CN108772318A - A kind of solar panels intelligence snow removing dedusting robot and its control method - Google Patents
A kind of solar panels intelligence snow removing dedusting robot and its control method Download PDFInfo
- Publication number
- CN108772318A CN108772318A CN201810564474.7A CN201810564474A CN108772318A CN 108772318 A CN108772318 A CN 108772318A CN 201810564474 A CN201810564474 A CN 201810564474A CN 108772318 A CN108772318 A CN 108772318A
- Authority
- CN
- China
- Prior art keywords
- solar panels
- crawler body
- support plate
- snow
- supporting rack
- 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
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 7
- 239000000428 dust Substances 0.000 abstract description 10
- 238000004140 cleaning Methods 0.000 abstract description 7
- 238000010248 power generation Methods 0.000 abstract description 6
- 230000009467 reduction Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000037805 labour Diseases 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010410 dusting Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- 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
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- 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
-
- 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
-
- 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
- H02S40/12—Means for removing snow
-
- 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
- Photovoltaic Devices (AREA)
Abstract
A kind of solar panels intelligence snow removing dedusting robot and its control method, including crawler body, it is provided with wiring mechanism at the top of the crawler body, it is bolted with snowplow shovel board at the top of one end support base of the crawler body, it is bolted with disc brush at the top of the other end support base of the crawler body, apparatus of the present invention pass through snowplow shovel board, disc brush, wiring mechanism and crawler body, the accumulated snow on solar panels can be cleaned for northern area, the dust on solar panels can also be cleaned simultaneously, the dust on solar panels can be cleaned for southern area, first, members is avoided to be blocked, solar energy light panel components are caused blackening locally occur, in turn result in open-circuit voltage reduction, short circuit current reduces, the phenomenon of temperature apparent increase, apparatus of the present invention cleaning can ensure overall power generation amount in time；Second is that apparatus of the present invention can replace a large amount of hand labor, reduces and clean cost.
Description
Technical field
The invention belongs to photovoltaic generating system auxiliary Tools Technology, more particularly to a kind of solar panels intelligently remove
Dirt robot and its control method.
Background technology
The policy dynamics of help from government solar power generation industry continues to increase in recent years, solar energy project in all parts of the country
Exploitation is in blowout situation, and China moves towards photovoltaic application big country by the first in the world photovoltaic big producer.According to data, China
The influence of the regional dust component of extensive installation photovoltaic plant is more than 25%, and in actually measuring, lack safeguard hand individually
The power station of section, generated energy loss up to 40%, photovoltaic module generating efficiency often promotes 1%-2%, will expend a large amount of research and development money
Gold, pollution of the dust to photovoltaic module so that decrease of power generation 25%-40% seriously affects gene-ration revenue；Solar panels remove
Also very significantly, blocking for accumulated snow causes decrease in power generation efficiency for influence of the accumulated snow to generating efficiency except being influenced by dust,
Rate of descent limits the performance of the normal efficiency of photovoltaic panel, scholars are to light for profit of North China Electric Power University etc. up to 25% or more
Underlying surface plate makes a search in the influence of shadow occlusion, when showing that the area of shadow occlusion is less than 50%, the output performance of photovoltaic panel
There is decline but normal level can also be maintained, when shielded area is more than 50%, the output performance of photovoltaic panel drastically declines, and opens
Road voltage and short circuit current all fall to original 3%, and output power almost drops to 0, therefore, to improve photovoltaic generating system
Returns of investment ensure gene-ration revenue, need to carry out in time, effectively cleaning to photovoltaic module surface dirt.Since photovoltaic panel is
Series connection and parallel operation, under irradiation by sunlight, once members are blocked, the component of shield portions will be from generating element
Become consuming components, under the influence of internal resistance, the temperature of shield portions can increase, and be far longer than the portion not being blocked
Point.When summer, the photovoltaic panel surface measured is shined upon temperature at 60 DEG C or so, long if itself generating heat again
The high temperature of time just will appear the damage phenomenon of generating element, also found in its experiment, as long as a photovoltaic module occurs
The blackening of part will result in the reduction of open-circuit voltage, and short circuit current reduces, and temperature is significantly raised.
