CN110112999A - A kind of method of the robot autonomous selection cleaning route of photovoltaic - Google Patents
A kind of method of the robot autonomous selection cleaning route of photovoltaic Download PDFInfo
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- CN110112999A CN110112999A CN201910492510.8A CN201910492510A CN110112999A CN 110112999 A CN110112999 A CN 110112999A CN 201910492510 A CN201910492510 A CN 201910492510A CN 110112999 A CN110112999 A CN 110112999A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 80
- 239000002184 metal Substances 0.000 claims description 63
- 229910052751 metal Inorganic materials 0.000 claims description 63
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 5
- 239000010931 gold Substances 0.000 claims description 5
- 229910052737 gold Inorganic materials 0.000 claims description 5
- 230000009194 climbing Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
-
- 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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the invention discloses a kind of methods of the robot autonomous selection cleaning route of photovoltaic, the following steps are included: photovoltaic robot is placed in the photovoltaic panel of the lower-left or bottom right corner that need clean photovoltaic array, photovoltaic robot is in the edge of first photovoltaic array at this time；Chassis is adjusted, infrared shutter detection sensor component is made to sense that machine is placed on the lower left corner edge or bottom right corner edge of photovoltaic array；The indicator light of photovoltaic robot can flash, and receive and start clean instruction and advance；By infrared shutter detection sensor component judge to judge in the particular path of photovoltaic robot operation whether there is or not photovoltaic panel frame the photovoltaic panel in photovoltaic plate array be it is longitudinal or horizontal, with determination " N ", still " Z " vee path V is cleaned；When determining cleaning direction and cleaning path, the autonomous selection cleaning of this photovoltaic array is completed.Photovoltaic robot of the invention has the characteristics that autonomous cleaning, saves manpower and reduces power plant maintenance cost.
Description
Technical field
The present embodiments relate to the technical fields of photovoltaic clean robot, and in particular to a kind of robot autonomous choosing of photovoltaic
The method for selecting cleaning route.
Background technique
Photovoltaic is as a kind of renewable and clean energy resource, it has also become the important force that current global energy is changed.Too
Positive energy battery plate surface is easy the dirts such as accumulation dust storm, dust, if without the cleaning of timely scientific professionals, highest can lead to component
Generated output decaying 40%-60%, generated energy decline 20%-30%.Therefore, by rationally scientifically cleaning solar panel
And the theory of power station generated energy and benefit is promoted to the carefully maintenance of component, approved by industry.
When photovoltaic cleans walking robot work, substantially full-automatic process.Current comparative maturity on the market
Autonomous selection cleaning route technology be first to manually select cleaning direction, then photovoltaic is longitudinal or horizontal distribution photovoltaic array
Upper progress " N " perhaps needs straight line hairpinning or again original route weight after " Z " vee path V cleans a photovoltaic array
A newly hairpinning of cleaning, then continued the array for being transported to same cleaning direction and being distributed in length and breadth with same by conveying robot
The cleaning mode of sample cleans.
Such automatic programme path is not only imitated because needing to return photovoltaic array starting original place every time after the completion of cleaning
Rate is low, and influences vulnerable to the distribution of photovoltaic array, and usability is poor.
Summary of the invention
For this purpose, the embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, for improving light
The cleaning efficiency of clean robot is lied prostrate, the applicability of photovoltaic clean robot is improved, and improves the automation of photovoltaic robot
Degree, reaching autonomous cleaning, saving manpower and reducing power plant maintenance cost.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
A kind of method of the robot autonomous selection cleaning route of photovoltaic provided in an embodiment of the present invention, the photovoltaic cleaner
Device people includes robot body, and the robot body includes chassis and the shell that is arranged on the chassis, the chassis
On be provided with running gear, the photovoltaic clean robot is walked by the running gear, is also set up on the chassis
There is metal detection sensor component, infrared shutter sensor component, the robot autonomous choosing of photovoltaic are set on the chassis
The method for selecting cleaning route is as follows:
Photovoltaic robot is placed in the photovoltaic panel of the lower-left or bottom right corner that need clean photovoltaic array, this time
Volt robot is in the edge of first photovoltaic array；
The chassis for adjusting photovoltaic robot, makes infrared shutter detection sensor component sense that machine is placed on photovoltaic battle array
The lower left corner edge or bottom right corner edge of column；
When meeting above-mentioned placement condition, the indicator light of photovoltaic robot can flash, and then receive and start clean instruction
And advance；During advancing one section of specific range, photovoltaic machine is judged by infrared shutter detection sensor component
Whether there is or not photovoltaic panel frame in the path of people's operation, judge the photovoltaic panel in photovoltaic plate array be it is longitudinal or horizontal, with determination " N "
Still " Z " vee path V cleans；
When determining cleaning direction and cleaning path, the autonomous selection cleaning of this photovoltaic array is completed.
