CN108838150A - A kind of Clean- intelligent robot of solar panel - Google Patents
A kind of Clean- intelligent robot of solar panel Download PDFInfo
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- CN108838150A CN108838150A CN201811088870.3A CN201811088870A CN108838150A CN 108838150 A CN108838150 A CN 108838150A CN 201811088870 A CN201811088870 A CN 201811088870A CN 108838150 A CN108838150 A CN 108838150A
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- 238000004140 cleaning Methods 0.000 claims abstract description 94
- 238000004891 communication Methods 0.000 claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 239000000463 material Substances 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
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- 230000008901 benefit Effects 0.000 description 3
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- 239000011538 cleaning material Substances 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- 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
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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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- 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
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of Clean- intelligent robots of solar panel, including ontology, the middle position of the ontology is equipped with master control borad, display screen, battery and brushless duct motor, stepper motor is mounted at left and right sides of ontology, the two sides of ontology upper end are mounted on information acquisition module, it is mounted on crawler belt between the stepper motor and master control borad of two sides, cleaning component is installed between two information acquisition modules, body interior is equipped with wireless communication module, gyroscope and bluetooth module.This product is small in size, light weight, weight will not be caused to damage solar panel, there are many operation modes, manipulation is easy, high degree of automation can effectively improve cleaning efficiency, while also avoid the spoilage of robot, the information such as the position of itself, state can be uploaded to console, on wechat small routine by this product, and the functions such as real-time monitoring, human-computer interaction may be implemented.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of Clean- intelligent robot of solar panel.
Background technique
China's photovoltaic power generation industry development in recent years is very rapid, following with the development of photovoltaic power generation industry
The problem of bringing is that the utilization rate of solar energy cannot be significantly improved, and photovoltaic plant solar panel generally uses crystal silicon material
Material, however during the operation of power station, generating efficiency is affected by many factors, and wherein solar panel is asked by what dust blocked
Topic is the severeest, can lead to the power generation loss of 35%-40%, while can also cause hot spot effect and acid and alkali corrosion, greatly shortens
The service life of solar panel, or even cause fire.
Solar panel, which needs regularly to clean, just can guarantee maximum solar energy utilization ratio, the solar panel of large area
Cleaning relies primarily on the modes such as expensive self-cleaning material, manpower cleaning, the cleaning vehicle of large volume and cleaning robot,
The price of self-cleaning material be it is sufficiently expensive, not only need to regularly replace material, but also self-cleaning material makes solar panel
With more demanding, manpower cleaning may can only guarantee the cleaning effect of short time, once the cleaning frequency is long, area is big, cleaning people
Member, which is easy to produce, to be weary of and fatigue, can be greatly reduced so as to cause cleaning efficiency, cleaning effect cannot also obtain sufficient guarantor
Card, the maintenance cost specific gravity of cleaning vehicle is excessive, requires relatively high, existing cleaning robot, expensive, Er Qiexiao to landform
Rate is low, is no longer satisfied the existing requirement in market.
Summary of the invention
The purpose of the present invention is to provide a kind of Clean- intelligent robots of solar panel, to solve above-mentioned background technique
The problem of middle proposition.
To achieve the above object, the present invention provides the following technical solutions：
A kind of Clean- intelligent robot of solar panel, including ontology, the middle position of the ontology are equipped with master control borad, show
Display screen, battery and brushless duct motor, the ontology left and right sides are mounted on stepper motor, and the two sides of ontology upper end are mounted on letter
Acquisition module is ceased, crawler belt is mounted between the stepper motor and master control borad of two sides and crawler belt is driven using stepper motor, two
Cleaning component is installed between a information acquisition module, body interior is equipped with wireless communication module, gyroscope and bluetooth module,
Module or bluetooth module are connected ontology with mobile phone or computer by wireless communication, battery, display screen, brushless duct motor,
Stepper motor, information acquisition module, cleaning component, wireless communication module, gyroscope and bluetooth module are connected with master control borad.
