CN108832885A - A kind of robot cleaner for photovoltaic module - Google Patents
A kind of robot cleaner for photovoltaic module Download PDFInfo
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- CN108832885A CN108832885A CN201810955102.7A CN201810955102A CN108832885A CN 108832885 A CN108832885 A CN 108832885A CN 201810955102 A CN201810955102 A CN 201810955102A CN 108832885 A CN108832885 A CN 108832885A
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000009184 walking Effects 0.000 claims abstract description 42
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 26
- 238000001931 thermography Methods 0.000 claims abstract description 24
- 230000008859 change Effects 0.000 claims abstract description 11
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 32
- 229910052782 aluminium Inorganic materials 0.000 claims description 32
- 238000012545 processing Methods 0.000 claims description 9
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- 230000001360 synchronised effect Effects 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000011897 real-time detection Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 238000010191 image analysis Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
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- 238000002347 injection Methods 0.000 description 1
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- 229910003471 inorganic composite material Inorganic materials 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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- 238000010248 power generation Methods 0.000 description 1
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- 239000010935 stainless steel Substances 0.000 description 1
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Classifications
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- 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
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- 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
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
- H02S50/10—Testing of PV devices, e.g. of PV modules or single PV cells
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- 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
Abstract
The present invention provides a kind of robot cleaner for photovoltaic module, including robot frame, battery, walking module, cleaning mechanism, infrared thermal imaging module, communication module, gesture recognition module and control module；Battery, walking module, cleaning mechanism, infrared thermal imaging module, communication module, gesture recognition module and control module electric connection；The thermal infrared images can be sent to far-end computer by communication module；The walking module includes two walking mechanisms for being separately positioned on robot frame both ends, and the movement speed of each walking mechanism is independently adjustable；Pass through the track connection of two semi arches being arranged concentrically between the photovoltaic module of adjacent rows, two walking mechanisms can move on two tracks respectively, and control module can change the movement speed of two walking mechanisms of adjustment in real time according to the attitude angle of robot frame to guarantee steady inter-bank.The clean robot can carry out inter-bank cleaning to photovoltaic module, and can carry out hot spot detection while cleaning.
Description
Technical field
The present invention relates to photovoltaic module to maintain equipment technical field, in particular to a kind of robot cleaner for photovoltaic module.
Background technique
With the Nikkei exhaustion of non-renewable energy resources and going deep into for mankind's environmental consciousness, photovoltaic power generation is as main green
One of color energy increasingly obtains the attention of people.And going from strength to strength with photovoltaic industry, the later period fortune of photovoltaic plant
Dimension problem also starts to highlight, and wherein influence of the photovoltaic module surface blot to its generated energy is especially significant.First, the dirt on surface
The transmissivity of light is influenced, and then influences the amount of radiation that assembly surface is received；Second, dirt is adhered to battery plate surface
It will form shade, generate hot spot effect in the part of photovoltaic module, and then cause to damage to photovoltaic panel, influence the same of generating efficiency
When can also shorten service life of photovoltaic panel.
And traditional cleaning way need to expend more manpower and material resources, and cleaning efficiency is lower, water consumption is excessively high, it is comprehensive
It is at high cost.And in the large-scale ground power station that west area is established, long term frequent is needed to clean, with water inconvenience, pass through people
It is not very real that power, which removes cleaning photovoltaic module,.
Intelligentized clean robot currently on the market also can only achieve common cleaning effect, and a robot
Row's component can only be cleaned, inter-bank cleaning can not be carried out, requires to be equipped with a robot so as to cause each row's component.And
Other robot is higher in cost so as to cause photovoltaic plant O&M there is no included hot spot detection function.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of photovoltaic modulies to clean machine
People, which can carry out inter-bank cleaning to photovoltaic module, and can carry out hot spot detection while cleaning.
