CN108832885B - Photovoltaic module cleaning robot - Google Patents
Photovoltaic module cleaning robot Download PDFInfo
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- CN108832885B CN108832885B CN201810955102.7A CN201810955102A CN108832885B CN 108832885 B CN108832885 B CN 108832885B CN 201810955102 A CN201810955102 A CN 201810955102A CN 108832885 B CN108832885 B CN 108832885B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 77
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 238000004891 communication Methods 0.000 claims abstract description 27
- 238000001931 thermography Methods 0.000 claims abstract description 25
- 230000008859 change Effects 0.000 claims abstract description 9
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 32
- 229910052782 aluminium Inorganic materials 0.000 claims description 32
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000010191 image analysis Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001960 triggered effect Effects 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
- 238000011109 contamination Methods 0.000 description 1
- 229910003471 inorganic composite material Inorganic materials 0.000 description 1
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
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 invention provides a cleaning robot for a photovoltaic module, which comprises a robot frame, a battery, a walking module, a cleaning mechanism, an infrared thermal imaging module, a communication module, a gesture recognition module and a control module, wherein the robot frame is provided with a plurality of sensors; the battery, the walking module, the cleaning mechanism, the infrared thermal imaging module, the communication module and the gesture recognition module are electrically connected with the control module; the thermal infrared image can be sent to a remote computer through a communication module; the walking module comprises two walking mechanisms which are respectively arranged at two ends of the robot frame, and the moving speed of each walking mechanism is independently adjustable; the photovoltaic modules in adjacent rows are connected through two semi-circular arc tracks which are concentrically arranged, the two travelling mechanisms can respectively move on the two tracks, and the control module can adjust the moving speed of the two travelling mechanisms in real time according to the change of the attitude angle of the robot frame so as to ensure stable straddling. The cleaning robot can clean the photovoltaic module in a crossing way, and can detect hot spots while cleaning.
Description
Technical Field
The invention relates to the technical field of photovoltaic module maintenance equipment, in particular to a photovoltaic module cleaning robot.
Background
With the exhaustion of non-renewable energy and the deep awareness of human environment, photovoltaic power generation is one of main green energy sources, and is getting more and more attention. With the continuous growth of the photovoltaic industry, a later operation and maintenance problem of a photovoltaic power station is also highlighted, wherein the influence of surface stains of a photovoltaic module on the power generation capacity of the photovoltaic module is particularly remarkable. Firstly, the surface contamination affects the light transmittance and thus the radiation quantity received by the surface of the component; secondly, the dirt is adhered to the surface of the battery plate to form shadows, a hot spot effect is generated on the part of the photovoltaic module, and then the photovoltaic plate is damaged, so that the service life of the photovoltaic plate is shortened while the power generation efficiency is influenced.
The traditional cleaning mode needs to consume more manpower and material resources, and has lower cleaning efficiency, overhigh water consumption and high comprehensive cost. And large-scale ground power stations established in western regions need to be cleaned frequently for a long time, water is inconvenient, and cleaning the photovoltaic modules by manpower is not very realistic.
The intelligent cleaning robot in the current market can only achieve the common cleaning effect, and one robot can only clean one row of components and cannot perform cross-row cleaning, so that each row of components needs to be provided with one robot. And other robots do not have a hot spot detection function, so that the operation and maintenance of the photovoltaic power station are high in cost.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a cleaning robot for a photovoltaic module, which can perform cleaning across a photovoltaic module and can perform hot spot detection while cleaning.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a photovoltaic module cleaning robot, includes robot frame, battery, is used for driving the walking module that the robot frame removed, is used for cleaning the clean mechanism of photovoltaic module, is used for gathering the infrared thermal imaging module of the thermal infrared image of photovoltaic module, is used for the communication module with the remote computer, is used for detecting the gesture recognition module of robot frame attitude angle, and control module; the battery, the walking module, the cleaning mechanism, the infrared thermal imaging module, the communication module and the gesture recognition module are electrically connected with the control module; the thermal infrared image can be sent to a remote computer through a communication module; the walking module comprises two walking mechanisms which are respectively arranged at two ends of the robot frame, and the moving speed of each walking mechanism is independently adjustable; the photovoltaic modules in adjacent rows are connected through two semi-circular arc tracks which are concentrically arranged, the two travelling mechanisms can respectively move on the two tracks, and the control module can adjust the moving speed of the two travelling mechanisms in real time according to the change of the attitude angle of the robot frame so as to ensure stable straddling.
