CN109571472A - Self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot and control system - Google Patents
Self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot and control system Download PDFInfo
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- CN109571472A CN109571472A CN201811465404.2A CN201811465404A CN109571472A CN 109571472 A CN109571472 A CN 109571472A CN 201811465404 A CN201811465404 A CN 201811465404A CN 109571472 A CN109571472 A CN 109571472A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 140
- 238000010248 power generation Methods 0.000 title claims abstract description 35
- 238000010521 absorption reaction Methods 0.000 claims abstract description 22
- 238000012986 modification Methods 0.000 claims abstract description 11
- 230000004048 modification Effects 0.000 claims abstract description 11
- 238000009826 distribution Methods 0.000 claims abstract description 6
- 239000000428 dust Substances 0.000 claims description 67
- 238000000034 method Methods 0.000 claims description 25
- 230000005611 electricity Effects 0.000 claims description 21
- 238000001179 sorption measurement Methods 0.000 claims description 16
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- 238000001514 detection method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 11
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- 230000007246 mechanism Effects 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 6
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- 238000009434 installation Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004422 calculation algorithm Methods 0.000 claims description 5
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- 238000004891 communication Methods 0.000 claims description 4
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- 239000000835 fiber Substances 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 241001269238 Data Species 0.000 claims description 2
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 11
- 238000013461 design Methods 0.000 description 9
- 238000013517 stratification Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 239000011538 cleaning material Substances 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Photovoltaic Devices (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to solar energy power generating equipment technical fields, a kind of self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot and control system are disclosed, self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control system includes control module, hoofing part module, information acquisition module, power unit, absorption and cleans part.The present invention can complete the cleaning to solar panels, be greatly saved water resource compared with traditional cleaning means；Clean robot, which passes through the route preset and is aided with Edge check sensor, carries out path modification to complete cleaning；Staff can monitor by mobile client and adjust the working condition of clean robot in real time, and multiple clean robots in region can also be carried out with work distribution and unified management scheduling, obtain more efficient cleaning effect with this.
Description
Technical field
The invention belongs to solar energy power generating equipment technical field more particularly to a kind of self-adapting solar energy photovoltaic power generations
Device intelligence clean robot and control system.
Background technique
Currently, the prior art commonly used in the trade is such that
In recent years, photovoltaic was as a kind of renewable and clean energy resource, it has also become the important force that global energy is changed.But the sun
Energy battery plate surface is easy the dirts such as accumulation dust storm, dust, if timely cleaning without science, highest can lead to component power generation function
Rate decaying 40%~60%, generated energy decline 20%~30%.If can not clean completely thorough simultaneously, dead angle is left, not
Cleaned corner parts solar panel can be become power consuming units from generator unit, shielded photovoltaic cell will become do not generate electricity it is negative
Resistance is carried, the electric power that consumption connected battery generates causes to generate heat, also here it is " hot spot effects ".This process can aggravate solar panel
Aging reduces optoelectronic transformation efficiency, fire can be caused when serious.According to statistics, global solar power station is every year because of ineffective cleaning or clear
The clean direct economic loss generated not in time is up to about 10,000,000,000 dollars, ends the year two thousand twenty, it is contemplated that this loss then will be up to 20,000,000,000.
While the energy wasted because solar panel surface accumulation dirt leads to decrease in power generation efficiency is even more to be difficult to imagine, data are aobvious
Show, 2016, China's photovoltaic industry generated energy reaches 62,200,000,000 watts, and also meaning that in this year there are 24,000,000,000 watts of sheets available
Solar energy is not used appropriately and wastes.
By taking 50 megawatts of China's Wuwei annual electricity generating capacity of photovoltaic plant as an example, cleaning is primary, needs 2500 person/days of worker,
5000 cubic metres of water consumption；350 person/days, 25000 cubic metres of water consumption are then needed if it is cleaning vehicle.
From this, cleaning this problem for solar panels at present, there are no a kind of preferable mode is expanded.
Current solar panel cleaning mainly has artificial washing and industrial washing device to rinse two ways, all respectively has excellent
Disadvantage is summarized as follows:
(1) artificial cleaning is simple, and cleaning effect is preferable.But cleaning difficulty is big, low efficiency, needs cleanup crew's quantity
There are security risk, photovoltaic power generation factory is located at band more off the beaten track mostly and is difficult to sufficient labor more, at high cost and cleanup crew
Power meets cleaning needs.
(2) industrial washing device is rinsed with preferable cleaning effect, and cleaning efficiency is also higher.But cleaning equipment
A large amount of fund is needed, cleaning need to consume a large amount of water resource, and cleaning equipment adaptive capacity to environment in hill to full of bumpy and holes is poor,
Consider the geographical location of national solar power plant mostly in the Northwest, it is difficult to have sufficient water resource for cleaning.
(3) cleaning solar energy need to waste a large amount of manpower and material resources.And solar panels cleaning is not once and for all, to be
It needs periodically to carry out.The mounting inclination angle degree of solar panel is different under different geographical environments, for different angle
The cleanings of solar panels be a big difficulty again.