Further, further comprising the steps of: when new photovoltaic array is arrived in climbing, photovoltaic robot is in photovoltaic at this time
The top of array, downward, the first same one section of specific distance of advancing of machine passes through the infrared shutter and examines fuselage direction of advance
It surveys sensor module and judges that whether there is or not photovoltaic panel frames in the path of photovoltaic robot operation, and judge the photovoltaic in photovoltaic plate array
Plate be it is longitudinal or horizontal, with determination " N " still " Z " font cleaning path.
Further, further comprising the steps of: to be moved on after determining cleaning path, pass through the metal detection sensor
Component judges that whether there is also photovoltaic panels in front, to reach the bottom of photovoltaic array, behind the bottom for reaching photovoltaic array, pass through institute
It states metal detection sensor component and judges that right and left with the presence or absence of photovoltaic panel, cleans direction to determine, determines new photovoltaic array
Cleaning direction and cleaning path, complete new photovoltaic array autonomous selection cleaning, with reach herein cleaning during it is autonomous
Selection cleaning.
Further, the infrared shutter sensor component includes that the first infrared shutter sensor component and second are infrared fast
Door sensor component, the first infrared shutter sensor component are arranged in the left side on the chassis, and described second infrared
The right side on the chassis is arranged in shutter sensor component.
Further, the described first infrared shutter sensor component includes that the first infrared shutter sensor and second are infrared
Shutter sensor, the first infrared shutter sensor are arranged in the front end of the chassis upper left side, and described second infrared fast
The rear end of the chassis upper left side is arranged in door sensor.
Further, the described second infrared shutter sensor component includes that the infrared shutter sensor of third and the 4th are infrared
Shutter sensor, the infrared shutter sensor of third are arranged on the chassis front end on right side, and described 4th infrared fast
The rear end on right side on the chassis is arranged in door sensor.
Further, the metal detection sensor component includes the first metal detection sensor, the second metal detection biography
Sensor, third metal detection sensor and the 4th metal detection sensor, in which:
The left side on the chassis is arranged in first metal detection sensor, and second metal detection sensor is set
The front side on the chassis is set, the right side on the chassis, and the described 4th is arranged in the third metal detection sensor
The rear side on the chassis is arranged in metal detection sensor.
Further, first metal detection sensor is fixed at the lateral wall of the chassis upper left side fixed plate
On, second metal detection sensor is fixed on the chassis on the inner sidewall of anterior planting, the third gold
Belong to detection sensor to be fixed on the chassis on the lateral wall of right side fixed plate, the 4th metal inspection sensor is fixed
It is arranged on the chassis on the lateral wall of rear side fixed plate.
Further, the described first infrared shutter sensor and the second infrared shutter sensor are separately positioned on the bottom
The position of the inside of disk upper left side fixed plate, and the first infrared shutter sensor and the second infrared shutter sensor are located at
On same straight line.
Further, the infrared shutter sensor of the third and the 4th infrared shutter sensor are separately positioned on the bottom
The position of the inside of right side fixed plate on disk, and the infrared shutter sensor of the third and the 4th infrared shutter sensor are located at
On same straight line.
The embodiment of the present invention has the advantages that a kind of robot autonomous selection cleaning of photovoltaic provided in an embodiment of the present invention
The method of route improves the cleaning efficiency of photovoltaic clean robot, improves the applicability of photovoltaic clean robot, and improves
The degree of automation of photovoltaic robot, reaching autonomous cleaning, saving manpower and reducing power plant maintenance cost.