The most photovoltaic generating systems built up at present are not equipped with dedicated dust cleaning facility, only depend on rainfall
The dust stratification of photovoltaic panel is removed with operation of nature such as natural winds, random larger, effect is general；Also it is exactly to carry out artificial mark spraying
Dirt is swept in water dedusting, needs a large amount of hand labors, and for the large-sized photovoltaic power station of remote districts, cleaning cost is high, and
Northern China, Winter Snow is frequent and snowfall is larger is not easy to melt, cause photovoltaic storage battery plants surface long term accumulated snow without
Method generates electricity, and then influences the overall power generation amount of photovoltaic system.
Invention content
In view of the drawbacks of the prior art, the present invention provides a kind of solar panels intelligence snow removing dedusting robot and its controlling party
Method.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of solar panels intelligently snow removing dedusting robot, including crawler body, be provided at the top of the crawler body around
Restrict mechanism, and snowplow shovel board, the other end support of the crawler body are bolted at the top of one end support base of the crawler body
Seat top is bolted with disc brush.
The central raised part of the support base of the crawler body is provided with support plate, and the support plate top is close to snow
Plough shovel board side left and right ends are respectively arranged with the first infrared sensor and buzzer, the support base of the crawler body
It is provided with the second infrared sensor in the middle part of lower convex platform front end face, front wheel driving is installed between two front-wheel of crawler body bottom end
Motor is moved, rear wheel drive motor is installed between two trailing wheel of crawler body bottom end, the crawler body bottom end is close to trailing wheel
Driving motor side is provided with microcontroller, and the crawler body bottom end is provided with sleet sense close to front-wheel drive motor side
Answer device, the crawler body projection portion intracavity sidewall that self-test accumulator is installed.
The snowplow shovel board includes first base and the first support plate, and the first support is provided at the top of the first base
Frame, the first supporting rack top are rotatablely equipped with the second supporting rack, the second supporting rack middle part otic placode and the first supporting rack
Between the first electric pushrod is installed, second supporting rack end middle and upper part and the first support plate rear end middle and upper part are equipped with the
Two electric pushrods are rotated by lifting lug between second supporting rack end middle and lower part and the first support plate rear end middle and lower part and are pacified
Dress, the first support front edge of board surrounding are equipped with scoop by third electric pushrod, and the scoop middle and lower part is provided with dedusting
Mop.
The disc brush includes second base, and third supporting rack, the third support are equipped at the top of the second base
Top of the trellis is rotatablely equipped with long connecting rod, and the 4th electricity is equipped between the otic placode in the middle part of third supporting rack middle and lower part and long connecting rod
Dynamic push rod, the long connecting rod end are equipped with short connecting rod, and the short connecting rod bottom is provided with the second support plate, second support
Plate is connect with the 5th electric pushrod one end, is connect at the top of the 5th electric pushrod other end and third support plate, the third
The first driving motor is provided in the middle part of support plate, output shaft and the brush plate of first driving motor are fixedly mounted.
The wiring mechanism includes multi-diameter shaft, and the multi-diameter shaft outer surface is provided with reel, and the reel bottom resists rank
The boss upper surface of terraced axis, the reel top step axis outer surface are bolted with not-go-end nut, the multi-diameter shaft outer surface setting
There are cylinder roller bearing, the cylinder roller bearing inner ring to be interference fitted with multi-diameter shaft, the cylinder roller bearing outer ring and shoe
Support plate boss inner surface interference fit with chassis, and cylinder roller bearing is located at reel lower end, the cylinder roller bearing
Retarder is provided on the multi-diameter shaft of lower end, the retarder output end is provided with the second driving motor.
First infrared sensor, the second infrared sensor and sleet inductor output end respectively with miniature control
Device input terminal is electrically connected, and the microcontroller output end is electric with the first driving motor, the second driving motor, front-wheel drive respectively
Machine, rear wheel drive motor and buzzer electrical connection.