Solve the difficulty and meaning of above-mentioned technical problem:
For issue noted above, it can be seen that under the premise of considering national actual conditions, less labour, compared with
Few water resource, environment adapt to effectively clean solar panels dust stratification problem in the case where strong, the different mounting inclination angles of adaptation,
It is a significantly thing.
Precisely in order to solving the problems, such as this, the present invention devises a self-adapting solar energy photovoltaic power generation equipment intelligent cleaning
Robot (hereinafter referred to as " clean robot ").It is the solar panel cleaning side of a kind of high-intelligentization, high performance-price ratio
Case has huge market value in solar panel cleaning field, and the project will have photovoltaic power generation industry
It is of great significance:
(1) clean robot realizes comprehensive cleaning to solar energy electroplax, improves the photoelectric conversion of solar battery
Efficiency, to improve the benefit and capacity usage ratio of photovoltaic power generation.
(2) clean robot cleaning systems select soft high-efficiency cleaning material, hairbrush and blower triplen
The anhydrous cleaning mode combined saves a large amount of water resource effectively to remove the spot in solar energy electroplax.Subtract simultaneously
Gently to the abrasion of battery plate can, can effectively avoid the generation of " hot spot effect ", improve the service life of generating capacity and solar panel.
(3) clean robot realizes mechanical automation during cleaning, reduces compared with currently used mode
Required labour, alleviates labor intensity, improves the cleaning efficiency in the unit time, reduces cleaning cost
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of self-adapting solar energy photovoltaic power generation equipment is intelligently clear
Clean robot and control system.
The invention is realized in this way
A kind of self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control system, the self-adapting solar energy light
Lying prostrate generating equipment Intelligent cleaning robot control system includes control module, hoofing part module, information acquisition module, power supply unit
Divide, adsorb and clean part；
The control module carries out path modification according to the feedback information for presetting route and sensor acquisition, to walking
Control signal is sent with cleaning part distribution；
Hoofing part module is made of H-bridge circuit, is continued by the low and high level and level that change two-way input signal
Time can achieve the purpose that change motor operation direction and adjust motor speed.
Information acquisition module is made of attitude transducer MPU6050 and infrared sensor.MPU6050 acquires clean robot
The posture information of itself, for correcting cleaning track and adjustment fuselage posture；Infrared sensor detects solar panels edge, when
When clean robot reaches solar panels edge, the jump of infrared sensor output signal, thus information carries out down control module
The switching of one cleaning track.
Power unit is that system modules are powered.Since the modules voltage requirement of whole system is inconsistent,
Therefore the normal work that meet modules needs to do voltage conversion.System input is+24V DC voltage, is directly H bridge
Busbar voltage, it is the power supply such as control module, information acquisition module that+24V DC voltage, which is converted into+5V, then+5V is converted to+
3.3 being control chip for electric light.Power unit is the premise that whole system works normally.Absorption and cleaning part, pass through reception
The control signal of control module realizes the absorption and stabilization of robot.
Further, it is master control that control module, which includes: stm32 system, for handling all sensing datas, and control
The operation logic of whole system is the core processing unit of whole system.Orthogonal encoder is for obtaining motor speed to reach
Accurate motion control.Obtaining motor speed by orthogonal encoder is the quadrature decoder unit reality being internally integrated by STM32
Existing.When motor rotates forward, the advanced B output of encoder A outputs, decoder passes through motor movement known to phase judgement
Direction passes through the statistics to pulse number in the set time, so that it may calculate the current speed of motor, set time shorter meter
The velocity accuracy of calculation is higher.Amendment of the gyroscope for the incline measurement and cleaning track of solar panels, photoelectric sensor inspection
Shoot the sun energy edges of boards edge, prevents robot from falling；
Gyroscope is used for feedback intelligent clean robot angle for Intelligent cleaning robot fuselage and Intelligent cleaning machine
People's posture is adjusted；
Photoelectric sensor is used for the feedback quantity of solar panels cleannes.
Further, absorption being collectively constituted by high-speed motor and L298 driver and cleans part, absorption motor runs at high speed,
Centrifugal fan high speed rotation is driven, so that generating larger negative pressure in the space between robot bottom and solar panels to complete machine
The inclined-plane of device people adsorbs, and meets the adsorption capacity under different inclination angle according to the data point reuse negative pressure value of gyroscope, thus
Realize the adaptive of clean robot.The air blower for cleaning part is similar with dust catcher principle, is rotated and is generated by air blower
Suction draw bottom cloths for cleaning edge dust and solar panels on it is floating ash enter dust collecting bin.
Further, power unit is reduced lithium battery voltage using DC/DC module, be control module, hoofing part module,
Information acquisition module, acquisition module, absorption and cleaning part power.