As a further solution of the present invention：Stepper motor is all made of four phase step motor and uses unipolarity direct current
Source power supply can be such that stepper motor stepping rotates as long as each phase winding to stepper motor is powered by suitable timing, stepping electricity
It is provided with train of reduction gears on machine, is capable of providing enough torques and guarantees that machine operates normally, the model of stepper motor
28BYJ-48, the model D2627-4300KV-4S of brushless duct motor, display screen are made of OLED material, and master control borad is adopted
With STM32F103C8T6 single-chip microcontroller, ontology is made of acrylic or carbon fibre materials.
As a further solution of the present invention：Cleaning component includes steering engine, cleaning brush, relay switch, water pump and sink, water
Pump is connected with sink, and cleaning brush uses servo driving, and relay switch is connected with water pump by signal, and cleaning mode is that washing is clear
Clean, the effect of this cleaning mode is more preferable, and automobile wiper is similar to when cleaning, drives cleaning brush to swing by steering engine, water
Pump draws water from sink, is uniformly sprayed on solar panel, and swinging to floating on solar panel by cleaning brush
Dirt and stain are cleaned.
As a further solution of the present invention：The model SG90 of steering engine, 385 water pump of model of water pump.
As a further solution of the present invention：Information acquisition module includes photoelectric tube and camera, passes through photoelectric tube
Judge whether ontology drives to the boundary of solar panel, prevent from inadvertently falling off when work, camera acquires solar energy face
Plate information, judges whether solar panel cleans, and the cleaning shape of solar panel is analyzed by algorithm design or wechat small routine
State, feedback regulation cleaning frequency, cleaning dynamics, wash number etc. improve whole clean-up performance, and camera can also help intelligence
The automatic programme path of clean robot identifies more apparent foreign matter, convenient for cleaning.
As a further solution of the present invention：Photoelectric tube is using infrared electro to pipe, and infrared electro is to pipe to environment light
Line is adaptable, has a pair of of infrared transmitting tube and infrared receiving tube, and infrared transmitting tube emits the infrared ray of certain frequency,
Changes will occur for the light that infrared reflection is returned when detection direction encounters barrier or is detached from reflecting surface, and synchronous signal is defeated
Outlet can export corresponding digital signal, can adjust detecting distance effective range 2-30cm, operating voltage 3.3- by potentiometer
5V, sensor output mouth out can directly be connect with the I/O port of master control borad；The model OV7725, OV7725 of camera are one
Money integrates the high-performance sensors of 1/4 inch of single-chip VGA camera and image processor, is 640 × 480 photosensitive battle array
Column, are able to achieve the video of most fast 60fps VGA resolution per second, and differentiate, output data format, picture characteristics etc. can match
It sets.
As a further solution of the present invention：GPS positioning system and navigation module are also equipped in ontology, it can be to ontology
It is positioned and is navigated, ontology is avoided to go to the wrong way.
Compared with prior art, the beneficial effects of the invention are as follows：This product is small in size, light weight, will not be to solar energy face
Plate causes weight to damage, and cost performance is high, and the market competitiveness is good, and there are many operation mode, manipulation is easy, high degree of automation, energy
Cleaning efficiency is effectively improved, while also avoiding the spoilage of robot, whether can be contained with camera detection after this product cleaning
There is large area dust, it is ensured that reach specified cleannes；This product the information such as the position of itself, state can be uploaded to console,
On wechat small routine, the functions such as real-time monitoring, human-computer interaction may be implemented；This product can also customize acording to the requirement of user not
Same function, is adapted to more scene modes.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the Clean- intelligent robot of solar panel.
Fig. 2 is the working drawing of single cpu mode in the Clean- intelligent robot of solar panel.
Fig. 3 is the working drawing of multi-machine collaborative mode in the Clean- intelligent robot of solar panel.
Fig. 4 is the control principle drawing of hardware in the Clean- intelligent robot of solar panel.
Fig. 5 is the control principle drawing of data exchange in the Clean- intelligent robot of solar panel.
Fig. 6 is the work flow diagram of the Clean- intelligent robot of solar panel.
Fig. 7 is the circuit diagram of power supply pressure stabilizing in the Clean- intelligent robot of solar panel.
Fig. 8 is the circuit diagram of relay switch in the Clean- intelligent robot of solar panel.
Fig. 9 is the circuit diagram of stepper motor in the Clean- intelligent robot of solar panel.