In order to achieve the above object, this invention takes following technical schemes：
A kind of robot cleaner for photovoltaic module, including robot frame, battery, the walking mould for driving robot frame mobile
Block, for carrying out clean cleaning mechanism, the infrared thermal imaging of the thermal infrared images for acquiring photovoltaic module to photovoltaic module
Module, the communication module for being communicated with far-end computer, for detecting the gesture recognition module of robot frame attitude angle, with
And control module；Battery, walking module, cleaning mechanism, infrared thermal imaging module, communication module, gesture recognition module and control
Molding block is electrically connected；The thermal infrared images can be sent to far-end computer by communication module；The walking module packet
Two walking mechanisms for being separately positioned on robot frame both ends are included, the movement speed of each walking mechanism is independently adjustable；It is adjacent
By the track connection of two semi arches being arranged concentrically between capable photovoltaic module, two walking mechanisms can be respectively at two
It is moved on track, control module can change the movement of two walking mechanisms of adjustment in real time according to the attitude angle of robot frame
Speed is to guarantee steady inter-bank.
In the robot cleaner for photovoltaic module, the control module includes ARM embedded system and PLC controller,
PLC controller, battery, infrared thermal imaging module, communication module, gesture recognition module are electrically connected with ARM embedded system；
Cleaning mechanism, walking module are electrically connected with PLC controller.
In the robot cleaner for photovoltaic module, each walking mechanism includes first motor, motor driver, at least two
A driving wheel and driven wheel, first motor pass through synchronous tape transport and driving wheel are driven to rotate synchronously, and driving wheel is pressed on light
At the top of the frame for lying prostrate component, the circumferential surface of driven wheel and the side wall of photovoltaic component frame offset；The track and photovoltaic component frame
End connection；First motor, motor driver are electrically connected with PLC controller.
In the robot cleaner for photovoltaic module, the cleaning mechanism include the second motor and rotary type hairbrush, second
Motor drives the rotation of rotary type hairbrush by synchronous belt drive mechanism；Second motor and PLC controller are electrically connected.
In the robot cleaner for photovoltaic module, the infrared thermal imaging module includes infrared thermal imaging camera, figure
As processing module and image transmission module；Image processing module is used for the image data acquired to infrared thermal imaging camera
Digitized processing is carried out, image transmission module is for image data to be transmitted to ARM embedded system, ARM insertion treated
The image data is sent to far-end computer by communication module by formula system.
In the robot cleaner for photovoltaic module, the robot frame is connected by aluminum profile by angle link block
At.
In the robot cleaner for photovoltaic module, the both ends of the shaft of the driving wheel company's of being threaded through bearing block respectively
On, each bearing block is fixed on the transverse arm of a T shape frame, and one of the vertical arm of T shape frame and robot frame is along its length
The aluminum profile of extension is connected and link position is adjustable；The shaft of the driven wheel is fixed in a connecting rod, the connecting rod with
The aluminum profile is connected, and link position is adjustable.
In the robot cleaner for photovoltaic module, the vertical arm of the T shape frame passes through angle connector and the aluminum profile
It connects, corresponding card slot is provided in the axial direction on the aluminum profile, one end of angle connector and vertical arm are connected, and the other end passes through clamping
It is locked on the aluminum profile in the bolt in the card slot；The connecting rod is connect by angle connector with the aluminum profile, should
Corresponding card slot is provided in the axial direction on aluminum profile, one end of angle connector and connecting rod are connected, and the other end is by being connected to this
Bolt in card slot is locked on the aluminum profile.
The robot cleaner for photovoltaic module, further includes air velocity transducer and Raindrop sensor, air velocity transducer and rain
It drips sensor and ARM embedded system is electrically connected.
The robot cleaner for photovoltaic module further includes locating module, and the locating module and ARM embedded system are electrical
Connection.
Beneficial effect：
The present invention provides a kind of robot cleaner for photovoltaic module, by two can separately adjustable speed walking mechanism in photovoltaic
It is moved on component, when clean robot moves on certain a line photovoltaic module, its attitude angle is constant, when being moved to current row
Photovoltaic module end, and when the track of entrance connection row photovoltaic module and next line photovoltaic module, attitude angle changes,
The gesture recognition module real-time detection situation of change, then two rows are adjusted according to the situation of change of attitude angle in real time by control module
The speed of mechanism is walked, to make robot pass through track and stably enter next line；And robot is in moving process
The thermal infrared images of photovoltaic module can be acquired by infrared thermal imaging module and far-end computer is sent to by communication module carries out
Image analysis, to find whether photovoltaic module has hot spot in time；As it can be seen that the clean robot can carry out inter-bank to photovoltaic module
Cleaning, and hot spot detection can be carried out while cleaning.