A kind of control method of solar panels intelligence snow removing dedusting robot, using a kind of intelligently snow removing dedusting of solar panels
Robot includes the following steps：
Step 1, charging complete, start to work, sleet inductor detect whether it is snowy, it is snowy, snowplow shovel put down；
Step 2, no snow, the rotation of snowplow shovel board, disc brush decentralization；
Step 3, the first infrared sensor have detected whether barrier, without barrier, front-wheel drive motor and trailing wheel
Driving motor starts, and device is started to work；There are barrier, system alarm not to work；
Step 4, self-test ice storing time electricity itself, high electricity work on；Low battery, system alarm, not work
Make；
Step 5, the second infrared sensor detects whether to reach solar panels sideline, reaches sideline, send out instruction, carries out
Band chassis turns to, and turns around, rope is put in wiring mechanism；It does not reach, works on；
Step 6, the second infrared sensor, which detects whether to reach, cleans final position, reaches home, sends out instruction, bee
Ring device the tinkle of bells sounds；It does not reach, works on.
Beneficial effects of the present invention：Apparatus of the present invention pass through snowplow shovel board, disc brush, wiring mechanism and crawler body, needle
Northern area can clean the accumulated snow on solar panels, while the dust on solar panels can also be cleaned, for
Southern area can clean the dust on solar panels, first, members is avoided to be blocked, cause solar panel group
Locally there is blackening in part, in turn results in open-circuit voltage reduction, and short circuit current reduces, the phenomenon of temperature apparent increase, present invention dress
Overall power generation amount can be ensured in time by setting cleaning；Second is that apparatus of the present invention can replace a large amount of hand labor, reduces and clean cost.
Description of the drawings
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is snowplow shovel board structural schematic diagram of the present invention；
Fig. 3 is disc brush structural schematic diagram of the present invention；
Fig. 4 is wiring mechanism of the present invention structural schematic diagram；
Fig. 5 is crawler body structural schematic diagram of the present invention；
1- crawler bodies, 2- wirings mechanism, 3- snowplow shovel boards, 4- disc brush, 5- support plates, the first infrared ray sensings of 6-
Device, 7- buzzers, the second infrared sensors of 8-, 9- front-wheel drive motors, 10- rear wheel drive motors, 11- microcontrollers,
12- sleet inductors, 13- self-test accumulators, 14- first bases, the first support plates of 15-, the first supporting racks of 16-, 17- second
Supporting rack, the first electric pushrods of 18-, the second electric pushrods of 19-, 20- third electric pushrods, 21- scoops, 22- Dust-removing mops,
23- second bases, 24- third supporting racks, 25- long connecting rods, the 4th electric pushrods of 26-, 27- short connecting rods, the second support plates of 28-,
The 5th electric pushrods of 29-, 30- third support plates, the first driving motors of 31-, 32- brush plates, 33- multi-diameter shafts, 34- reels, 35-
Not-go-end nut, 36- cylinder roller bearings, 37- retarders, the second driving motors of 38-.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in Figs. 1-5, a kind of solar panels intelligently snow removing dedusting robot, including crawler body 1, the crawler body
1 middle part is provided with wiring mechanism 2, and snowplow shovel board 3, the crawler belt are bolted at the top of one end support base of the crawler body 1
It is bolted with disc brush 4 at the top of the other end support base on chassis 1.
The central raised part of the support base of the crawler body 1 is provided with support plate 5, and 5 top of the support plate is leaned on
Nearly 3 side left and right ends of snowplow shovel board are respectively arranged with the first infrared sensor 6 and buzzer 7, the branch of the crawler body 1
It supports and is provided with the second infrared sensor 8 in the middle part of the lower convex platform front end face of pedestal, pacify between 1 bottom end of the crawler body, two front-wheel
Equipped with front-wheel drive motor 9, rear wheel drive motor 10, the track bottom are installed between 1 bottom end of the crawler body, two trailing wheel
1 bottom end of disk is provided with microcontroller 11 close to 10 side of rear wheel drive motor, and 1 bottom end of the crawler body is close to front-wheel drive
9 side of motor is provided with sleet inductor 12, and 1 projection portion intracavity sidewall of the crawler body is equipped with self-test accumulator
13。
The snowplow shovel board 3 includes that first base 14 and the first support plate 15, snowplow shovel board 3 are spirally connected by first base 14
At the top of 1 front end convex platform of crawler body, the first support plate 15 provides branch for the adjusting of the directionality of scoop 21 and Dust-removing mop 22
Support, 14 top of the first base are provided with the first supporting rack 16, and first support, 14 top of the trellis are rotatablely equipped with second
Support 17 is equipped with the first electric pushrod 18, the first electricity between second supporting rack, 17 middle part otic placode and the first supporting rack 16
Dynamic push rod 18 adjusts the height of the second supporting rack 17, and then adjusts the height of scoop 21 and Dust-removing mop 22, described second
17 end middle and upper part of support is equipped with the second electric pushrod 19 with 15 rear end middle and upper part of the first support plate, and the second electric pushrod 19 is adjusted
Rotation of first support plate 15 in perpendicular is saved, scoop 21 is adjusted in this plane by the rotation of the first support plate 15
Rotational angle, second supporting rack, 17 end middle and lower part and the first support plate are rotated between 15 rear end middle and lower part by lifting lug
Installation, first support plate, 15 front end surrounding are equipped with scoop 21 by third electric pushrod 20, and third electric pushrod 20 is adjusted
Scoop 21 and Dust-removing mop 22 are saved in the rotational angle of horizontal plane, the angle for adjusting scoop 21 facilitates accumulated snow suitable on scoop 21
Profit skids off, and 21 middle and lower part of the scoop is provided with Dust-removing mop 22.