Detailed description of the invention
It, below will be to embodiment party in order to illustrate more clearly of embodiments of the present invention or technical solution in the prior art
Formula or attached drawing needed to be used in the description of the prior art are briefly described.It should be evident that the accompanying drawings in the following description is only
It is merely exemplary, it for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer, which is extended, obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the invention enforceable qualifications, therefore does not have technical
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the function of the invention that can be generated
Under effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Fig. 1 is a kind of attached drawing structural schematic diagram of photovoltaic robot provided in an embodiment of the present invention.
Fig. 2 is that photovoltaic robot is pressed in the method for the robot autonomous selection cleaning route of photovoltaic provided in an embodiment of the present invention
Clean schematic diagram is carried out according to " N " font cleaning path
Fig. 3 is that photovoltaic robot is pressed in the method for the robot autonomous selection cleaning route of photovoltaic provided in an embodiment of the present invention
Clean schematic diagram is carried out according to " Z " font cleaning path.
In figure: 100 robot bodies；101, chassis；102, the first infrared shutter sensor；103, the second infrared shutter passes
Sensor；104, the infrared shutter sensor of third；105, the 4th infrared shutter sensor；106, left side fixed plate；107, front side is solid
Fixed board；108, right side fixed plate；109, rear side fixed plate；110, the first metal detection sensor；111, the second metal detection passes
Sensor；112, third metal detection sensor；113, the 4th metal detection sensor.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
As described in Fig. 1 to Fig. 3, a kind of side of robot autonomous selection cleaning route of photovoltaic is provided for the embodiment of the present invention
Method, wherein the photovoltaic clean robot includes robot body 100, the robot body 100 include chassis 101 and
Shell (not shown) on the chassis 101 is set, is provided with running gear on the chassis 101 and (does not show in figure
Out), the photovoltaic clean robot is walked by the running gear, is additionally provided with metal detection on the chassis 101
Sensor module, is arranged infrared shutter sensor component on the chassis 101, and road is cleaned in the robot autonomous selection of photovoltaic
The method of line is as follows:
Photovoltaic robot is placed in the photovoltaic panel of the lower-left or bottom right corner that need clean photovoltaic array, this time
Volt robot is in the edge of first photovoltaic array；
The chassis for adjusting photovoltaic robot, makes infrared shutter detection sensor component sense that machine is placed on photovoltaic battle array
The lower left corner edge or bottom right corner edge of column；
When meeting above-mentioned placement condition, the indicator light of photovoltaic robot can flash, and then receive and start clean instruction
And advance；During advancing one section of specific range, photovoltaic machine is judged by infrared shutter detection sensor component
Whether there is or not photovoltaic panel frame in the path of people's operation, judge the photovoltaic panel in photovoltaic plate array be it is longitudinal or horizontal, with determination " N "
Still " Z " vee path V cleans, wherein above-mentioned specific range is the length that [(L-H)+(W-H)]/2, L is photovoltaic panel, and H is photovoltaic
The length of the vehicle body of robot, W be photovoltaic panel width, if photovoltaic panel be it is horizontal, can be examined in this section of distance
The frame of photovoltaic panel is measured, is met in this way by detecting specific operating range either with or without discovery photovoltaic panel frame, so that it may know
Photovoltaic panel is longitudinal or horizontal；
When determining cleaning direction and cleaning path, the autonomous selection cleaning of this photovoltaic array is completed.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, further comprising the steps of:
When climbing is to new photovoltaic array, photovoltaic robot is in the top of photovoltaic array at this time, fuselage direction of advance downward, machine
First same one section of specific distance of advancing judges the operation of photovoltaic robot by the infrared shutter detection sensor component
Whether there is or not photovoltaic panel frames in path, and judge the photovoltaic panel in photovoltaic plate array be it is longitudinal or horizontal, still with determination " N "
" Z " font cleaning path.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, further comprising the steps of:
Moved on after determining cleaning path, by the metal detection sensor component judge front whether there is also photovoltaic panel, with
The bottom for reaching photovoltaic array behind the bottom for reaching photovoltaic array, judges right and left by the metal detection sensor component