Detailed description of the invention
Fig. 1 is the distribution map of equipment component in robot cleaner for photovoltaic module provided by the invention.
Fig. 2 is the distribution map of equipment component in robot cleaner for photovoltaic module provided by the invention.
Fig. 3 is schematic diagram when robot cleaner for photovoltaic module provided by the invention passes through track.
Fig. 4 is the installation diagram of driving wheel in robot cleaner for photovoltaic module provided by the invention.
Fig. 5 is the installation diagram of driven wheel in robot cleaner for photovoltaic module provided by the invention.
Specific embodiment
The present invention provides a kind of robot cleaner for photovoltaic module, to make the purpose of the present invention, technical solution and effect more
Clear, clear, the present invention is described in more detail as follows in conjunction with drawings and embodiments.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
Please refer to Fig. 1-5, a kind of robot cleaner for photovoltaic module, including robot frame 1, battery 2, for driving machine
The mobile walking module of people's frame, for carrying out clean cleaning mechanism 7 to photovoltaic module, the heat for acquiring photovoltaic module is red
The infrared thermal imaging module 3 of outer image, the communication module 4 for being communicated with far-end computer, for detecting robot frame appearance
The gesture recognition module at state angle（Do not have picture in figure）And control module 5；Battery, walking module, cleaning mechanism, infrared thermal imaging
Module, communication module, gesture recognition module and control module electric connection；The thermal infrared images can pass through communication module
It is sent to far-end computer；The walking module includes two walking mechanisms 6 for being separately positioned on robot frame both ends, each
The movement speed of walking mechanism is independently adjustable；Pass through the rail of two semi arches being arranged concentrically between the photovoltaic module 90 of adjacent rows
Road 91 connects, and two walking mechanisms can move on two tracks respectively, and control module 5 can be according to the appearance of robot frame
State angle change adjusts the movement speed of two walking mechanisms in real time to guarantee steady inter-bank.
When the clean robot works, by two can the walking mechanism of separately adjustable speed moved on photovoltaic module,
When clean robot moves on certain a line photovoltaic module, its attitude angle is constant, when the photovoltaic module end for being moved to current row
Portion, and when the track of entrance connection row photovoltaic module and next line photovoltaic module, attitude angle changes, gesture recognition mould
The block real-time detection situation of change, then adjust by control module the speed of two walking mechanisms in real time according to the situation of change of attitude angle
Degree, to make robot pass through track and stably enter next line；And robot can be by infrared in moving process
The thermal infrared images of thermal imaging module acquisition photovoltaic module is simultaneously sent to far-end computer progress image analysis by communication module, with
Whether discovery photovoltaic module has hot spot in time；As it can be seen that the clean robot can carry out inter-bank cleaning to photovoltaic module, and can be
Hot spot detection is carried out while cleaning.
In order to more accurately judge clean robot whether injection 91, can be installed on clean robot close to opening
It closes, and keeps two walkings close to before switch triggering for triggering the trigger member close to switch in the setting of the starting point of track
Mechanism constant speed just starts to execute inter-bank program after triggering, the information tune that control module is just transmitted according to gesture recognition module at this time
The speed of whole two walking mechanisms.Clean robot be can avoid when moving on current line photovoltaic module due to gesture recognition module
It is disturbed and occurs the mistuning section of walking mechanism speed.
The gesture recognition module can be selected three-axis gyroscope or other be able to carry out pose estimation in the prior art
Equipment is not limited thereof herein.GPRS and/or WIFI communication module can be used in communication module.