The disc brush 4 includes second base 23, and disc brush 4 is screwed onto by second base 23 on 1 rear end of crawler body
At the top of boss, 23 top of the second base is equipped with third supporting rack 24, and 24 top of the third supporting rack is rotatablely equipped with
The 4th electric pushrod 26 is installed between otic placode in the middle part of long connecting rod 25,24 middle and lower part of third supporting rack and long connecting rod 25,
It is connected to change the angle of long connecting rod 25 with third supporting rack 24 and long connecting rod 25 by the 4th electric pushrod 26, and then adjusts circle
The height of disc brush 4,25 end of the long connecting rod are equipped with short connecting rod 27, and 27 bottom of the short connecting rod is provided with the second support plate
28, second support plate 28 is connect with 29 one end of the 5th electric pushrod, 29 other end of the 5th electric pushrod and third branch
30 top connection of fagging, 30 middle part of the third support plate are provided with the first driving motor 31, first driving motor 31
Output shaft is fixedly mounted with brush plate 32.
The wiring mechanism 2 includes multi-diameter shaft 33, and 33 outer surface of the multi-diameter shaft is provided with reel 34,34 bottom of the reel
Portion resists the boss upper surface of multi-diameter shaft 33, and 34 top step axis of the reel, 33 outer surface is bolted with not-go-end nut 35, described
33 outer surface of multi-diameter shaft is provided with cylinder roller bearing 36, and 36 inner ring of the cylinder roller bearing is interference fitted with multi-diameter shaft 33,
36 outer ring of the cylinder roller bearing and the 8 boss inner surface of support plate of crawler body 1 are interference fitted, and cylinder roller bearing 36
Positioned at 34 lower end of reel, be provided with retarder 37 on 36 lower end multi-diameter shaft 33 of the cylinder roller bearing, the retarder 37 with
Realized by general flat key circumferentially positioned between multi-diameter shaft 33,37 output end of the retarder is provided with positioned at 5 bottom end of support plate
The second driving motor 38.
First infrared sensor 6, the second infrared sensor 8 and 12 output end of sleet inductor respectively with miniature control
11 input terminal of device is electrically connected, 11 output end of the microcontroller respectively with the first driving motor 31, the second driving motor 38, preceding
Wheel drive motor 9, rear wheel drive motor 10 and buzzer 7 are electrically connected.
A kind of control method of solar panels intelligence snow removing dedusting robot, using a kind of intelligently snow removing dedusting of solar panels
Robot includes the following steps：
Step 1, charging complete, start to work, sleet inductor 12 detect whether it is snowy, it is snowy, snowplow shovel puts under 3；
Step 2, no snow, snowplow shovel board 3 rotate, and disc brush 4 is transferred；
Step 3, the first infrared sensor 6 have detected whether barrier, and without barrier, front-wheel drive motor 9 is with after
Wheel drive motor 10 starts, and device is started to work；There are barrier, system alarm not to work；
Step 4,13 detection of self-test accumulator electricity itself, high electricity work on；Low battery, system alarm, no
Work；
Step 5, the second infrared sensor 8 detects whether to reach solar panels sideline, reaches sideline, send out instruction, carries out
Band chassis 1 turns to, and turns around, rope is put in wiring mechanism 2；It does not reach, works on；
Step 6, the second infrared sensor 8, which detects whether to reach, cleans final position, reaches home, sends out instruction, bee
Ring 7 the tinkle of bells of device sounds；It does not reach, works on.