Figure 10 is the circuit diagram of photoelectric tube in the Clean- intelligent robot of solar panel.
Figure 11 is the circuit diagram of control system in the Clean- intelligent robot of solar panel.
Wherein：1- photoelectric tube, 2- ontology, 3- stepper motor, 4- crawler belt, 5- battery, 6- display screen, 7- is brushless, and duct is electric
Machine, 8- master control borad, 9- steering engine.
Specific embodiment
The technical solution of the patent is explained in further detail With reference to embodiment.
Embodiment 1
A kind of Clean- intelligent robot of solar panel, including ontology 2, the middle position of the ontology 2 are equipped with master control borad
8, display screen 6, battery 5 and brushless duct motor 7 are mounted on stepper motor 3, the two sides of 2 upper end of ontology at left and right sides of ontology 2
It is mounted on information acquisition module, crawler belt 4 is mounted between the stepper motor 3 and master control borad 8 of two sides and crawler belt 4 is using step
It is driven into motor 3, cleaning component is installed between two information acquisition modules, wireless communication module, top are installed inside ontology 2
Spiral shell instrument and bluetooth module, module or bluetooth module are connected ontology 2 with mobile phone or computer by wireless communication, battery 5, display
Screen 6, brushless duct motor 7, stepper motor 3, information acquisition module, cleaning component, wireless communication module, gyroscope and bluetooth mould
Block is connected with master control borad 8.Stepper motor 3 is all made of four phase step motor and is powered using unipolarity DC power supply, as long as
It is powered to each phase winding of stepper motor 3 by suitable timing, 3 stepping of stepper motor can be made to rotate, be arranged on stepper motor 3
There is train of reduction gears, is capable of providing enough torques and guarantees that machine operates normally, the model 28BYJ-48 of stepper motor 3, nothing
The model D2627-4300KV-4S of brush duct motor 7, display screen 6 are made of OLED material, and master control borad 8 uses
STM32F103C8T6 single-chip microcontroller, ontology 2 are made of acrylic or carbon fibre materials.Cleaning component includes steering engine 9, cleaning
Brush, relay switch, water pump and sink, water pump are connected with sink, and cleaning brush is driven using steering engine 9, and steering engine 9 is electrically connected with master control borad 8
It connects, relay switch is connected with water pump by signal, and cleaning mode is washing cleaning, and the effect of this cleaning mode is more preferable, cleaning
When be similar to automobile wiper, by steering engine 9 drive cleaning brush swing, water pump draws water from sink, is uniformly sprayed at solar energy
On panel, and by cleaning brush swing on solar panel floating dust and stain clean.The model of steering engine 9
SG90,385 water pump of model of water pump.
Embodiment 2
A kind of Clean- intelligent robot of solar panel, including ontology 2, the middle position of the ontology 2 are equipped with master control borad
8, display screen 6, battery 5 and brushless duct motor 7 are mounted on stepper motor 3, the two sides of 2 upper end of ontology at left and right sides of ontology 2
It is mounted on information acquisition module, crawler belt 4 is mounted between the stepper motor 3 and master control borad 8 of two sides and crawler belt 4 is using step
It is driven into motor 3, cleaning component is installed between two information acquisition modules, wireless communication module, top are installed inside ontology 2
Spiral shell instrument and bluetooth module, module or bluetooth module are connected ontology 2 with mobile phone or computer by wireless communication, battery 5, display
Screen 6, brushless duct motor 7, stepper motor 3, information acquisition module, cleaning component, wireless communication module, gyroscope and bluetooth mould
Block is connected with master control borad 8.Information acquisition module includes photoelectric tube 1 and camera, judges that ontology 2 is by photoelectric tube 1
The no boundary for driving to solar panel prevents from inadvertently falling off when work, and camera acquires solar panel information, judgement
Whether solar panel cleans, and the clean conditions of solar panel, feedback regulation are analyzed by algorithm design or wechat small routine
Cleaning frequency, cleaning dynamics, wash number etc., improve whole clean-up performance, and camera can also help Intelligent cleaning robot
Automatic programme path identifies more apparent foreign matter, convenient for cleaning.Photoelectric tube 1 is using infrared electro to pipe, infrared electro pair
Pipe is adaptable to ambient light, has a pair of of infrared transmitting tube and infrared receiving tube, the certain frequency of infrared transmitting tube transmitting
The infrared ray of rate, the light that infrared reflection is returned when detection direction encounters barrier or is detached from reflecting surface can all become
Change, synchronous signal delivery outlet can export corresponding digital signal, can adjust detecting distance effective range 2-30cm, work by potentiometer
Making voltage is 3.3-5V, and sensor output mouth out can directly be connect with the I/O port of master control borad；The model of camera
OV7725, OV7725 are the high-performance sensors of a integrated 1/4 inch of single-chip VGA camera and image processor, are
640 × 480 photosensitive array, is able to achieve the video of most fast 60fps VGA resolution per second, and differentiate, output data format,
Picture characteristics etc. is configurable.It is also equipped with GPS positioning system and navigation module in ontology 2, ontology 2 can be positioned and be led
Boat, avoids ontology 2 from going to the wrong way.