Specifically, the control module 5 include ARM embedded system 5.1 and PLC controller 5.2, PLC controller 5.2,
Battery 2, infrared thermal imaging module 3, communication module 4, gesture recognition module are electrically connected with ARM embedded system 5.1；Cleaning
Mechanism 7, walking module are electrically connected with PLC controller 5.2.ARM embedded system is main logic unit, is mainly responsible for remote
Journey communication, data acquisition, fault detection, the walking manner for being responsible for entire machine, and reply external environment variation, change machine
The task of people's track route；PLC controller is secondary control unit, is mainly responsible for the travel commands for receiving ARM embedded system, then
Control the movement of walking mechanism；Pass through 232 communications and IO control between the two.The thermal infrared figure of infrared thermal imaging module acquisition
As also with regard to first being pre-processed in ARM embedded system, hot spot analysis roughly being carried out, if coarse analysis detects hot spot again
On the one hand image transmitting can be reduced finally to confirm hot spot situation by being sent to the further explication de texte of far-end computer progress
To the occupancy of communication channel, analysis efficiency on the other hand can be improved.
Further, each walking mechanism 6 includes first motor 6.1, motor driver 6.2, at least two driving wheels
6.3 and driven wheel 6.4, first motor passes through synchronous tape transport and driving wheel is driven to rotate synchronously, and driving wheel is pressed on photovoltaic
90.1 top of frame of component, the circumferential surface of driven wheel and the side wall of photovoltaic component frame offset；The track and photovoltaic module side
The connection of frame end；First motor, motor driver are electrically connected with PLC controller.Driving wheel moves on frame 90.1, can
To prevent its damage to photovoltaic module panel, and it is stuck on frame side wall with driven wheel and can be prevented clean robot from derailing.
In order to improve the output torque of first motor, star-like reduction gearbox, this implementation can be set in the output end of first motor
In example, star-like reduction gearbox, which is selected, to be reduced than being 1:10 star-like reduction gearbox, to drive the travel speed of driving wheel for 10m/min.
Stepper motor, brushless motor, servo motor, asynchronous machine, direct current generator etc. can be selected in first motor.
In the present embodiment, the cleaning mechanism 7 includes the second motor 7.1 and rotary type hairbrush 7.2, and the second motor passes through same
It walks tape handler and drives the rotation of rotary type hairbrush；Second motor and PLC controller are electrically connected.Clean robot moves same
When, rotary type hairbrush is rotated to remove the stain on photovoltaic module panel.Herein, it is 1 that transmission ratio, which can be selected,:6 synchronous belt passes
Motivation structure simultaneously guarantees the revolving speed of rotary type hairbrush as 3r/s, and under above-mentioned travel speed, cleaning effect is best.
Specifically, the infrared thermal imaging module 3 includes infrared thermal imaging camera, image processing module and image
Transmission module；The image data that image processing module is used to acquire infrared thermal imaging camera carries out digitized processing, image
Transmission module is used for treated image data is transmitted to ARM embedded system, and ARM embedded system passes through communication module handle
The image data is sent to far-end computer.In order to guarantee to take the entire width range of photovoltaic module, infrared thermal imaging
Module may be provided on an expansion bracket 3.1, and the height of the expansion bracket is adjustable, and difference can be used in the height by adjusting expansion bracket
The shooting work of the photovoltaic module of width.
Further, the robot frame 1 is formed by connecting by aluminum profile by angle link block.Its weight is smaller, intensity
It is larger and easy to assembly quick.Herein, 2020 aluminum profile of national standard can be selected in aluminum profile.In realization, aluminum profile can use stainless steel type
The substitution such as material, titanium alloy profile, carbon fiber sectional material, inorganic composite materials profile, carbon steel profile, space aluminum profile.
Preferably, see Fig. 4,5, the both ends of the shaft of the driving wheel 6.3 is respectively on a company of being threaded through bearing block, each bearing
Seat is fixed on the transverse arm 8.1 of a T shape frame 8, and the vertical arm 8.2 of T shape frame extends along its length with one of robot frame 1
（This length direction refers to the length direction of robot frame and the width direction of photovoltaic module）Aluminum profile 1.1 be connected and
Link position is adjustable；The shaft of the driven wheel 6.4 is fixed in a connecting rod 9, and the connecting rod and the aluminum profile 1.1 are solid
Even, and link position is adjustable.By adjusting the position of driven wheel and driving wheel on robot frame length direction, make theirs
Position is corresponding with 90.1 position of frame of practical photovoltaic module, so as to be used on the photovoltaic module of different in width, applicability
By force.