A kind of specific work process of the intelligent snow removing dedusting robot of solar panels of the present invention is：
When remove the snow dedusting when, wiring mechanism 2 is connected with the rope of the track drawing device on solar panels, start this
Invention device, wiring mechanism 2 rotate, and crawler body 1 moves upwards, and when moving to solar panels top sideline, second is infrared
Line sensor 8 detects and sends out signal, and the second driving motor 38 in wiring mechanism 2 stops operating, and front-wheel drive motor 9 is with after
Wheel drive motor 10 works, and realizes that apparatus of the present invention original place rotates clockwise 90 degree, passes through two light on track drawing device
Electric switch makes track drawing device be moved with identical velocity linear with apparatus of the present invention, when track drawing device and the present invention fill
It sets when moving to sideline on the right side of solar panels together, the second infrared sensor 8, which detects, simultaneously sends out signal, at this time wiring mechanism 2
On the second driving motor 38 stop operating, front-wheel drive motor 9 and rear wheel drive motor 10 work, and realize that apparatus of the present invention are former
Ground rotates clockwise 90 degree, and subsequent track drawing device is moved with apparatus of the present invention with identical velocity linear so that the present invention
Device moves downward the width that sweeps away snow, the i.e. width of scoop 21.Wiring mechanism 2 stops operating at this time, 9 He of front-wheel drive motor
Rear wheel drive motor 10 works, and realizes that chassis original place rotates clockwise 90 degree, while adjusting snowplow shovel board 3, subsequent track drawing
Device and apparatus of the present invention are moved with identical velocity linear so that apparatus of the present invention and track drawing device are turned left fortune together
It is dynamic.So repeat, when the overall width of solar panels be sweep away snow width integral multiple when, crawler body 1 travel to the right reaches too
On the right side of positive energy plate when sideline, the detection of the second infrared sensor 8 reaches sideline on the right side of solar panels, at this time the second infrared ray sensing
The detection of device 8 is equal to 0 at a distance from sideline, and crawler body 1 turns to 90 degree clockwise, if the second infrared sensor after turning at this time
8 detections 5 are to still then thinking to have cleaned to finish for solar panels lower sideline.When the overall width of solar panels is not dress of the present invention
When the integral multiple for the width that sweeps away snow set, when crawler body 1 is run to the right, the detection of the second infrared sensor 8 reaches right edge line,
Crawler body 1 turns to 90 degree clockwise, if detecting it is not solar panels lower sideline after turning at this time, detects that distance is not
0, and the distance apart from sideline is less than cleaning width, subsequent crawler body 1 will be run always downwards, until the second infrared ray sensing
The detection of device 8 has arrived at solar panels lower sideline.Then it turn 90 degrees clockwise again, then turns left and run to left side sideline, this hair
Bright device is out of service, while buzzer 7 sends out alarm, and cleaning finishes, and takes off wiring mechanism 2 and track drawing device at this time
Connection rope simultaneously places rope in fixed position；
When dedusting, disc brush 4 need to be placed in front by when dedusting, and snowplow shovel board 3 is placed in rear portion, while adjust snowplow shovel
The angle of plate 3 makes scoop 21 lift, and the dedusting support positioned at 21 lower part of scoop is parallel with solar panels plane and be in contact 22,
Disc brush 4 carries out final dusting as mechanism of the dedusting main force, dedusting support using 22 as auxiliary.Then, then by itself and draft gear
Rope be connected with wiring mechanism 2, hereafter whole walking path and sequence of movement with as the dust removal process that removes the snow, here not
Repeat narration.
Claims (7)
- The dedusting robot 1. a kind of solar panels intelligently remove the snow, it is characterised in that：Including crawler body, at the top of the crawler body Be provided with wiring mechanism, be bolted with snowplow shovel board at the top of one end support base of the crawler body, the crawler body it is another It is bolted with disc brush at the top of the support base of one end.