The working principle of the invention is：3 driving method of stepper motor of this product is easy to use, 3 stepping of stepper motor
Angle is 5.625 °/64, compared to the travel distance and walking states that traditional DC MOTOR CONTROL can be accurately controlled machine,
Realize walking, the retroversion, turning function of robot.
Bluetooth module can be connect with computer, facilitate the adjusting of robot parameter.
Wireless communication module can transmit and receive the status data of robot, and carry out data friendship with other robots
It changes, realizes multimachine interconnecting function.
9 operation torque of steering engine is 1.6Kg/cm, and reaction revolving speed is 0.12-0.13 seconds/60 °, and rotation angle is 180 °.Steering engine
9 control signal modulates chip by the channel entering signal of receiver, obtains DC offset voltage, has a base inside steering engine 9
Quasi- circuit, generation period are 20ms, and width is the reference signal of 1.5ms, by the electricity of the DC offset voltage of acquisition and potentiometer
Pressure ratio is compared with acquisition voltage difference output.Finally, the positive and negative positive and negative rotation for being output to motor drive ic and determining motor of voltage difference.When
One timing of motor speed drives potentiometer rotation by cascade reduction gearing, so that voltage difference is 0, motor stalls.
Pressure between brushless 7 adjustable body 2 of duct motor and solar panel, to adapt to the sun at more inclination angles
Energy panel, enables ontology 2 is stable to run on solar panel.The drive module of brushless duct motor 7 is
SkyWalker（Skywalker）The serial brushless electricity of sky mould is adjusted, and can be provided enough power sources for brushless duct motor 7, be held
Continuous electric current 40A, short-time current 55A（No less than 10 seconds）.Brushless duct motor 7 is made of motor body and driver, is one
The typical electromechanical integrated product of kind.Since brushless duct motor 7 is run with autocontrol, so will not be as under frequency control
The synchronous motor of heavy load starting separately plus starts winding like that on rotor, and oscillation and step-out will not be generated in load sudden change.
The permanent magnet of the brushless duct motor 7 of Small And Medium Capacity, mostly uses the rare-earth Nd-Fe-B of high magnetic energy grade now（Nd-Fe-B）Material.
Brushless duct motor 7 has high revolving speed, sufficient power is capable of providing, so that ontology 2 can adapt to greater angle
The solar panel of variation.
Data transmission in this product is carried out by NRF24L01 wireless communication module, it is 2.4GHz global open
ISM band, maximum 0dBm transmission power exempt from licensing using the data receiver for supporting LIULUTONG road, and operating voltage is only 1.9-
3.6V, transmission rate are up to 2Mbps, since the air transmission time is very short, greatly reduce the collision phenomenon in wireless transmission.
NRF24L01 wireless communication module realizes the transmission and reception of data between all robots, and control robot carries out different clear
Mold cleaning formula.NRF24L01 is low in energy consumption, and when with the power emission of -6 dBm, operating current also only has 9 mA；When reception, work electricity
Stream only has 12.3 mA, and a variety of low-power working modes, work electric current in 100mw is 160mA, realizes in data transmission
Opposite WiFi is apart from farther.NRF24L01 is integrated with all igh-speed wire-rod production line relevant to RF agreement parts, such as：Automatic weight
It sends out lost data packets and automatically generates answer signal etc., the SPI interface of NRF24L01 can use SPI mouthfuls of companies of hardware of single-chip microcontroller
Connect or simulated with single-chip processor i/o mouth, inside have FIFO can with various high low speed microprocessor interfaces, be easy to use it is low at
This single-chip microcontroller.