Further, control module includes:
Main control module is controlled and is adjusted to system by the collection capacity of each sensor, and the control signal of output passes through
Optocoupler is isolated, and interference of the hoofing part module to main control module is prevented；
Temperature detecting module, the running temperature of detection system stop working and alarm when being higher than safe working temperature；
Voltage and current monitoring module is used for undervoltage warning, over-voltage and over-current alarm and protection；
Power unit includes electricity monitoring module, and real-time monitoring system electricity is equipped with low battery and alarms, and has certain
Cruising ability prevents Intelligent cleaning robot from falling；
Another object of the present invention is to provide a kind of self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning machines
The control method of people's control system, when the control method includes: that system brings into operation, system by adjusting fuselage repeatedly first
The direction finding solar panels lower left corner finds the lower left corner and starts clean up task later.It is used in each straight line cleaning track
Speed, which is changed, corrects fuselage pose with the bicyclic pid algorithm of angle ring, to reach accurate operation posture.When reaching top edge, machine
People starts to switch to next cleaning track, completes track switching by the curved change rail mode of S, passes through detection top during S is curved
Spiral shell instrument angle judges the curved rotation angle of S, finally to complete track switching.System whole service process includes:
The initialization of hardware: parameter initialization is carried out to stm32 core control card and gyroscope；
Travelling control: straight line cleans control；Servo Control；Clean path planning control；
It examines at edge: when Edge check sensor detects edge, generating the external interrupt of signal triggering single-chip microcontroller, pass through
The corresponding sensor that interrupting channel judgement triggering is interrupted makes different response adjustment, and passes through the note to edge
Record is with resolving to determine whether completing the cleaning of monolith solar panels, if be fully completed, Automatic-searching simultaneously stops at corner
To reuse；
It cleans control: being met under varying environment by economic model and power mode both of which, is a variety of using field
Demand, user are controlled by mobile phone terminal and are modified at any time, when robot monitors edge, will automatically update its track, are executed
Turning adjustment operation, until detecting the cleaning that monolith solar panels are completed, robot, which advances, deviates setting track, by
There is the case where except being expected in the gyroscope amendment of itself, and robot is automatically stopped traveling, and user is known in concurrent responding report.
Further, communication is established between mobile phone terminal and clean robot using bluetooth 4.0 technology, by serial port service and
The main control module of clean robot is communicated, and is obtained the electricity of clean robot, operating status, the temperature of working environment, is inhaled
The pressure difference information of attached module and external environment.
Further, the control method further comprises data check strategy, comprising: (1) receives equal length every time
Character string judges the accuracy of data by detection string length, start bit and stop bits；
(2) to the lower data of change frequency such as electricity, temperature information, using largely reception takes the side of mean value in the short time
Case reduces the improper fluctuation of data；
(3) data send the data structure using the isometric character string comprising control signal and end signal, cleaner
The main control module of device people only executes the instruction received when receiving control instruction and detecting end signal；
After being parsed to received character string, extract corresponding position character string carry out data type variation and
The variation of format constructs the character string that the display module in application is correctly shown and has user-interface thread to show corresponding number
According to if in client warning reminding user when detecting the signal of failure and low battery.
Further, the initialization of hardware further comprises:
Condition monitoring: the man-machine interface provided by system, main control module is communicated with mobile phone terminal foundation, by the shape of itself
State is all transmitted；
Automatic cleaning: after clean robot powers on, detect that solar panels automatically turn on work；System default strength mould
Formula carries out strength cleaning to solar panels；
Manually adjust: clean robot, which sends to open by mobile phone terminal, executes corresponding modes with stopping, modification path command；
It includes: to determine the direction advanced by initial placement position that straight line, which cleans control, is believed in conjunction with the angle of gyroscope
Breath and encoder information, are adjusted and are corrected using increment type PID algorithm real-time control motor speed, along direction initialization row
Into realization straight line cleans；
Servo Control includes: to be adjusted to next track after detecting edge in the form of turning, during turning, setting left and right
Crawler belt differential control goes to any set angle in conjunction with gyroscope closed-loop control；
Cleaning path planning control includes: that economic model cleans scheme, power mode cleans scheme.
Another object of the present invention is to provide a kind of self-adapting solar energy photovoltaic power generations for implementing the control method to set
Standby Intelligent cleaning robot, the self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot include:
Dust absorbing structure, including turbofan and dust track, turbofan include dust absorption blower；Dust track packet
It includes: dust sorption channel；
For dust absorbing structure before and after Intelligent cleaning robot, top turbofan generates strong adsorption capacity, will by dust track
Dust is adsorbed and is collected in dust storehouse；
Dust absorbing structure ash periphery distribution hairbrush, pushes hairbrush to play dust brush, dust collects dress when clean robot is walked
It sets and absorbs floating ash, fiber rag wipes remaining dust；
Bottom uses crawler-type mobile mechanism, is used for increasing friction force；
Shell surrounding is used for Edge check, after clean robot detects solar panels edge for loading infrared tube
Stop immediately；
At the fixed dust collecting bin of dust collecting installation.
In conclusion advantages of the present invention and good effect are as follows:
The present invention can complete the cleaning to solar panels, be greatly saved water resource compared with traditional cleaning means.Clearly
Clean robot, which passes through the route preset and is aided with Edge check sensor, carries out path modification to complete cleaning.Work
Personnel can monitor by mobile client and adjust the working condition of clean robot in real time, can also be to multiple in region
Clean robot carries out work distribution and unified management scheduling, obtains more efficient cleaning effect with this.