- The dedusting robot 2. a kind of solar panels according to claim 1 intelligently remove the snow, it is characterised in that：The track bottom The central raised part of the support base of disk is provided with support plate, and the support plate top is close to snowplow shovel board side left and right ends It is respectively arranged with the first infrared sensor and buzzer, is set in the middle part of the lower convex platform front end face of the support base of the crawler body It is equipped with the second infrared sensor, front-wheel drive motor, the track bottom are installed between two front-wheel of crawler body bottom end It tries to get to the heart of a matter and rear wheel drive motor is installed between holding two trailing wheels, the crawler body bottom end is provided with close to rear wheel drive motor side Microcontroller, the crawler body bottom end are provided with sleet inductor, the crawler body close to front-wheel drive motor side Projection portion intracavity sidewall is equipped with self-test accumulator.
- The dedusting robot 3. a kind of solar panels according to claim 1 intelligently remove the snow, it is characterised in that：The snowplow shovel Plate includes first base and the first support plate, and the first supporting rack, first supporting rack top are provided at the top of the first base Portion is rotatablely equipped with the second supporting rack, is equipped with first in the middle part of second supporting rack between otic placode and the first supporting rack and electronic pushes away Bar, second supporting rack end middle and upper part and the first support plate rear end middle and upper part are equipped with the second electric pushrod, and described second It is rotatablely installed by lifting lug between supporting rack end middle and lower part and the first support plate rear end middle and lower part, the first support front edge of board Surrounding is equipped with scoop by third electric pushrod, and the scoop middle and lower part is provided with Dust-removing mop.
- The dedusting robot 4. a kind of solar panels according to claim 1 intelligently remove the snow, it is characterised in that：The disc brush Including second base, third supporting rack is installed at the top of the second base, length is rotatablely equipped at the top of the third supporting rack Connecting rod is equipped with the 4th electric pushrod, the long connecting rod between the otic placode in the middle part of third supporting rack middle and lower part and long connecting rod End is equipped with short connecting rod, and the short connecting rod bottom is provided with the second support plate, second support plate and the 5th electric pushrod One end connects, and connect at the top of the 5th electric pushrod other end and third support plate, is provided in the middle part of the third support plate First driving motor, output shaft and the brush plate of first driving motor are fixedly mounted.
- The dedusting robot 5. a kind of solar panels according to claim 1 intelligently remove the snow, it is characterised in that：The rope wincher Structure includes multi-diameter shaft, and the multi-diameter shaft outer surface is provided with reel, and the reel bottom resists the boss upper surface of multi-diameter shaft, institute It states reel top step axis outer surface and is bolted with not-go-end nut, the multi-diameter shaft outer surface is provided with cylinder roller bearing, described Cylinder roller bearing inner ring is interference fitted with multi-diameter shaft, in the support plate boss of the cylinder roller bearing outer ring and crawler body Surface is interference fitted, and cylinder roller bearing is located at reel lower end, is provided with and subtracts on the multi-diameter shaft of the cylinder roller bearing lower end Fast device, the retarder output end are provided with the second driving motor.
- The dedusting robot 6. a kind of solar panels according to claim 2,4 and 5 intelligently remove the snow, it is characterised in that：It is described First infrared sensor, the second infrared sensor and sleet inductor output end are electrically connected with microcontroller input terminal respectively Connect, the microcontroller output end respectively with the first driving motor, the second driving motor, front-wheel drive motor, rear wheel drive Motor and buzzer electrical connection.