OLED display screen 6 can show the status information of robot, and OLED is not required to backlight due to being provided simultaneously with self-luminous
Source, the advantage that contrast is high, thickness is thin, visual angle is wide, reaction speed is fast, use temperature range is wide.Compare in the market other
Display screen, it have incomparable advantage.
The kernel of master control borad 8 is ARM 32 Cortex-M3 CPU, highest 72MHz working frequency, memory etc.
Up to 1.25DMips/MHz (Dhrystone 2.1) when cycle access.The FLASH program storage of byte from 64K to 128K
Device has the SRAM of up to 20K byte.Low-power consumption, 2 12 analog-digital converters, (up to 16 inputs are logical for 1 μ s conversion time
Road).It include the I/O mouth of 37 multi-function double-ways, all I/O mouthfuls can be with image to 16 external interrupts, nearly all port
Equal tolerable 5V signal and up to 9 communication interfaces.Moreover, STM32F103C8T6 small volume is still powerful, and
And it is relatively high relative to other chip sexual valences.
This product has single cpu mode and multi-machine collaborative mode.
Single cpu mode has following function：First, cleaning dynamics are adjusted：Start brushless duct motor and larger pressure be provided,
By the control to PWM, the revolving speed of brushless duct motor is adjusted, the downward pressure of crossmachine people can be provided, is adjusted
Cleaning dynamics, while also changing the frictional force between crawler belt and solar panel；Second, automatic programme path：It can be excellent
Change robot in the path of solar panel Intelligent cleaning robot；By the attitude algorithm of gyroscope, then pass through infrared tube
Boundary is judged in advance, to turn to, prevents from falling；Third, a variety of cleaning ways：For different situations, difference can be selected
Cleaning way, this product devises automatic control cleaning, manually controls cleaning, fixed time cleaning, rough cleaning, fine cleaning.
Cleaning is automatically controlled to realize by the automatic programme path of robot；The behaviour to wechat small routine or console can be passed through manually
Control is cleaned；Fixed time cleaning mode is to set the time cleaning frequency on the basis of automatically controlling cleaning；Rough cleaning is logical
The revolving speed of quickening stepper motor is crossed to realize the function；Fine cleaning then goes to realize by reducing the revolving speed of stepper motor；4th,
Data communication：It is wirelessly communicated by NRF24L01 and carries out data transmission and receive with console, can show the work of robot
Make state and mode, while can also realize the control to robot by the control to console；5th, detection cleaning shape
State：Cleaning can specify test point by host after completing, and by slave fixed point not timing detection, and will test data summarization to host
It is cleaned next time being judged whether by host, and clean data and cleaning progress is uploaded into console, console is by data
It is handled, result is sent on wechat small routine or on other APP.
Multi-machine collaborative mode may be implemented robotary interconnection, multi-machine collaborative form into columns by a host and it is multiple from
Machine composition, principal and subordinate's sensing node most of the time works in suspend mode, and aggregation node（Console）There is no wanting for low-power consumption
It asks.Communication between aggregation node and host node, host node and subordinate computer node selects NRF24L01+ chip to realize.More
Assisting in identifying by camera image under machine mode, path is planned and is distributed by host, and this mode is not only avoided clear
It collides during washing, and significantly improves the cleaning efficiency of robot.
