in the battery layout table in an interactive manner; the cleaning head layout table is provided with a cleaning water tank, a plurality of water throwing buckets and a cleaning head unit positioner, and the cleaning head unit positioner and the cleaning machine positioner are used for positioning control of the cleaning machine in the cleaning head layout table in an interactive mode.
The invention has the following advantages:
the unmanned cleaning system is mainly used for unmanned and timed cleaning of the surface of the condenser lens group of the concentrating solar equipment, and can perform cleaning tasks in a three-dimensional dynamic space; the unmanned cleaning system can automatically replace the battery and the cleaning head during working, can continuously work for a long time and has no manual participation; the unmanned cleaning system is low in cost, and can keep light blocking dust of the condenser lens group to be minimized, so that low-cost solar power is obtained.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the components of the unmanned sweeping system of the present invention.
Fig. 2 is a schematic view of the positional arrangement of the area locator and the unit locator.
Fig. 3 is a schematic view of the construction of the sweeper of the present invention.
Fig. 4 is a schematic view showing a state in which the unmanned cleaning system of the present invention is operated in a working plane of a certain condenser unit.
Fig. 5 is a schematic structural view of a battery layout table.
Fig. 6 is a schematic structural view of a cleaning head layout table.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below in connection with preferred embodiments. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
Examples
Fig. 1 is a schematic view showing the composition of the unmanned sweeping system of the present invention. This unmanned cleaning system that condenser lens group cleaned in can being used to spotlight solar energy equipment includes: a remote control host 1, an area locator 2, a unit locator 3, a sweeper 4, and a replenishment station 5.
The remote control host 1 is used for storing coordinate data of positions of the condenser units in the working area and coordinate data of the supply station, and sending cleaning tasks to the cleaning machine 4. Specifically, the remote control host 1 is composed of a computer host with storage and control functions, a wireless data receiving and transmitting unit and the like; the computer host is used for recording and storing coordinate data of positions (namely working areas) of the condenser lens units in advance and triggering cleaning tasks to the cleaning machine 4 by utilizing data communication between the wireless data transceiver unit and the cleaning machine. The sweeper 4 comprises a wireless data transceiver module. Similarly, each of the positioners referred to herein includes a wireless data transceiver module for communicating data with sweeper 4. Any conventional implementation manner may be used by those skilled in the art to implement the data saving and task triggering functions of the computer host, and will not be described in detail herein.
As shown in fig. 2, a plurality of work units 8 are provided in one work area 7. Within each work area 7 is an area locator 2. A unit positioner 3 is arranged in each working unit 8.
The area locator 2 enables the sweeper to obtain its three-dimensional position coordinates within the working area 7 for positioning control of the sweeper between the various working units 8, and is comprised of 3 or more ultrasonic signal transmitters and/or receivers, each distributed at 3 or more different locations around the periphery of the working area. Each time a positioning task is performed, sweeper 4 communicates with each set of positioners to obtain 3 or more ranging data.
The unit positioner 3 enables the sweeper to obtain three-dimensional position coordinates of the sweeper in each working unit 8, is used for positioning control of the sweeper in a certain working unit 8, and consists of 3 or more ultrasonic signal transmitters and/or receivers which are respectively distributed at 3 or more different positions of a working plane. Each time a positioning task is performed, sweeper 4 communicates with each set of positioners to obtain 3 or more ranging data.
Fig. 3 is a schematic view of the structure of the sweeping machine. The cleaning machine 4 comprises a shell 41, three movable blades 42, three blade connecting rods 43, a cleaning head 44, a cleaning rod 45, a joint 46, a cleaning machine positioner 47, a battery and a first battery station 48. The housing 41 is a cylindrical structure having a hollow structure, and a first battery station 48 (481 in the drawing denotes a charged battery station, and 482 denotes an idle battery station) is provided therein. The three movable blades 42 are fixed on the side wall of the casing 41 by blade links 43. The cleaning rod 45 penetrates the upper top surface of the housing 41, and the lower end thereof is connected to the cleaning head 44 via a joint 46. The lower end of each fan blade connecting rod 43 is provided with a sweeper positioner 47. Sweeper locator 47 is at least one ultrasonic signal transmitter and/or receiver corresponding to the zone locator, unit locator (i.e., sweeper locator 47 is an ultrasonic signal receiver if the zone locator, unit locator is an ultrasonic signal transmitter; and vice versa.) sweeper locator 47 of sweeper 4 operates in cooperation with either zone locator 2 or unit locator 3 to obtain the geometric position of sweeper 4. The movement control portion of sweeper 4 itself may employ any flying drone technology known in the art and will not be described in detail herein.