- The control method of dedusting robot 7. a kind of solar panels intelligently remove the snow, it is characterised in that：Using described in claim 1 A kind of solar panels intelligence snow removing dedusting robot, includes the following steps：Step 1, charging complete, start to work, sleet inductor detect whether it is snowy, it is snowy, snowplow shovel put down；Step 2, no snow, the rotation of snowplow shovel board, disc brush decentralization；Step 3, the first infrared sensor have detected whether barrier, without barrier, front-wheel drive motor and rear wheel drive Electric motor starting, device are started to work；There are barrier, system alarm not to work；Step 4, self-test ice storing time electricity itself, high electricity work on；Low battery, system alarm do not work；Step 5, the second infrared sensor detect whether to reach solar panels sideline, reach sideline, send out instruction, track bottom Disk turns to, and turns around, rope is put in wiring mechanism；It does not reach, works on；Step 6, the second infrared sensor, which detects whether to reach, cleans final position, reaches home, sends out instruction, buzzer The tinkle of bells sounds；It does not reach, works on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564474.7A CN108772318A (en) | 2018-06-04 | 2018-06-04 | A kind of solar panels intelligence snow removing dedusting robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564474.7A CN108772318A (en) | 2018-06-04 | 2018-06-04 | A kind of solar panels intelligence snow removing dedusting robot and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108772318A true CN108772318A (en) | 2018-11-09 |
Family
ID=64024571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810564474.7A Pending CN108772318A (en) | 2018-06-04 | 2018-06-04 | A kind of solar panels intelligence snow removing dedusting robot and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108772318A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109802630A (en) * | 2019-03-18 | 2019-05-24 | 河南台能光电科技有限公司 | A kind of antifreeze snow removing remote control apparatus of photovoltaic plant |
| CN110545071A (en) * | 2019-10-14 | 2019-12-06 | 国网山东省电力公司潍坊供电公司 | automatic cleaning system and equipment for solar photovoltaic panel |
| CN111030573A (en) * | 2019-12-26 | 2020-04-17 | 杭州首电能源科技有限公司 | Photovoltaic system with solar tracking device |
| CN111112270A (en) * | 2019-12-20 | 2020-05-08 | 杭州舜海光伏科技有限公司 | Photovoltaic intelligent cleaning control system and method based on snow quantity sensing |
| CN112019146A (en) * | 2020-09-17 | 2020-12-01 | 金华智果智能科技有限公司 | Method for improving solar energy conversion photovoltaic power generation system |
| CN112671330A (en) * | 2020-12-15 | 2021-04-16 | 江西仁江科技有限公司 | Photovoltaic car as a house opposite sex subassembly |
| EP3835684A1 (en) * | 2019-12-12 | 2021-06-16 | Staudinger GmbH | Self-propelled cleaning device for driving on and cleaning solar modules |
| CN115254856A (en) * | 2022-03-21 | 2022-11-01 | 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) | Cleaning device for photovoltaic board |
| CN116195761A (en) * | 2023-02-16 | 2023-06-02 | 龙岩烟草工业有限责任公司 | Dipper cleaning device, cut tobacco dipping system and cut tobacco dipping method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2737830Y (en) * | 2004-11-12 | 2005-11-02 | 威海广泰空港设备股份有限公司 | Snow-removing cleaning vehicle |
| JP2014058796A (en) * | 2012-09-18 | 2014-04-03 | Satoru Yuda | Solar cell panel snow removal device |
| CN204728259U (en) * | 2015-06-17 | 2015-10-28 | 滨州学院 | A kind of snow removing ice-breaking vehicle |
| CN205797844U (en) * | 2016-07-13 | 2016-12-14 | 宁夏瑞博新能源服务有限公司 | photovoltaic solar panel cleaning vehicle |
| CN206423265U (en) * | 2016-12-21 | 2017-08-22 | 青田县云端农业开发有限公司 | Branch vibration snow-removal equipment with the upper walking function of snow |
| CN208712270U (en) * | 2018-06-04 | 2019-04-09 | 东北大学 | A kind of solar panels intelligence snow removing dedusting robot |
-
2018
- 2018-06-04 CN CN201810564474.7A patent/CN108772318A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2737830Y (en) * | 2004-11-12 | 2005-11-02 | 威海广泰空港设备股份有限公司 | Snow-removing cleaning vehicle |