The workflow of this product：Robot carries out function initialization, and whether the posture for detecting robot is correct, from
And ensures robot security and run；Do not stop to carry out data transmission to other robot or console in timer interruption or connect
By, while the data of gyroscope are also read in interruption, attitude algorithm is then carried out, and by different postures, to output
PWM wave is adjusted accordingly, to generate different suction, cleaning vehicle is not only allowed stable can to transport on solar panel
Row, moreover it is possible to efficiently utilize battery resource, if posture is normal, this product carries out the operation of main program below, if posture is wrong
Accidentally, false alarm can be sent to console；Robot is cleaned and is walked according to the path of planning, using the detection of photoelectric tube,
It can carry out detecting the low and high level variation of the input port with master control borad, to judge whether that front has obstacle or front to have side
Boundary executes the order of steering, is turned to when photoelectric tube detects boundary, until cleaning is completed.Console passes through wireless
Communication module receives data, is shown by OLED display screen, if be not received by data or do not operated, display
Be the time；Module sends data to server by wireless communication, data processing platform (DPP) is established in server end, to transmission
Data automatically write database after carrying out induction-arrangement and support real-time update, pass through invoking server end Thinkphp frame
Function and show that data on foreground, user Android and ios client real time monitoring product working condition, and to data
Comprehensive analysis is carried out, it being capable of the adjustment region cleaning frequency.
This product reduces the center of gravity of robot as far as possible, to reach high stability when steering, makes robot in inclined-plane work
Component when making along inclined-plane is bonded solar panel as far as possible, to increase stability；Keep the gravity centre distribution of robot uniform,
Robot can be made to ensure to occur when inclined-plane works to break away to fall in this way, the resistance that robot can be made to be subject to
Uniformly, to reduce energy consumption；Reduce robot chassis at a distance from solar panel, makes the sky between chassis and solar panel
Air volume reduces, so that the deboost that brushless duct motor generates is lost and reduces, it is tight when inclined-plane works to be conducive to robot
It is close to close solar panel；The contact area for increasing crawler belt and solar panel, prevents crawler belt from skidding.
There are two types of cleaning solutions for the product：The first cleaning solution：The side for cleaning round brush is equipped with direct current generator to band
The rotation of dynamic cleaning round brush, the other side are equipped with bearing and steering engine 9, and cleaning roughly and essence may be implemented by the revolving speed of direct current generator
Thin cleaning.Steering engine 9 may be implemented whether cleaning round brush contacts with solar panel, when realizing cleaning solar panel, steering engine 9
Angle is rotated down, cleaning round brush is come into full contact with solar panel, improves cleaning effect.When robot is in suspend mode
When, steering engine 9 is rotated up certain angle, contacts cleaning round brush not with solar panel, to protect cleaning round brush.
Second of cleaning solution：Cloths for cleaning is housed in the chassis lower surface of this product, the thickness of cloths for cleaning is slightly above
The height of chassis lower surface to solar panel causes machine by the opposition of robot gravity and brushless duct motor 7
The crawler belt 4 and solar panel of device people comes into full contact with and realizes walking.Connect cloths for cleaning sufficiently with solar panel simultaneously
Touching, improves cleaning effect.
The walking mechanism of this product provides power by stepper motor 3, generates corresponding pulses by single-chip microcontroller to control its row
Into direction, can accurately be walked during operation along fixed route by stepper motor 3, the region prevented is not cleared up, when
When cleaning track and deviateing, can by the current robot pose of the tilt angle calculation of solar panel whether off-track, and root
The path for returning former track is calculated according to deviation angle.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
1. a kind of Clean- intelligent robot of solar panel, the ontology（2）Middle position master control borad is installed（8）, it is aobvious
Display screen（6）, battery（5）With brushless duct motor（7）, ontology（2）The left and right sides is mounted on stepper motor（3）, ontology（2）On
The two sides at end are mounted on information acquisition module, the stepper motor of two sides（3）And master control borad（8）Between be mounted on crawler belt（4）
And crawler belt（4）Using stepper motor（3）Driving, which is characterized in that cleaning component is installed between two information acquisition modules,
Ontology（2）Inside is equipped with wireless communication module, gyroscope and bluetooth module, ontology（2）Module or indigo plant by wireless communication
Tooth module is connected with mobile phone or computer, battery（5）, display screen（6）, brushless duct motor（7）, stepper motor（3）, information adopts
Collect module, cleaning component, wireless communication module, gyroscope and bluetooth module and master control borad（8）It is connected；The ontology（2）It is interior
It is also equipped with GPS positioning system and navigation module.