The supply station 5 is used for feeding back battery station information to the cleaning machine 4 and triggering a task of charging or cleaning the cleaning head according to feedback data of the cleaning machine 4. The replenishment station 5 includes a battery layout table, a cleaning head layout table, and a replenishment station control unit, and may be disposed in a certain work area as a whole or may be separately disposed at a certain position relatively close to the work area. One or more replenishment stations 5 may be provided. If a plurality of replenishment stations 5 are provided, similar to the above-described area positioner 2, a replenishment station area positioner (not shown) for positioning between the plurality of replenishment stations 5 is provided in the entire replenishment unit. If there is only one replenishment station 5, the coordinates of the replenishment station 5 can be located using the area locator 2, and there is no need to provide a replenishment station area locator. Alternatively, the replenishment station 5 can be considered as a work unit, similar to a replenishment unit.
As shown in fig. 5, the battery layout table 51 is provided with a second battery station 52 (521 denotes an empty battery station to be charged, 522 denotes a full battery station), a plurality of batteries 54, and a battery replenishment unit positioner 53. The battery replenishment unit positioner 53 enables the cleaning machine 4 to obtain three-dimensional position coordinates of the cleaning machine in the battery layout table 51, is used for positioning control of the cleaning machine in the battery layout table 51, and is composed of 3 or more ultrasonic signal transmitters and/or receivers which are respectively distributed at 3 or more different positions of the battery layout table 51. Each time a positioning task is performed, sweeper 4 communicates with each set of positioners to obtain 3 or more ranging data.
As shown in fig. 6, the cleaning head layout table is provided with a cleaning water tank 56, a water throwing barrel 57 (two in the figure, which are respectively used for placing the cleaning head to be thrown with water and the cleaning head which has been thrown with water), and a cleaning head unit positioner 58. The cleaner head unit positioner 58 enables the cleaner 4 to obtain three-dimensional position coordinates of the cleaner 4 in the cleaner head layout table, is used for positioning control of the cleaner in the cleaner head layout table, and consists of 3 or more ultrasonic signal transmitters and/or receivers which are respectively distributed at 3 or more different positions on the cleaner head layout table. Each time a positioning task is performed, sweeper 4 communicates with each set of positioners to obtain 3 or more ranging data. A circulating water filter, not shown in the figure, may also be provided on the cleaning head layout table.
The operation of the unmanned cleaning system can be briefly described as follows:
1. sweeper 4 flies into the plane of the target work unit within the area, including the steps of:
1-1) the remote control host 1 triggers a cleaning task to the cleaning machine 4 and sends coordinate data of the current position of the working unit in the area to the cleaning machine 4;
1-2) sweeper locator 47 of sweeper 4 communicates with area locator 2 in a radio wave manner; sweeper locator 47 generates a set of timers and requests that zone locator 2 generate a timer; the sweeper locator 47 sends out an ultrasonic signal and records the sending time; the region positioner 2 records the receiving time after receiving the ultrasonic signal, and sends the receiving time to the sweeper positioner 47; the sweeper positioner 47 calculates the distance between the transmitting point and the receiving point according to the time difference between the transmitting time and the receiving time and the sound wave propagation speed; repeatedly calculating the distance between the transmitting point and the receiving point to obtain the distance between a plurality of points of the sweeper and a plurality of points in the area;
1-3) calculating the coordinates of the working unit and the current relative coordinates of the sweeper 4 according to the obtained distance data and the geometric principle, and planning the moving route of the sweeper 4 according to the relative position data; and (3) in the moving process of the sweeper 4, carrying out the step 1-2) in real time to obtain real-time relative position data until the working unit in the step 1-1) is reached, and ending the task. In the moving process, when the actual current position is different from the planned moving route, the moving track of the cleaning machine 4 is adjusted so that the actual moving track is close to the planned moving route.
2. The sweeper 4 carries out sweeping tasks in the working plane and comprises the following steps:
2-1) after the sweeper 4 reaches the working plane, the sweeper locator 47 communicates with the unit locator 3 in a radio wave mode to obtain the current position of the sweeper 4 in the unit;
2-2) sweeper locator 47 generates a set of timers and requests unit locator 3 to generate a timer; the sweeper locator 47 sends out an ultrasonic signal and records the sending time; the unit positioner 3 records the receiving time after receiving the ultrasonic signal, and sends the receiving time to the sweeper positioner 47; the sweeper positioner 47 calculates the distance between the transmitting point and the receiving point according to the time difference between the transmitting time and the receiving time and the sound wave propagation speed; repeatedly calculating the distance between the transmitting point and the receiving point to obtain the distance between a plurality of points of the sweeper 4 and a plurality of points in the working plane;
2-3) calculating coordinates of a plurality of points in a working plane and a current relative coordinate of the sweeper 4 according to the obtained distance data and a geometric principle, and planning a sweeping moving route and an obstacle avoidance route of the sweeper 4; and in the cleaning moving process of the cleaning machine 4, carrying out the steps 2-2) -2-3) in real time to obtain real-time relative position data until the cleaning machine 4 covers all points of the working plane, and ending the task.