Herein, the transverse arm 8.1 of the T shape frame 8 and vertical arm 8.2 tool be aluminum profile, it is other between pass through an angle connector
8.3 being connected and fixed.
Specifically, the vertical arm 8.2 of the T shape frame is connect by angle connector 10 with the aluminum profile 1.1, the aluminum profile
Corresponding card slot 1.1a is provided in the axial direction on 1.1, one end of angle connector 10 and vertical arm are connected, and the other end is by being connected to this
Bolt in card slot is locked on the aluminum profile 1.1；The connecting rod 9 is connected by angle connector 11 and the aluminum profile 1.1
It connects, corresponding card slot 1.1b is provided in the axial direction on the aluminum profile 1.1, one end of angle connector 11 and connecting rod are connected, another
End is locked on the aluminum profile 1.1 by the bolt being connected in card slot 1.1b.When the position of adjusting driven wheel and driving wheel,
Corresponding locking bolt only need to be unclamped, can be adjusted, rear retorque is regulated, it is easy to adjust quick.
It should be noted that the position of corresponding synchronous belt drive mechanism can also in order to be applicable in the variation of drive wheel position
It adjusts.For example, the output shaft of first motor 6.1 is connect with a drive shaft 6.5, the length of the drive shaft 6.5 and robot frame
Direction is parallel, and the active synchronization wheel of the synchronous belt drive mechanism is movably set in the drive shaft and passes through lock screw
Locking, driven synchronizing wheel 6.6 are fixed in the shaft of driving wheel 6.3（Such as Fig. 4）And it is moved together with driving wheel；Driving wheel position
After setting change, the position by adjusting active synchronization wheel can be such that active synchronization wheel and driven synchronizing wheel is aligned again, to protect
Demonstrate,prove reliable transmission.
Further, the robot cleaner for photovoltaic module, further includes air velocity transducer and Raindrop sensor, and wind speed passes
Sensor and Raindrop sensor and ARM embedded system are electrically connected.Locality can be received from far-end computer by communication module
Weather information, cleaned with judging whether to take rainy day cleaning solution（Rainy day cleaning solution is according to continuous rainfall feelings
Condition shifts to an earlier date energy storage to control battery, guarantees that electric energy is enough, and the rotation speed of travel speed and rotating brush is adjusted according to rainfall
Degree）, since received weather information is forecast information, the truth for detecting rainfall by Raindrop sensor is needed to judge
Whether need to enter rainy day cleaning procedure, and by Raindrop sensor and air velocity transducer come real-time detection rainfall and wind speed,
It can determine whether to meet safe working conditions, it is convenient to take corresponding safeguard measure in time.
In addition, the robot cleaner for photovoltaic module, further includes locating module, the locating module and the embedded system of ARM
System is electrically connected.GPS positioning module and/or Beidou positioning module can be used in locating module, can real-time detection clean robot reality
Border position quickly position assurance technical staff can reach at robot in time and repair when robot fault, and when inspection
When measuring hot spot, can the position to hot spot quickly positioned.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to protection scope of the present invention.
Claims (10)
1. a kind of robot cleaner for photovoltaic module, which is characterized in that including robot frame, battery, for driving robot frame
The mobile walking module of frame, for carrying out clean cleaning mechanism to photovoltaic module, for acquiring the thermal infrared figure of photovoltaic module
The infrared thermal imaging module of picture, the communication module for being communicated with far-end computer, for detecting robot frame attitude angle
Gesture recognition module and control module；Battery, walking module, cleaning mechanism, infrared thermal imaging module, communication module, appearance
State identification module and control module are electrically connected；The thermal infrared images can be sent to far-end computer by communication module；
The walking module includes two walking mechanisms for being separately positioned on robot frame both ends, the movement speed of each walking mechanism
It is independently adjustable；Pass through the track connection of two semi arches being arranged concentrically, two walking mechanisms between the photovoltaic module of adjacent rows
It can be moved on two tracks respectively, control module can change adjustment two in real time according to the attitude angle of robot frame
The movement speed of walking mechanism is to guarantee steady inter-bank.