Clean robot inhales the three triple anhydrous cleaning structures wiped using a brush two, there is comparatively ideal cleaning effect.And
Included cleannes detection module, can the part undesirable to cleaning effect carry out secondary cleaning automatically.Clean robot passes through top
Spiral shell instrument and baroceptor cooperation carry out absorption air pressure adjustment, can adaptive different angle solar panels, improve product
Versatility.
Clean robot of the present invention realizes comprehensive cleaning to solar panel, it is ensured that wipes solar power generation comprehensively
Dust on plate, improves the incident photon-to-electron conversion efficiency of solar battery, to improve the benefit and energy utilization of photovoltaic power generation
Rate.
Solar energy power generation sheet made of small flexible material is posted on clean robot surface of the present invention, since robot works
Place it is sunny, can at any time be robot charge.
The present invention learnt by inspection information and experiment test, at present common solar panels (size 1.6m* on the market
0.8m), can generate electricity 180W per hour under completely newly without dust stratification state, photovoltaic efficiency 11.6%, there is moderate dust stratification shape
Photovoltaic efficiency is 7.1% under state, efficiency difference 3.6%.And robot wiping speed of the invention is 1.2m2/ min, warp
After crossing wiping, generating efficiency be can be improved to 10.5%.It about can be with continuous work 1h, according to reality after testing primary charging
Border situation, mono- machine of 1h can complete the cleaning to 40~50 pieces of solar panels.Therefore a machine can substantially be calculated
One hour of device can make multiple more than 2000 watts of the electricity of original solar energy power generating equipment, and realize in clean whole process
It is anhydrous, save water resource.The spot on solar panel is simultaneously effective removed, more traditional method for cleaning alleviates
Abrasion to battery plate can effectively avoid " hot spot effect " from generating, ensure that safety in production, improve generating capacity and solar panel
Service life.
Detailed description of the invention
Fig. 1 is the overall construction drawing of clean robot control system hardware provided in an embodiment of the present invention.
Fig. 2 is clean robot travelling control program principle figure provided in an embodiment of the present invention.
Fig. 3 is that counterclockwise spin provided in an embodiment of the present invention turn 90 degrees movement schematic diagram.
Fig. 4 is clean robot moving line design drawing provided in an embodiment of the present invention.
In figure: (a), economic model；(b), power mode.
Fig. 5 is cleaning programmed logic figure provided in an embodiment of the present invention.
Fig. 6 is communication module work flow diagram provided in an embodiment of the present invention.
Fig. 7 is clean robot shell machine drawing provided in an embodiment of the present invention.
In figure: 1, dust adsorbs blower；2, dust sorption channel；3, dust collecting bin；4, negative-pressure adsorption air intake passage；5,
Negative-pressure adsorption air exhaust passage.
Fig. 8 is dust collecting installation figure provided in an embodiment of the present invention.
Fig. 9 is clean robot movement schematic diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Of the existing technology in order to solve the problems, such as, the present invention devises a self-adapting solar energy photovoltaic power generation equipment intelligence
It can clean robot (hereinafter referred to as " clean robot ").It is the solar panel of a kind of high-intelligentization, high performance-price ratio
Cleaning solution has huge market value in solar panel cleaning field, and the project will be to photovoltaic power generation
Industry has a very important significance:
Application of the invention is described further below with reference to concrete analysis.
1, such as Fig. 1, self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control provided in an embodiment of the present invention
System, including control module, hoofing part module, information acquisition module, power unit, absorption and cleaning part；
The control module carries out path modification according to the feedback information for presetting route and sensor acquisition, to walking
Control signal is sent with cleaning part distribution；
Hoofing part module,
Information acquisition module,
Power unit,
Absorption and cleaning part, pass through the absorption and stabilization that control signal and realize robot for receiving control module.
Control module includes: stm32, encoder, gyroscope and photoelectric sensor；
Gyroscope is used for feedback intelligent clean robot angle for Intelligent cleaning robot fuselage and Intelligent cleaning machine
People's posture is adjusted；
Photoelectric sensor is used for the feedback quantity of solar panels cleannes.
Absorption is formed by high-speed motor and L298 driver and draws ash with the air blower for cleaning part with part, absorption is cleaned
Dirt enters dust collecting bin.
Power unit is reduced lithium battery voltage using DC/DC module, is adopted for control module, hoofing part module, information
Collect module, acquisition module, absorption and cleans part power supply.
Control module includes:
Main control module is controlled and is adjusted to system by the collection capacity of each sensor, and the control signal of output passes through
Optocoupler is isolated, and interference of the hoofing part module to main control module is prevented；
Temperature detecting module, the running temperature of detection system stop working and alarm when being higher than safe working temperature；
Voltage and current monitoring module is used for undervoltage warning, over-voltage and over-current alarm and protection；
Power unit includes electricity monitoring module, and real-time monitoring system electricity is equipped with low battery and alarms, and has certain
Cruising ability prevents Intelligent cleaning robot from falling.So that system capacity utilization is more abundant, it is more energy efficient.