In the photovoltaic module cleaning robot, the control module comprises an ARM embedded system and a PLC controller, and the PLC controller, a battery, an infrared thermal imaging module, a communication module and a gesture recognition module are electrically connected with the ARM embedded system; the cleaning mechanism and the walking module are electrically connected with the PLC.
In the photovoltaic module cleaning robot, each travelling mechanism comprises a first motor, a motor driver, at least two driving wheels and a driven wheel, wherein the first motor drives the driving wheels to synchronously rotate through a synchronous belt conveying mechanism, the driving wheels are pressed on the top of a frame of the photovoltaic module, and the peripheral surface of the driven wheel is propped against the side wall of the frame of the photovoltaic module; the track is connected with the end part of the frame of the photovoltaic assembly; the first motor and the motor driver are electrically connected with the PLC.
In the photovoltaic module cleaning robot, the cleaning mechanism comprises a second motor and a rotary brush, and the second motor drives the rotary brush to rotate through a synchronous belt transmission mechanism; the second motor is electrically connected with the PLC.
In the photovoltaic module cleaning robot, the infrared thermal imaging module comprises an infrared thermal imaging camera, an image processing module and an image transmission module; the image processing module is used for carrying out digital processing on image data acquired by the infrared thermal imaging camera, the image transmission module is used for transmitting the processed image data to the ARM embedded system, and the ARM embedded system sends the image data to the remote computer through the communication module.
In the photovoltaic module cleaning robot, the robot frame is formed by connecting aluminum profiles through angle connecting blocks.
In the photovoltaic module cleaning robot, two ends of a rotating shaft of the driving wheel are respectively arranged on the connecting bearing seats in a penetrating way, each bearing seat is fixed on a cross arm of a T-shaped frame, and a vertical arm of the T-shaped frame is fixedly connected with an aluminum profile extending along the length direction of the robot frame and the connecting position is adjustable; the rotating shaft of the driven wheel is fixed on a connecting rod, the connecting rod is fixedly connected with the aluminum profile, and the connecting position is adjustable.
In the cleaning robot for the photovoltaic module, a vertical arm of the T-shaped frame is connected with the aluminum profile through an angle connecting piece, a corresponding clamping groove is formed in the aluminum profile along the axial direction, one end of the angle connecting piece is fixedly connected with the vertical arm, and the other end of the angle connecting piece is locked on the aluminum profile through a bolt clamped in the clamping groove; the connecting rod is connected with the aluminum profile through the corner connecting piece, a corresponding clamping groove is formed in the aluminum profile along the axial direction, one end of the corner connecting piece is fixedly connected with the connecting rod, and the other end of the corner connecting piece is locked on the aluminum profile through a bolt clamped in the clamping groove.
The photovoltaic module cleaning robot further comprises a wind speed sensor and a rain drop sensor, wherein the wind speed sensor and the rain drop sensor are electrically connected with the ARM embedded system.
The photovoltaic module cleaning robot further comprises a positioning module, and the positioning module is electrically connected with the ARM embedded system.
The beneficial effects are that:
the invention provides a cleaning robot for a photovoltaic module, which moves on the photovoltaic module through two travelling mechanisms capable of independently adjusting the speed, wherein the attitude angle of the cleaning robot is unchanged when the cleaning robot moves on a certain row of photovoltaic modules, and the attitude angle of the cleaning robot changes when the cleaning robot moves to the end part of the photovoltaic module of the current row and enters a track for connecting the photovoltaic module of the current row with the photovoltaic module of the next row, a gesture recognition module detects the change condition in real time, and then the speed of the two travelling mechanisms is adjusted in real time by a control module according to the change condition of the attitude angle, so that the robot smoothly passes through the track and stably enters the next row; the robot can acquire thermal infrared images of the photovoltaic module through the infrared thermal imaging module in the moving process, and the thermal infrared images are sent to a remote computer through the communication module for image analysis, so that whether the photovoltaic module has hot spots or not can be found in time; therefore, the cleaning robot can clean the photovoltaic module in a crossing way, and can detect hot spots while cleaning.