2. robot cleaner for photovoltaic module according to claim 1, which is characterized in that the control module includes ARM embedding
Embedded system and PLC controller, PLC controller, battery, infrared thermal imaging module, communication module, gesture recognition module with
ARM embedded system is electrically connected；Cleaning mechanism, walking module are electrically connected with PLC controller.
3. robot cleaner for photovoltaic module according to claim 2, which is characterized in that each walking mechanism includes the first electricity
Mechanical, electrical machine driver, at least two driving wheels and driven wheel, first motor pass through synchronous tape transport and drive driving wheel
It rotates synchronously, driving wheel is pressed at the top of the frame of photovoltaic module, and the circumferential surface of driven wheel and the side wall of photovoltaic component frame offset；Institute
Track is stated to connect with photovoltaic component frame end；First motor, motor driver are electrically connected with PLC controller.
4. robot cleaner for photovoltaic module according to claim 2, which is characterized in that the cleaning mechanism includes the second electricity
Machine and rotary type hairbrush, the second motor drive rotary type hairbrush to rotate by synchronous belt drive mechanism；Second motor and PLC are controlled
Device is electrically connected.
5. robot cleaner for photovoltaic module according to claim 2, which is characterized in that the infrared thermal imaging module includes
Infrared thermal imaging camera, image processing module and image transmission module；Image processing module is for taking the photograph infrared thermal imaging
The image data acquired as head carries out digitized processing, and image transmission module is for treated, image data to be transmitted to ARM
The image data is sent to far-end computer by communication module by embedded system, ARM embedded system.
6. robot cleaner for photovoltaic module according to claim 3, which is characterized in that the robot frame is by aluminum profile
It is formed by connecting by angle link block.
7. robot cleaner for photovoltaic module according to claim 6, which is characterized in that the both ends of the shaft of the driving wheel point
Not on a company of being threaded through bearing block, each bearing block is fixed on the transverse arm of a T shape frame, the vertical arm and robot frame of T shape frame
A piece aluminum profile extended along its length of frame is connected and link position is adjustable；The shaft of the driven wheel is fixed on a company
On extension bar, the connecting rod and the aluminum profile are connected, and link position is adjustable.
8. robot cleaner for photovoltaic module according to claim 6, which is characterized in that the vertical arm of the T shape frame passes through angle
Connector is connect with the aluminum profile, is provided in the axial direction with corresponding card slot on the aluminum profile, one end of angle connector and perpendicular
Arm is connected, and the other end is locked on the aluminum profile by the bolt being connected in the card slot；The connecting rod passes through angle connector
It is connect with the aluminum profile, corresponding card slot is provided in the axial direction on the aluminum profile, one end of angle connector and connecting rod are solid
Even, the other end is locked on the aluminum profile by the bolt being connected in the card slot.
9. robot cleaner for photovoltaic module according to claim 2, which is characterized in that further include air velocity transducer and raindrop
Sensor, air velocity transducer and Raindrop sensor and ARM embedded system are electrically connected.
10. robot cleaner for photovoltaic module according to claim 2, which is characterized in that it further include locating module, the positioning
Module and ARM embedded system are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955102.7A CN108832885B (en) | 2018-08-21 | 2018-08-21 | Photovoltaic module cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955102.7A CN108832885B (en) | 2018-08-21 | 2018-08-21 | Photovoltaic module cleaning robot |
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| CN108832885A true CN108832885A (en) | 2018-11-16 |
| CN108832885B CN108832885B (en) | 2023-12-01 |
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|---|---|---|---|---|
| CN109746226A (en) * | 2019-02-20 | 2019-05-14 | 南京海得电力科技有限公司 | Photovoltaic panel intelligence purging system for photovoltaic plant O&M |
| CN110125124A (en) * | 2019-05-14 | 2019-08-16 | 阳光电源股份有限公司 | Photovoltaic sweeping machine lateral attitude detection method, controller and photovoltaic sweeping machine |
| CN110270535A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of anti-skidding cleaning machine for photovoltaic roof |
| CN110270534A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of scavenging machine for photovoltaic roof |
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