Main control module of the invention is controlled and is adjusted to system by the collection capacity of each sensor, the control letter of output
Number it is isolated by optocoupler, prevents interference of the drive module to main control module, so that system operation is more stable.Electricity monitoring
Module real-time monitoring system electricity is equipped with low battery and alarms, and has certain cruising ability, effectively prevent falling.Temperature inspection
The running temperature of module detection system is surveyed, when being higher than safe working temperature, stops working and alarms.System is supervised equipped with voltage and current
Module is controlled, and there is undervoltage warning, over-voltage and over-current alarm and defencive function.Stable system performance, high reliablity, fault-tolerant ability
By force.
2. being further described below with reference to concrete analysis to application of the invention.
Design of System Software
2.1.1 overall system design
The system software program of clean robot includes main program and functional module program.Main program includes that hardware is initial
Change, condition monitoring, automatic cleaning and manually adjust part.
The initialization of hardware: if carrying out parameter initialization to stm32 core control card and gyroscope.After powering on, from
Dynamic reset circuit work, stm32 core processor reset, opening timing device, serial ports interruption, external interrupt, internal simulation number
Converter etc., while gyroscope software reset, and automatic collimation angle, temperature are enabled, enable gyroscope DMP function.
(1) condition monitoring: the man-machine interface provided by system, main control module are established with mobile terminal and are communicated, certainly by it
The state of body is all transmitted.
(2) automatic cleaning: after clean robot powers on, detecting that solar panels automatically turn on work,.System default is strong
Force mode carries out strength cleaning to solar panels.
(3) manually adjust: clean robot can also be sent to open by mobile terminal and be executed with orders such as stopping, modification paths
Corresponding modes, so that cleaning more convenient flexible.
2.1.2 travelling control program
(1) straight line cleans control
Clean robot cleans solar panel simultaneously in the rectangular area of solar panel array in walking process.Pass through
Initial placement position determines the direction advanced, since battery plate surface is smooth, so clean robot is easy to deviate originally
Route.The angle information and encoder information that gyroscope is combined in design, using increment type PID algorithm real-time control motor speed
Degree is adjusted and corrects, to ensure to advance along direction initialization always, to realize that straight line cleans.Its control process is as schemed
2。
(2) Servo Control
Clean robot is adjusted to next track after detecting edge in the form of turning, and turning process is by original place twice
Spinning and primary linear motion are realized.Turning process is that setting left and right crawler belt differential control turns in conjunction with gyroscope closed-loop control
To any set angle.Clean robot do original place spinning campaign condition be left and right sides crawler belt velocity magnitude it is equal,
It is contrary.Schematic diagram such as Fig. 3.
(3) path planning design is cleaned
In order to guarantee that the clean effect of solar panel, the present invention need to carry out reasonable cleaning path planning, a side
Face prevents clean robot from falling in cleaning, on the other hand to improve clean efficiency.It is mostly single in view of photo-voltaic power generation station
Solar panel array specially designs two kinds of route plans, as shown in Figure 4.According to real-time condition, user be can be used appropriately
Modification clean scheme, improve the working efficiency of system.
2.1.3 edge check problem
Outdoor solar panel array is typically arranged to row's multiple row or multiple rows of multiple row, every piece of solar panel
Edge have an aluminum alloy frame, clean robot can pass through this frame and detect edge, carry out path modification.
There are four Edge check sensors for clean robot dress, when sensor detects edge, can generate signal triggering
The external interrupt of single-chip microcontroller judges the corresponding sensor that triggering is interrupted by interrupting channel, makes different response adjustment, and
By the record to edge with resolving to determine whether completing the cleaning of monolith solar panels, if be fully completed, automatic seeking
It looks for and stops at corner to reuse.
2.1.4 control program, such as Fig. 5 are cleaned.
Cleaning control has economic model and power mode both of which, can satisfy under varying environment, a variety of uses field
Demand, user can by mobile phone terminal control and modify at any time, when robot monitors edge, its rail will be automatically updated
Road executes turning adjustment operation, until detecting the cleaning that monolith solar panels are completed, both ensure that cleaning area
It maximizes, and prevents robot from falling from plate.Period all will be by the top of itself once robot, which advances, deviates setting track
The amendment of spiral shell instrument module, the case where if there is except expection, robot will be automatically stopped travelings, and concurrent responding, which is reported, knows use
Person.
The design of 2.3 cell phone applications
Self-adapting solar energy photovoltaic power generation equipment clean robot using bluetooth 4.0 technology mobile terminal and robot it
Between establish connection, communicated by the main control chip of serial port service and robot, obtain the electricity of robot, operating status,
The information such as the pressure difference of the temperature of working environment, adsorption module and external environment.
Since the speed of transmission data is slow, and system has higher requirement for the accuracy of information, so this
The secondary data structure used that communicates is 18 fixed-length string, and used data check strategy is as follows:
(1) character string for receiving equal length every time judges number by detection string length, start bit and stop bits
According to accuracy
(2) to information such as change frequency lower data such as electricity, temperature, mean value is taken using largely receiving in the short time
Scheme influences brought by the improper fluctuation of data to reduce, and enhances the confidence level for the message that mobile phone terminal is shown
(3) data send the data structure using the isometric character string comprising control signal and end signal, robot
Main control chip the instruction that receives only just is executed when having received control instruction and detecting end signal, eliminate by
A possibility that system falls into chaos when receiving multiple control instructions in the short time.