Drawings
Fig. 1 is a diagram showing a distribution of a part of equipment in a cleaning robot for a photovoltaic module.
Fig. 2 is a diagram showing a distribution of a part of equipment in the cleaning robot for a photovoltaic module.
Fig. 3 is a schematic view of the photovoltaic module cleaning robot provided by the invention when passing through a track.
Fig. 4 is a mounting structure diagram of a driving wheel in the cleaning robot for a photovoltaic module provided by the invention.
Fig. 5 is a mounting structure diagram of a driven wheel in the cleaning robot for a photovoltaic module.
Detailed Description
The invention provides a photovoltaic module cleaning robot, which aims to make the purposes, technical schemes and effects of the invention clearer and more definite, and further details the invention by referring to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 5, a cleaning robot for a photovoltaic module includes a robot frame 1, a battery 2, a traveling module for driving the robot frame to move, a cleaning mechanism 7 for cleaning the photovoltaic module, an infrared thermal imaging module 3 for collecting thermal infrared images of the photovoltaic module, a communication module 4 for communicating with a remote computer, a posture recognition module (not shown in the figure) for detecting a posture angle of the robot frame, and a control module 5; the battery, the walking module, the cleaning mechanism, the infrared thermal imaging module, the communication module and the gesture recognition module are electrically connected with the control module; the thermal infrared image can be sent to a remote computer through a communication module; the walking module comprises two walking mechanisms 6 which are respectively arranged at two ends of the robot frame, and the moving speed of each walking mechanism is independently adjustable; the photovoltaic modules 90 of adjacent rows are connected through two semi-circular arc tracks 91 which are concentrically arranged, two travelling mechanisms can respectively move on the two tracks, and the control module 5 can adjust the moving speed of the two travelling mechanisms in real time according to the change of the attitude angle of the robot frame so as to ensure stable straddling.
When the cleaning robot works, the two travelling mechanisms capable of independently adjusting the speed move on the photovoltaic modules, the attitude angle of the cleaning robot is unchanged when the cleaning robot moves on a certain row of photovoltaic modules, and when the cleaning robot moves to the end part of the photovoltaic module in the current row and enters a track for connecting the photovoltaic module in the current row with the photovoltaic module in the next row, the attitude angle of the cleaning robot changes, the attitude identification module detects the change in real time, and then the control module adjusts the speeds of the two travelling mechanisms in real time according to the change of the attitude angle, so that the robot smoothly passes through the track and stably enters the next row; the robot can acquire thermal infrared images of the photovoltaic module through the infrared thermal imaging module in the moving process, and the thermal infrared images are sent to a remote computer through the communication module for image analysis, so that whether the photovoltaic module has hot spots or not can be found in time; therefore, the cleaning robot can clean the photovoltaic module in a crossing way, and can detect hot spots while cleaning.
In order to more accurately judge whether the cleaning robot enters the track 91, a proximity switch can be installed on the cleaning robot, a trigger piece for triggering the proximity switch is arranged at the initial end of the track, the two travelling mechanisms are kept at constant speed before the proximity switch is triggered, the cross-travel sequence is started after the proximity switch is triggered, and at the moment, the control module adjusts the speeds of the two travelling mechanisms according to the information transmitted by the gesture recognition module. The misoperation of the speed of the travelling mechanism caused by the interference of the gesture recognition module when the cleaning robot moves on the current photovoltaic module can be avoided.
The gesture recognition module may be a three-axis gyroscope or other devices capable of performing gesture angle recognition in the prior art, which is not limited herein. The communication module can adopt a GPRS communication module and/or a WIFI communication module.
Specifically, the control module 5 comprises an ARM embedded system 5.1 and a PLC controller 5.2, and the PLC controller 5.2, the battery 2, the infrared thermal imaging module 3, the communication module 4 and the gesture recognition module are electrically connected with the ARM embedded system 5.1; the cleaning mechanism 7 and the walking module are electrically connected with the PLC controller 5.2. The ARM embedded system is a main control unit and is mainly responsible for remote communication, data acquisition, fault detection, walking modes of the whole machine, and tasks of changing a walking route of a robot in response to external environment changes; the PLC is an auxiliary control unit and is mainly responsible for receiving the traveling instruction of the ARM embedded system and controlling the motion of the traveling mechanism; the two are communicated through 232 and IO control is performed. The thermal infrared image collected by the infrared thermal imaging module is preprocessed in the ARM embedded system, hot spot analysis is roughly performed, if hot spots detected by the rough analysis are sent to a remote computer for further fine analysis, so that the hot spot condition is finally confirmed, on one hand, the occupancy rate of image transmission to a communication channel can be reduced, and on the other hand, the analysis efficiency can be improved.