| JP2014058796A (en) * | 2012-09-18 | 2014-04-03 | Satoru Yuda | Solar cell panel snow removal device |
| CN204728259U (en) * | 2015-06-17 | 2015-10-28 | 滨州学院 | A kind of snow removing ice-breaking vehicle |
| CN205797844U (en) * | 2016-07-13 | 2016-12-14 | 宁夏瑞博新能源服务有限公司 | photovoltaic solar panel cleaning vehicle |
| CN206423265U (en) * | 2016-12-21 | 2017-08-22 | 青田县云端农业开发有限公司 | Branch vibration snow-removal equipment with the upper walking function of snow |
| CN208712270U (en) * | 2018-06-04 | 2019-04-09 | 东北大学 | A kind of solar panels intelligence snow removing dedusting robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109802630A (en) * | 2019-03-18 | 2019-05-24 | 河南台能光电科技有限公司 | A kind of antifreeze snow removing remote control apparatus of photovoltaic plant |
| CN110545071A (en) * | 2019-10-14 | 2019-12-06 | 国网山东省电力公司潍坊供电公司 | automatic cleaning system and equipment for solar photovoltaic panel |
| EP3835684A1 (en) * | 2019-12-12 | 2021-06-16 | Staudinger GmbH | Self-propelled cleaning device for driving on and cleaning solar modules |
| CN111112270A (en) * | 2019-12-20 | 2020-05-08 | 杭州舜海光伏科技有限公司 | Photovoltaic intelligent cleaning control system and method based on snow quantity sensing |
| CN111112270B (en) * | 2019-12-20 | 2022-07-15 | 杭州舜海光伏科技有限公司 | Photovoltaic intelligent cleaning control system and method based on snow quantity sensing |
| CN111030573A (en) * | 2019-12-26 | 2020-04-17 | 杭州首电能源科技有限公司 | Photovoltaic system with solar tracking device |
| CN112019146A (en) * | 2020-09-17 | 2020-12-01 | 金华智果智能科技有限公司 | Method for improving solar energy conversion photovoltaic power generation system |
| CN112671330A (en) * | 2020-12-15 | 2021-04-16 | 江西仁江科技有限公司 | Photovoltaic car as a house opposite sex subassembly |
| CN115254856A (en) * | 2022-03-21 | 2022-11-01 | 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) | Cleaning device for photovoltaic board |
| CN116195761A (en) * | 2023-02-16 | 2023-06-02 | 龙岩烟草工业有限责任公司 | Dipper cleaning device, cut tobacco dipping system and cut tobacco dipping method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108772318A (en) | A kind of solar panels intelligence snow removing dedusting robot and its control method | |
| CN105834188B (en) | Photovoltaic panel cleaning equipment | |
| CN108599705B (en) | Photovoltaic intelligent operation and maintenance robot | |
| CN204710769U (en) | A kind of full automatic solar cell panel cleaning device | |
| CN105680789B (en) | A kind of solar panel automatic sweeping system | |
| CN109773800B (en) | Photovoltaic cell panel cleaning system | |
| CN110000132B (en) | Portable photovoltaic cleaning robot | |
| CN208712270U (en) | A kind of solar panels intelligence snow removing dedusting robot | |
| CN206415355U (en) | A kind of photovoltaic panel component intelligence sweeping robot device | |
| KR20210056033A (en) | Apparatus for cleaning panel | |
| CN106625692A (en) | Solar photovoltaic cell continuous blowdown cleaning robot | |
| CN212183475U (en) | Snow and ice removing device for solar photovoltaic panel | |
| CN105834187B (en) | A kind of photovoltaic panel cleaning equipment | |
| CN105964584A (en) | Multifunctional solar cell panel cleaning system | |
| CN209715782U (en) | A kind of solar panel clean robot | |
| CN105834186B (en) | A kind of photovoltaic panel cleaning equipment | |
| CN208128190U (en) | It is a kind of can be from the photovoltaic group equipment of clear accumulated snow | |
| CN211321272U (en) | Rotor and crawler composite angle self-adjusting distributed photovoltaic cleaning operation and maintenance device | |
| CN108262281A (en) | A kind of multi-functional full-automatic intelligent solar solar panel purging system | |
| CN107769717A (en) | Robot cleans dust collect plant | |
| CN105834144B (en) | A kind of photovoltaic panel cleaning equipment | |
| CN105834143B (en) | A kind of barrier getting over mechanism and the photovoltaic panel cleaning equipment with the barrier getting over mechanism | |
| CN207279485U (en) | Municipal road lamp | |
| CN214767144U (en) | Tracking type photovoltaic module cleaning device | |
| CN205926384U (en) | Utilize solar cell panel cleaning device that self power up -downgoing cleaned |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181109 |