After being parsed to received character string, extract corresponding position character string carry out data type variation and
The variation of format, to construct the character string that can correctly show in the display module of application and there is user-interface thread to show
Corresponding data, if in client warning reminding user when detecting the signal of failure and low battery.
Entire transmission module uses the operating mode of full duplex, can also be with while receiving the data from robot
Control signal is sent by cell phone client, robot is controlled accordingly.
Communication module workflow is as shown in Figure 6:
2.4 Machine Design
2.4.1 mechanical structure
Dust absorbing structure is made of turbofan and dust track, as clean robot shell in Fig. 7, including dust adsorb wind
Machine 1, dust sorption channel 2,.The dirt absorption structure of clean robot is before and after Intelligent cleaning robot, top turbofan
Strong adsorption capacity is generated, adsorbed dust by dust track and is collected in dust storehouse.Dirt absorption structure peripheral is distributed hairbrush, clearly
Hairbrush is pushed to play dust brush when clean robot ambulation, subsequent dust collecting installation absorbs floating ash, and last fiber rag will be residual
Dust is stayed to be wiped.
Clean robot shell in Fig. 7 further comprises negative-pressure adsorption air intake passage 4, negative-pressure adsorption air exhaust passage 5.This
Intelligent cleaning robot uses vacuum suction technology, by barometric surveying atmospheric pressure value, can adjust automatically rotation speed of fan, to change
Become suction, strong adsorption is up to 5600PA, enables Intelligent cleaning robot is stable to be adsorbed on solar panels.
This Intelligent cleaning robot uses crawler-type mobile mechanism, has superior climbing and low-angle cornering ability, clearly
The walking mechanism of clean robot uses crawler belt chassis；To prevent from scratching solar panel, while increasing friction force, in design
Use rubber belt track.
Shell surrounding is used for Edge check, is that clean robot detects solar panels edge for loading infrared tube
Stop immediately afterwards, prevents robot from falling from solar panels.
Fig. 8 is dust collecting installation, and the present apparatus is fixed at the dust collecting bin 3 of clean robot shell in Fig. 7, is being schemed
A close net is fixed at 8 four screw holes, prevents dust from passing through, dust will be fallen into following dust collecting groove.
2.4.2 the kinematics analysis of crawler-type mobile mechanism
In order to enable clean robot to complete cleaning task according to scheduled path, clean robot must use certain
Control strategy controls the movement of crawler-type mobile mechanism.To search out reasonable control strategy just for Intelligent cleaning robot
The kinematics model of crawler-type mobile mechanism must first be analyzed.Assuming that there is no phase between the driving wheel of crawler belt mobile mechanism and crawler belt
To sliding, the sliding 0 of left and right sides crawler belt when steering, and ground be it is smooth, the kinematics model of clean robot is shown in Fig. 9
It is shown.
Below with reference to innovative point of the invention, the invention will be further described.
(1) innovation of cleaning path identification and planning.Clean robot matches extraneous real time information sampling by sensor
Conjunction presets route and is modified.When meeting with gap between Rimless solar panel or solar panels, sensor module can be just
Really detects and feed back.Clean robot can adaptive different solar panels inclination angle, it is extensive with scene, have stronger general
Property.
(2) failure and unexpected innovationization processing.In use, it has to consider that clean robot makes improper
It is reacted with the clean robot encountered under urgent fortuitous event.By pre-set programs, when clean robot can't accept mobile phone
The instruction of client, it stops original place, break-off；When catastrophic failure occurs in clean robot battery, it will use second
Power supply mode continues to power；When clean robot meets with exceedingly odious weather, it refers to by pause and to mobile client sending
Various solution is enabled ... to embody the rigorous and innovation of this clean robot processing scheme when meeting with failure and accident.
Be conducive to the safety and stability that clean robot uses, more guarantees are also provided to the personal safety of user.
(3) based on the innovation of user experience.Different with other intelligent cleaning equipments, this clean robot uses movement
User and clean robot are attached by client.Clean robot can send a signal to shifting by the one-chip computer on vehicle
Dynamic client is simultaneously handled the information of user's transmission.The motor pattern of the settable clean robot of user, motion path choosing
It selects, clean the multiple parameters such as intensity and its work is monitored in real time.Control detection based on mobile client increases use
The participation at family maintains the intelligence of clean robot, to user experience is improved, enhances the application management tool of clean robot
It is significant.
(4) cleaning mode innovated.Compared to waste of the conventional high-tension hydraulic giant method to water resource and the consumption to the energy, originally
Money solar energy clean robot uses anhydrous cleaning truly.For adapt to northwest China area dust storm frequently, air
The characteristics of middle dust density big weather and solar panel easy dust stratification, this clean robot take blower, hairbrush, ultra-fine
Fiber cleaning pads the cleaning mode of combination among the strong ones, adsorb and thoroughly clean the ash that left behind to dust.
The selection of big suction fan and superpower cleaning mode can repeatedly clean the stain for being not thorough and carrying over to electro-optical package and carry out
Effectively cleaning.The cleaning mode of innovation has not only saved manpower, and economizes on resources, and protects environment, and photoelectricity project is allowed to generate more
Big value.