Further, each travelling mechanism 6 comprises a first motor 6.1, a motor driver 6.2, at least two driving wheels 6.3 and a driven wheel 6.4, the first motor drives the driving wheels to synchronously rotate through a synchronous belt conveying mechanism, the driving wheels are pressed on the top of a frame 90.1 of the photovoltaic module, and the peripheral surface of the driven wheel is propped against the side wall of the frame of the photovoltaic module; the track is connected with the end part of the frame of the photovoltaic assembly; the first motor and the motor driver are electrically connected with the PLC. The drive wheel moves on the rim 90.1 to prevent damage to the photovoltaic module panel and the driven wheel is clamped on the side wall of the rim to prevent derailment of the cleaning robot.
In order to improve the output torque of the first motor, a star-shaped reduction gearbox can be arranged at the output end of the first motor, and in the embodiment, the star-shaped reduction gearbox with the reduction ratio of 1:10 is selected to drive the travelling speed of the driving wheel to be 10m/min. The first motor can be a stepping motor, a brushless motor, a servo motor, an asynchronous motor, a direct current motor and the like.
In this embodiment, the cleaning mechanism 7 includes a second motor 7.1 and a rotary brush 7.2, where the second motor drives the rotary brush to rotate through a synchronous belt transmission mechanism; the second motor is electrically connected with the PLC. The cleaning robot moves and simultaneously the rotary brush rotates to remove the stains on the photovoltaic module panel. Here, a synchronous belt transmission mechanism with a transmission ratio of 1:6 can be selected and the rotating speed of the rotary brush is ensured to be 3r/s, and the cleaning effect is optimal under the travelling speed.
Specifically, the infrared thermal imaging module 3 includes an infrared thermal imaging camera, an image processing module, and an image transmission module; the image processing module is used for carrying out digital processing on image data acquired by the infrared thermal imaging camera, the image transmission module is used for transmitting the processed image data to the ARM embedded system, and the ARM embedded system sends the image data to the remote computer through the communication module. In order to ensure that the whole width range of the photovoltaic module can be shot, the infrared thermal imaging module can be arranged on one telescopic frame 3.1, the height of the telescopic frame is adjustable, and the shooting work of the photovoltaic modules with different widths can be used by adjusting the height of the telescopic frame.
Further, the robot frame 1 is formed by connecting aluminum profiles through angle connecting blocks. The weight is smaller, the strength is larger, and the assembly is convenient and quick. Here, the aluminum profile can be a national standard 2020 aluminum profile. The aluminum profile can be replaced by stainless steel profile, titanium alloy profile, carbon fiber profile, inorganic composite material profile, carbon steel profile, space aluminum profile and the like.
Preferably, as shown in fig. 4 and 5, two ends of the rotating shaft of the driving wheel 6.3 are respectively arranged on the connecting bearing seats in a penetrating manner, each bearing seat is fixed on the cross arm 8.1 of one T-shaped frame 8, the vertical arm 8.2 of the T-shaped frame is fixedly connected with the aluminum profile 1.1 extending along the length direction of the robot frame (the length direction refers to the length direction of the robot frame and is also the width direction of the photovoltaic module), and the connecting position is adjustable; the rotating shaft of the driven wheel 6.4 is fixed on a connecting rod 9 which is fixedly connected with the aluminum profile 1.1 and the connecting position is adjustable. The positions of the driven wheel and the driving wheel in the length direction of the robot frame are adjusted to correspond to the positions of the frames 90.1 of the actual photovoltaic modules, so that the driven wheel and the driving wheel can be used on the photovoltaic modules with different widths, and the applicability is high.
Here, the cross arm 8.1 and the vertical arm 8.2 of the T-shaped frame 8 are made of aluminum profiles, and the other parts are fixedly connected through an angle connector 8.3.