Fig. 4 is a schematic view showing a state in which the unmanned cleaning system of the present invention is operated in a working plane of a certain condenser unit. In fig. 4, the condensing lens group 6 is connected to a condensing photovoltaic cell box 61 on its upper surface via a cell box connecting rod 62, and is connected and fixed to a ground fixing column 64 on its lower surface via a sun tracking adjusting rod 63.
3. The dirty cleaning head of sweeper 4 replacement includes the following steps:
3-1) triggering a cleaning head replacement task according to the set total length of the cleaning route;
3-2) the sweeper 4 requests the remote control host 1 to provide coordinate data of the sweeping head layout table in the area, the sweeper 4 interacts with the area locator 2 to obtain current coordinate data of the sweeper 4 in the area, the sweeper 4 interacts with the area locator 2 (the specific steps are similar to those in the step 1, and are not described herein again), and the sweeper is moved to the sweeping head layout table;
3-3) the sweeper 4 interacts with the cleaning head unit positioner 58 (the specific steps are similar to those in the previous 2 and are not described in detail here), moves into the cleaning tank 56, immerses the cleaning head in the water and then lifts the cleaning head;
3-4) repeating the steps of 3-3) for a plurality of times, then interacting the sweeper 4 with the cleaning head unit positioner 58 again, moving the cleaning head into the empty water throwing barrel 57, unloading the cleaning head, triggering a water throwing task to the control unit of the supply station, and triggering water throwing;
3-5) after the water throwing task is finished, the sweeper 4 interacts with the cleaning head unit positioner 58 again, moves to the position of the water throwing barrel which finishes water throwing, descends to sleeve the cleaning head, loads the cleaned cleaning head, and then returns to the working unit.
4. The cleaner 4 is used for replacing batteries and comprises the following steps:
4-1) when the battery of the sweeper 4 is exhausted, triggering a task of replacing the battery;
4-2) the sweeper 4 requests the remote control host 1 to provide coordinate data of the battery layout table in the area, the sweeper 4 interacts with the area locator 2 to obtain the current coordinate data of the sweeper 4 in the area, and the sweeper 4 interacts with the area locator 2 and moves to the battery layout table;
4-3) the sweeper 4 interacts with the battery replenishment unit positioner 53 (the specific steps are similar to those in the above 2 and are not described again here), obtains the angle of the full battery station 522, moves to the second battery station 52 and rotates to change the angle of the first battery station 51, so that the horizontal coordinate of the idle battery station 481 is consistent with the angle of the full battery station 522;
4-5) dropping onto the second battery station 52, switching on a new battery, and switching off the battery to be depleted; and feeding back the position information of the station 521 of the battery to be charged to the control unit of the supply station to trigger charging.
The unmanned cleaning system is mainly used for unmanned and timed cleaning of the surface of a condenser lens group of the condensing solar equipment, and the whole system only uses a cheap ultrasonic sensor for distance measurement and navigation; the unmanned cleaning system can carry out cleaning tasks in a three-dimensional dynamic space; the unmanned cleaning system can automatically replace the battery and the cleaning head during working, can continuously work for a long time and has no manual participation; the unmanned cleaning system is low in cost, and can keep light blocking dust of the condenser lens group to be minimized, so that low-cost solar power is obtained.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (6)
1. An unmanned cleaning system for cleaning a collection lens assembly in a concentrating solar powered apparatus, comprising:
the remote control host is used for storing coordinate data of the working unit and the supply station and triggering a cleaning task to the cleaning machine;
a sweeper having a sweeper head and a sweeper locator, the sweeper locator being an ultrasonic signal transmitter and/or receiver;
the region positioner is arranged in each working region, consists of 3 or more than 3 ultrasonic signal transmitters and/or receivers, and is interacted with the sweeper positioner for positioning control of the sweeper among the working units;
the unit positioner is arranged in each working unit, consists of 3 or more than 3 ultrasonic signal transmitters and/or receivers, and is interacted with the sweeper positioner for positioning control of the sweeper in the working unit; and
the supply station comprises a battery layout table and a cleaning head layout table and is used for replacing batteries and cleaning heads for the cleaning machine;
3 or more than 3 ultrasonic signal transmitters and/or receivers in the area locator are respectively distributed at 3 or more than different positions of the working area;
3 or more than 3 ultrasonic signal transmitters and/or receivers in the unit locator are respectively distributed at 3 or more than different positions of the working plane;
the interaction process of the area locator and the sweeper locator is as follows: a sweeper locator of the sweeper communicates with the area locator in a radio wave manner; the sweeper locator generates a group of timers and requests the area locator to generate a timer; the cleaner positioner sends out an ultrasonic signal and records sending time; the region locator records the receiving time after receiving the ultrasonic signal and sends the receiving time to the sweeper locator; the sweeper positioner calculates the distance between the transmitting point and the receiving point according to the time difference between the transmitting time and the receiving time and the sound wave propagation speed; repeatedly calculating the distance between the transmitting point and the receiving point to obtain the distance between a plurality of points of the sweeper and a plurality of points in the area; according to the obtained distance data, the coordinates of the working unit and the current relative coordinates of the sweeper are calculated according to a geometric principle, and the moving route of the sweeper is planned according to the relative position data.