(5) various innovation choice of powering mode.This clean robot is mutually tied using solar energy electroplax with battery charging
The mode of conjunction provides diversified solution for the energy supply of robot.The selection of solar energy electroplax can save electric energy, right
It is more environment-friendly；The charge frequency for reducing clean robot improves the working efficiency of clean robot, reduces use
The workload of worker；Another powering mode can be switched in the case where a kind of power-supplying forms are unable to normal use, improved clear
The serious forgiveness of clean robot system keeps clean robot work more stable.
Application of the invention is further described below with reference to energy conservation point and effect analysis.
Clean robot of the present invention realizes comprehensive cleaning to solar panel, it is ensured that wipes solar power generation comprehensively
Dust on plate, improves the incident photon-to-electron conversion efficiency of solar battery, to improve the benefit and energy utilization of photovoltaic power generation
Rate.
Solar energy power generation sheet made of small flexible material is posted on clean robot surface of the present invention, since robot works
Place it is sunny, can at any time be robot charge.
Clean robot cleaning systems of the present invention select soft high-efficiency cleaning material, hairbrush and blower triple junction
The mode that structure combines realizes anhydrous cleaning.It can effectively clear the spot in solar energy electroplax in scale removal process, simultaneously
Mitigate the abrasion to battery plate, can effectively avoid " hot spot effect " from generating, ensure that safety in production, improve generating capacity and electricity
The service life of pond plate.
The present invention learnt by inspection information and experiment test, at present common solar panels (size 1.6m* on the market
0.8m), can generate electricity 180W per hour under completely newly without dust stratification state, photovoltaic efficiency 11.6%, there is moderate dust stratification shape
Photovoltaic efficiency is 7.1% under state, efficiency difference 3.6%.And robot wiping speed of the invention is 1.2m2/ min, warp
After crossing wiping, generating efficiency be can be improved to 10.5%.It about can be with continuous work 1h, according to reality after testing primary charging
Border situation, mono- machine of 1h can complete the cleaning to 40~50 pieces of solar panels.Therefore a machine can substantially be calculated
One hour of device can make multiple more than 2000 watts of the electricity of original solar energy power generating equipment, and realize in clean whole process
It is anhydrous, save water resource.The spot on solar panel is simultaneously effective removed, more traditional method for cleaning alleviates
Abrasion to battery plate can effectively avoid " hot spot effect " from generating, ensure that safety in production, improve generating capacity and solar panel
Service life.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control system, which is characterized in that described adaptive
Answering solar energy power generating device intelligence clean robot control system includes control module, hoofing part module, information collection
Module, power unit, absorption and cleaning part；
The control module is according to feedback information progress path modification of the route with sensor acquisition is preset, to walking and clearly
It sweeps part and sends control signal；
Hoofing part module, including H-bridge circuit are changed by the low and high level and level duration that change two-way input signal
Power transformation machine traffic direction and adjustment motor speed；
Information acquisition module, including attitude transducer and infrared sensor；The position of attitude transducer acquisition clean robot itself
Appearance information, for correcting cleaning track and adjustment fuselage posture；Infrared sensor detects solar panels edge, when cleaning machine
When people reaches solar panels edge, the jump of infrared sensor output signal, thus information carries out next cleaning rail to control module
The switching in road；
Power unit is powered for system modules；
Absorption and cleaning part, pass through the absorption and stabilization that control signal and carry out robot for receiving control module.
2. self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control system as described in claim 1, feature
Be, control module include: include: master control stm32 system, for handling all sensing datas, and the entire system of control
The operation logic of system；
Orthogonal encoder reaches accurate motion control for obtaining motor speed, obtains motor speed by orthogonal encoder
It spends and realizes decoding by the quadrature decoder unit that STM32 is internally integrated；
When motor rotates forward, the advanced B output of orthogonal encoder A outputs, the decoder of quadrature decoder unit passes through phase
Position judges motor movement direction, by the statistics to pulse number in the set time, calculates the current speed of motor；
Gyroscope, the amendment of incline measurement and cleaning track for solar panels, is also used to feedback intelligent clean robot
Intelligent cleaning robot fuselage and Intelligent cleaning robot posture are adjusted by angle；
Photoelectric sensor detects solar panels edge, for preventing robot from falling；It is also used to the feedback of solar panels cleannes
Amount.
3. self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control system as described in claim 1, feature
It is, adsorbs and cleans part, including high-speed motor and L298 driver in high-speed motor operating, drives centrifugal fan high speed
It rotates, so that generating the inclined-plane absorption that negative pressure completes robot in the space between robot bottom and solar panels, and root
Meet the adsorption capacity under different inclination angle according to the data point reuse negative pressure value of gyroscope, realizes the adaptive of clean robot；
Clean part air blower generate suction draw bottom cloths for cleaning edge dust and solar panels on it is floating ash into
Enter dust collecting bin.
4. self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control system as described in claim 1, feature
It is, power unit is reduced lithium battery voltage using DC/DC module, is control module, hoofing part module, information collection mould
Block, acquisition module, absorption and cleaning part power.