Specifically, the vertical arm 8.2 of the T-shaped frame is connected with the aluminum profile 1.1 through an angle connecting piece 10, a corresponding clamping groove 1.1a is formed in the aluminum profile 1.1 along the axial direction, one end of the angle connecting piece 10 is fixedly connected with the vertical arm, and the other end of the angle connecting piece 10 is fixedly locked on the aluminum profile 1.1 through a bolt clamped in the clamping groove; the connecting rod 9 is connected with the aluminum profile 1.1 through the corner connecting piece 11, a corresponding clamping groove 1.1b is formed in the aluminum profile 1.1 along the axial direction, one end of the corner connecting piece 11 is fixedly connected with the connecting rod, and the other end of the corner connecting piece 11 is locked on the aluminum profile 1.1 through a bolt clamped in the clamping groove 1.1 b. When the positions of the driven wheel and the driving wheel are adjusted, the positions can be adjusted by loosening the corresponding locking bolts, and the bolts can be re-screwed after the adjustment is finished, so that the adjustment is convenient and quick.
In order to apply the change in the position of the driving wheel, the position of the corresponding timing belt transmission mechanism is also adjustable. For example, the output shaft of the first motor 6.1 is connected to a drive shaft 6.5, which drive shaft 6.5 is parallel to the longitudinal direction of the robot frame, on which drive shaft the driving synchronizing wheel of the synchronous belt drive is movably sleeved and locked by means of a locking screw, the driven synchronizing wheel 6.6 of which is fixed on the rotation shaft of the drive wheel 6.3 (see fig. 4) and moves together with the drive wheel; after the position of the driving wheel is changed, the driving synchronous wheel and the driven synchronous wheel can be aligned again by adjusting the position of the driving synchronous wheel, so that the reliable transmission is ensured.
Further, the photovoltaic module cleaning robot further comprises a wind speed sensor and a rain drop sensor, and the wind speed sensor and the rain drop sensor are electrically connected with the ARM embedded system. The communication module can receive local weather information from a remote computer to judge whether to adopt a rainy day cleaning scheme to clean (the rainy day cleaning scheme controls a battery to store energy in advance according to continuous rainfall conditions so as to ensure enough electric energy, and adjusts the travelling speed and the rotating speed of a rotating brush according to the rainfall), and because the received weather information is forecast information, whether to need to enter a rainy day cleaning program is judged by detecting the real condition of rainfall through a raindrop sensor, and whether to accord with safe working conditions or not can be judged by detecting rainfall and wind speed in real time through the raindrop sensor and a wind speed sensor so as to conveniently and timely take corresponding protection measures.
In addition, the photovoltaic module cleaning robot further comprises a positioning module, and the positioning module is electrically connected with the ARM embedded system. The positioning module can adopt a GPS positioning module and/or a Beidou positioning module, can detect the actual position of the cleaning robot in real time, can quickly position and ensure that a technician can timely arrive at the robot to maintain when the robot fails, and can quickly position the position of the hot spot when the hot spot is detected.
It will be understood that equivalents and modifications will occur to those skilled in the art based on the present invention and its spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention.
Claims (3)
1. The cleaning robot for the photovoltaic assembly is characterized by comprising a robot frame, a battery, a walking module, a cleaning mechanism, an infrared thermal imaging module and a communication module, wherein the walking module is used for driving the robot frame to move, the cleaning mechanism is used for cleaning the photovoltaic assembly, the infrared thermal imaging module is used for collecting thermal infrared images of the photovoltaic assembly, the communication module is used for communicating with a remote computer, the gesture recognition module is used for detecting the gesture angle of the robot frame, and the control module is used for controlling the robot frame to move; the battery, the walking module, the cleaning mechanism, the infrared thermal imaging module, the communication module and the gesture recognition module are electrically connected with the control module; the thermal infrared image can be sent to a remote computer through a communication module; the walking module comprises two walking mechanisms which are respectively arranged at two ends of the robot frame, and the moving speed of each walking mechanism is independently adjustable; the photovoltaic modules in adjacent rows are connected through two semi-circular arc tracks which are concentrically arranged, the two travelling mechanisms can respectively move on the two tracks, the control module can adjust