2. the Clean- intelligent robot of solar panel according to claim 1, which is characterized in that the stepper motor
（3）It is all made of four phase step motor and stepper motor（3）On be provided with train of reduction gears, stepper motor（3）Model
28BYJ-48, brushless duct motor（7）Model D2627-4300KV-4S, display screen（6）It is made of OLED material, it is main
Control plate（8）Using STM32F103C8T6 single-chip microcontroller, ontology（2）It is made of acrylic or carbon fibre materials.
3. the Clean- intelligent robot of solar panel according to claim 1 or 2, which is characterized in that the cleaning part
Part includes steering engine（9）, cleaning brush, relay switch, water pump and sink, water pump be connected with sink, cleaning brush uses steering engine（9）It drives
Dynamic, relay switch is connected with water pump by signal.
4. the Clean- intelligent robot of solar panel according to claim 3, which is characterized in that the steering engine（9）'s
Model SG90,385 water pump of model of water pump.
5. the Clean- intelligent robot of solar panel according to claim 1, which is characterized in that the information collection mould
Block includes photoelectric tube（1）And camera.
6. the Clean- intelligent robot of solar panel according to claim 5, which is characterized in that the photoelectric tube
（1）Using infrared electro to pipe, the model OV7725 of camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811088870.3A CN108838150A (en) | 2018-09-18 | 2018-09-18 | A kind of Clean- intelligent robot of solar panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088870.3A CN108838150A (en) | 2018-09-18 | 2018-09-18 | A kind of Clean- intelligent robot of solar panel |
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| CN108838150A true CN108838150A (en) | 2018-11-20 |
Family
ID=64189369
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|---|---|---|---|
| CN201811088870.3A Withdrawn CN108838150A (en) | 2018-09-18 | 2018-09-18 | A kind of Clean- intelligent robot of solar panel |
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| Country | Link |
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| CN (1) | CN108838150A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571472A (en) * | 2018-12-03 | 2019-04-05 | 张和平 | Self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot and control system |
| CN109624629A (en) * | 2019-02-15 | 2019-04-16 | 苏州融萃特种机器人有限公司 | Climbing robot based on flight vector |
| CN110112999A (en) * | 2019-06-06 | 2019-08-09 | 深圳怪虫机器人有限公司 | A kind of method of the robot autonomous selection cleaning route of photovoltaic |
| WO2021144127A1 (en) * | 2020-01-15 | 2021-07-22 | Gea Food Solutions Germany Gmbh | Device and method for processing and/or transporting food comprising a remote-controlled conveying device drive |
| CN113169706A (en) * | 2018-11-27 | 2021-07-23 | 蒸汽技术公司 | Movable panel cleaner |
| WO2022156356A1 (en) * | 2021-01-24 | 2022-07-28 | 深圳怪虫机器人有限公司 | High-precision sensing and locating apparatus for detecting photovoltaic assembly |
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2018
- 2018-09-18 CN CN201811088870.3A patent/CN108838150A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113169706A (en) * | 2018-11-27 | 2021-07-23 | 蒸汽技术公司 | Movable panel cleaner |
| CN109571472A (en) * | 2018-12-03 | 2019-04-05 | 张和平 | Self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot and control system |
| CN109571472B (en) * | 2018-12-03 | 2021-09-21 | 张华伟 | Self-adaptive intelligent cleaning robot for solar photovoltaic power generation equipment and control system |
| CN109624629A (en) * | 2019-02-15 | 2019-04-16 | 苏州融萃特种机器人有限公司 | Climbing robot based on flight vector |
| CN109624629B (en) * | 2019-02-15 | 2020-11-13 | 苏州融萃特种机器人有限公司 | Wall-climbing robot based on vector flight |
| CN110112999A (en) * | 2019-06-06 | 2019-08-09 | 深圳怪虫机器人有限公司 | A kind of method of the robot autonomous selection cleaning route of photovoltaic |
| WO2021144127A1 (en) * | 2020-01-15 | 2021-07-22 | Gea Food Solutions Germany Gmbh | Device and method for processing and/or transporting food comprising a remote-controlled conveying device drive |
| WO2022156356A1 (en) * | 2021-01-24 | 2022-07-28 | 深圳怪虫机器人有限公司 | High-precision sensing and locating apparatus for detecting photovoltaic assembly |
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Application publication date: 20181120 |