5. self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control system as described in claim 1, feature
It is, control module includes:
Main control module is controlled and is adjusted to system by the collection capacity of each sensor, and the control signal of output passes through optocoupler
It is isolated, prevents interference of the hoofing part module to main control module；
Temperature detecting module, the running temperature of detection system stop working and alarm when being higher than safe working temperature；
Voltage and current monitoring module is used for undervoltage warning, over-voltage and over-current alarm and protection；
Power unit includes electricity monitoring module, and real-time monitoring system electricity is equipped with low battery and alarms, and has certain continuation of the journey
Ability prevents Intelligent cleaning robot from falling.
6. a kind of control of self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot control system as described in claim 1
Method, which is characterized in that when operation, by adjusting the fuselage direction finding solar panels lower left corner repeatedly, after finding the lower left corner
Start clean up task；It is changed and the bicyclic pid algorithm amendment fuselage pose of angle ring in each straight line cleaning track using speed；
When reaching top edge, robot starts to switch to next cleaning track, completes track switching by the curved change rail mode of S, curved in S
The curved rotation angle of S is judged by detection gyroscope angle in the process, is finally completed track switching；It specifically includes:
The initialization of hardware: parameter initialization is carried out to stm32 core control card and gyroscope；
Travelling control: straight line cleans control；Servo Control；Clean path planning control；
It examines at edge: when Edge check sensor detects edge, generating the external interrupt of signal triggering single-chip microcontroller, pass through interruption
The corresponding sensor that channel judgement triggering is interrupted, makes different response adjustment, and by record to edge with
It resolves to determine whether complete the cleaning of monolith solar panels, is fully completed, then Automatic-searching and stops at corner；
Clean control: meet under varying environment by economic model and power mode both of which, it is a variety of using field the needs of,
User is controlled by mobile phone terminal and is modified at any time, when robot monitors edge, will automatically update its track, is executed turning and is adjusted
Whole operation, until detecting the cleaning that monolith solar panels are completed, robot advance deviate setting track, by itself
There is the case where except being expected in gyroscope amendment, and robot is automatically stopped traveling, and user is known in concurrent responding report.
7. control method as claimed in claim 6, which is characterized in that using bluetooth 4.0 technology in mobile phone terminal and cleaning machine
Communication is established between people, is communicated by the main control module of serial port service and clean robot, obtains the electricity of clean robot
Amount, operating status, the temperature of working environment, the pressure difference information of adsorption module and external environment.
8. control method as claimed in claim 6, which is characterized in that the control method further comprises data check plan
Slightly, comprising: (1) character string for receiving equal length every time judges number by detection string length, start bit and stop bits
According to accuracy；
(2) to the lower data of change frequency such as electricity, temperature information, the scheme of mean value is taken to subtract using largely receiving in the short time
The improper fluctuation of small data；
(3) data send the data structure using the isometric character string comprising control signal and end signal, clean robot
Main control module the instruction that receives only is executed when receiving control instruction and detecting end signal；
After parsing to received character string, the character string for extracting corresponding position carries out variation and the format of data type
Variation, construct the character string that the display module in application is correctly shown and there is user-interface thread to show corresponding data,
If in client warning reminding user when detecting the signal of failure and low battery.
9. control method as claimed in claim 6, which is characterized in that the initialization of hardware further comprises:
Condition monitoring: the man-machine interface provided by system, main control module is communicated with mobile phone terminal foundation, and the state of itself is complete
Portion's transmission；
Automatic cleaning: after clean robot powers on, detect that solar panels automatically turn on work；System default power mode,
Strength cleaning is carried out to solar panels；
Manually adjust: clean robot, which sends to open by mobile phone terminal, executes corresponding modes with stopping, modification path command；
It includes: to determine the direction advanced by initial placement position that straight line, which cleans control, in conjunction with gyroscope angle information and
Encoder information is adjusted and is corrected using increment type PID algorithm real-time control motor speed, is advanced along direction initialization, real
Existing straight line cleans；
Servo Control includes: to be adjusted to next track after detecting edge in the form of turning, during turning, sets left and right crawler belt
Differential control goes to any set angle in conjunction with gyroscope closed-loop control；
Cleaning path planning control includes: that economic model cleans scheme, power mode cleans scheme.
10. a kind of self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot for implementing control method described in claim 6,
It is characterized in that, the self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot includes:
Dust absorbing structure, including turbofan and dust track, turbofan include dust absorption blower；Dust track includes: ash
Dirt sorption channel；
Before and after Intelligent cleaning robot, top turbofan generates strong adsorption capacity for dust suction position, by dust track by dust
It adsorbs and collects in dust storehouse；
Dust absorbing structure ash periphery distribution hairbrush, pushes hairbrush to play dust brush, dust collecting installation will when clean robot is walked
Floating ash absorbs, and fiber rag wipes remaining dust；
Bottom uses crawler-type mobile mechanism, is used for increasing friction force；
Shell surrounding is used for Edge check for loading infrared tube, and clean robot detects behind solar panels edge immediately
Stop；
At the fixed dust collecting bin of dust collecting installation.
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