the moving speeds of the two travelling mechanisms in real time according to the change of the attitude angle of the robot frame so as to ensure stable crossing, and the control module comprises an ARM embedded system and a PLC (programmable logic controller), and the PLC, a battery, an infrared thermal imaging module, a communication module and an attitude identification module are electrically connected with the ARM embedded system; the cleaning mechanism and the walking module are electrically connected with the PLC, the cleaning mechanism comprises a second motor and a rotary brush, and the second motor drives the rotary brush to rotate through a synchronous belt transmission mechanism; the second motor is electrically connected with the PLC, and further comprises a wind speed sensor and a rain drop sensor, wherein the wind speed sensor and the rain drop sensor are electrically connected with the ARM embedded system, each traveling mechanism comprises a first motor, a motor driver, at least two driving wheels and a driven wheel, the first motor drives the driving wheels to synchronously rotate through a synchronous belt conveying mechanism, the driving wheels are pressed on the top of a frame of the photovoltaic module, and the peripheral surface of the driven wheel is propped against the side wall of the frame of the photovoltaic module; the track is connected with the end part of the frame of the photovoltaic assembly; the first motor and the motor driver are electrically connected with the PLC, the robot frame is formed by connecting aluminum profiles through angle connecting blocks, two ends of a rotating shaft of the driving wheel are respectively arranged on two bearing seats in a penetrating mode, each bearing seat is fixed on a cross arm of a T-shaped frame, a vertical arm of the T-shaped frame is fixedly connected with one aluminum profile extending along the length direction of the robot frame, and the connecting position of the vertical arm of the T-shaped frame is adjustable; the rotating shaft of the driven wheel is fixed on a connecting rod, the connecting rod is fixedly connected with the aluminum profile, the connecting position is adjustable, the vertical arm of the T-shaped frame is connected with the aluminum profile through an angle connecting piece, a corresponding clamping groove is formed in the aluminum profile along the axial direction, one end of the angle connecting piece is fixedly connected with the vertical arm, and the other end of the angle connecting piece is locked on the aluminum profile through a bolt clamped in the clamping groove; the connecting rod is connected with the aluminum profile through the corner connecting piece, a corresponding clamping groove is formed in the aluminum profile along the axial direction, one end of the corner connecting piece is fixedly connected with the connecting rod, and the other end of the corner connecting piece is locked on the aluminum profile through a bolt clamped in the clamping groove.
2. The photovoltaic module cleaning robot of claim 1, wherein the infrared thermal imaging module comprises an infrared thermal imaging camera, an image processing module, and an image transmission module; the image processing module is used for carrying out digital processing on image data acquired by the infrared thermal imaging camera, the image transmission module is used for transmitting the processed image data to the ARM embedded system, and the ARM embedded system sends the image data to the remote computer through the communication module.
3. The photovoltaic module cleaning robot of claim 1, further comprising a positioning module electrically connected to the ARM embedded system.
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| CN201810955102.7A CN108832885B (en) | 2018-08-21 | 2018-08-21 | Photovoltaic module cleaning robot |
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| CN201810955102.7A CN108832885B (en) | 2018-08-21 | 2018-08-21 | Photovoltaic module cleaning robot |
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| CN108832885A CN108832885A (en) | 2018-11-16 |
| CN108832885B true CN108832885B (en) | 2023-12-01 |
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| CN109746226B (en) * | 2019-02-20 | 2019-11-01 | 南京海得电力科技有限公司 | Photovoltaic panel intelligence purging system for photovoltaic plant O&M |
| CN110125124B (en) * | 2019-05-14 | 2021-07-20 | 合肥仁洁智能科技有限公司 | Photovoltaic cleaning machine inclination posture detection method, controller and photovoltaic cleaning 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 |
| CN111760818B (en) * | 2020-06-15 | 2022-08-26 | 武汉理工大学 | Photovoltaic inspection robot based on Internet of things |
| CN114682596B (en) * | 2022-03-03 | 2024-02-23 | 杭州舜海光伏科技有限公司 | Single-rail double-motor cleaning robot |
| CN114905531A (en) * | 2022-06-10 | 2022-08-16 | 苏州立天智能科技有限公司 | Photovoltaic cleaning robot and cleaning method |
| CN115617048B (en) * | 2022-11-09 | 2023-05-09 | 立物(北京)科技有限公司 | Unmanned cleaning method and system for photovoltaic power station |
| CN116388668B (en) * | 2023-03-30 | 2024-03-12 | 兰州理工大学 | Photovoltaic module cleaning robot with straddle travelling mechanism and cleaning method |
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