2. The unmanned cleaning system for cleaning a collector group in a concentrated solar power plant according to claim 1, wherein the cleaning machine comprises a housing, a movable fan blade, a fan blade connecting rod, a cleaning head, a cleaning rod, a joint, a cleaning machine positioner, a battery and a first battery station; the shell is a cylindrical structure with a hollow structure, and a first battery station is arranged in the shell; the three movable fan blades are fixed on the side wall of the shell for a circle through fan blade connecting rods; the cleaning rod penetrates through the upper top surface of the shell, and the lower end of the cleaning rod is connected with the cleaning head through a joint; the lower end of each fan blade connecting rod is provided with a sweeper positioner.
3. The unmanned cleaning system for cleaning a collection optic of a concentrating solar powered apparatus as claimed in claim 1, wherein said zone locator interacts with a sweeper locator for positioning control of the sweeper to the replenishment station.
4. The unmanned cleaning system for cleaning condenser lens groups in a concentrated solar power equipment as claimed in claim 1 or 3, wherein the battery layout table is provided with a second battery station, a plurality of batteries and a battery replenishment unit locator, and the battery replenishment unit locator and the cleaner locator are used for interaction in positioning control of the cleaner in the battery layout table.
5. The unmanned cleaning system for cleaning condensing lens group in concentrating solar equipment as claimed in claim 1 or 3, wherein said cleaning head layout table is provided with a cleaning water tank, a plurality of water throwing buckets and a cleaning head unit locator, and the cleaning head unit locator and the sweeper locator are used for interaction for positioning control of the sweeper in the cleaning head layout table.
6. The unmanned sweeping system for sweeping a collection of condensing lens assemblies in a concentrating solar powered equipment as claimed in claim 1, wherein said unit locator interacts with said sweeper locator by: after the sweeper reaches the working plane, the sweeper positioner communicates with the unit positioner in a radio wave mode to obtain the current position of the sweeper in the unit; the sweeper locator generates a group of timers and requests the unit locator to generate a timer in parallel; the cleaner positioner sends out an ultrasonic signal and records sending time; the unit positioner records the receiving time after receiving the ultrasonic signal and sends the receiving time to the sweeper positioner;
the sweeper positioner calculates the distance between the transmitting point and the receiving point according to the time difference between the transmitting time and the receiving time and the sound wave propagation speed; repeatedly calculating the distance between the transmitting point and the receiving point to obtain the distance between a plurality of points of the sweeper and a plurality of points in the working plane; according to the obtained distance data and the geometric principle, the coordinates of a plurality of points in the working plane and the current relative coordinates of the sweeper are calculated, and a sweeping moving route and an obstacle avoidance route of the sweeper are planned.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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 CN108580338A (en) | 2018-09-28 |
| CN108580338B true CN108580338B (en) | 2021-02-26 |
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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 |
| 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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| CN201641885U (en) * | 2009-12-11 | 2010-11-24 | 杭州亿脑智能科技有限公司 | Cleaning robot positioning system |
| JP6179346B2 (en) * | 2013-10-24 | 2017-08-16 | シンフォニアテクノロジー株式会社 | Solar panel cleaning device |
| CN107348917B (en) * | 2014-09-03 | 2021-04-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, wall cleaning method thereof and wall cleaning system adopting unmanned aerial vehicle |
| JP6429997B2 (en) * | 2014-09-03 | 2018-11-28 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | UAV, wall body cleaning method therefor, and wall body cleaning system using this UAV |
| CN105799910B (en) * | 2016-03-17 | 2018-02-09 | 辽宁宏成电力股份有限公司 | Photovoltaic panel monitoring cleaning air-robot system and photovoltaic panel method for cleaning |
| 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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