With the presence or absence of photovoltaic panel, direction is cleaned to determine, cleaning direction and the cleaning path of new photovoltaic array is determined, completes new photovoltaic
The autonomous selection of array is cleaned, to reach the autonomous selection cleaning during cleaning herein.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, the infrared shutter sensing
Device assembly includes the first infrared shutter sensor component and the second infrared shutter sensor component, the first infrared shutter sensing
The left side on the chassis is arranged in device assembly, and the second infrared shutter sensor component is arranged on the chassis 101
Right side.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, the first infrared shutter
Sensor module includes the first infrared shutter sensor 102 and the second infrared shutter sensor 103, the first infrared shutter
The front end of 101 upper left side of chassis is arranged in sensor 102, and the second infrared shutter sensor 103 is arranged described
The rear end of chassis upper left side.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, the second infrared shutter
Sensor module includes the infrared shutter sensor 104 of third and the 4th infrared shutter sensor 105, the infrared shutter of third
The front end on right side on the chassis 101 is arranged in sensor 104, and the 4th infrared shutter sensor 105 is arranged described
The rear end on right side on chassis 101.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, the metal detection sensing
Device assembly include the first metal detection sensor 110, the second metal detection sensor 111, third metal detection sensor 112 with
And the 4th metal detection sensor 113, in which:
The left side on the chassis 101 is arranged in first metal detection sensor 110, and second metal detection passes
The front side on the chassis 101 is arranged in sensor 111, and the third metal detection sensor 112 is arranged on the chassis 101
Right side, and the rear side on the chassis 101 is arranged in the 4th metal detection sensor 114.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, first metal detection
Sensor 110 is fixed on the lateral wall of the 101 upper left side fixed plate 106 of chassis, the second metal detection sensing
Device 111 is fixed on the chassis 101 on the inner sidewall of anterior planting 107, the third metal detection sensor 112
It is fixed on the chassis 101 on the lateral wall of right side fixed plate 108, the 4th metal inspection fixation of sensor 113 is set
It sets on the chassis 101 on the lateral wall of rear side fixed plate 109.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, the first infrared shutter
Sensor 102 and the second infrared shutter sensor 103 are separately positioned on the inside of the 101 upper left side fixed plate 106 of chassis
Position, and the first infrared shutter sensor 102 and the second infrared shutter sensor 103 are located on the same line.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, the infrared shutter of third
Sensor 104 and the 4th infrared shutter sensor 105 are separately positioned on the inside of right side fixed plate 108 on the chassis 101
Position, and the infrared shutter sensor 104 of the third and the 4th infrared shutter sensor 105 are located on the same line.
The embodiment of the present invention provides a kind of method of robot autonomous selection cleaning route of photovoltaic, specific steps are as follows
It is shown:
In photovoltaic robot after electric-opening, it is placed on the lower-left or the lower right corner for needing clean first photovoltaic array
In the photovoltaic panel fallen, photovoltaic robot body 100 is adjusted, the infrared shutter detection sensor component on chassis 101 is made to sense light
Volt robot is placed on photovoltaic array lower corners edge.
If photovoltaic robot is placed on the lower left corner of photovoltaic array, removed in infrared shutter detection sensor component
The infrared shutter sensor 104 of third in the upper right corner senses photovoltaic panel plane, the first infrared shutter sensor sensor
102, the second infrared shutter sensor sensor 103 and the 4th infrared shutter sensor sensor 105 should sense photovoltaic
The frame of plate.In metal detection sensor component at this time, first metal detection sensor 110 in left side and the 4th gold medal at rear
Metal, that is, photovoltaic panel should be can't detect by belonging to detection sensor 113, and 112 He of third metal detection sensor on right side
Second metal detection sensor 111 in front should detect photovoltaic panel.Cleaning direction, which should be, at this time cleans to the right.
If photovoltaic robot is placed on the bottom right corner of photovoltaic array, removed in infrared shutter detection sensor component
The first infrared shutter sensor 102 in the upper left corner senses photovoltaic panel plane, the second infrared shutter sensor sensor
103, the infrared shutter sensor sensor 104 of third and the 4th infrared shutter sensor sensor 105 should sense photovoltaic
The frame of plate.In metal detection sensor component at this time, the third metal detection sensor 112 on right side and the 4th gold medal at rear
Metal, that is, photovoltaic panel should be can't detect by belonging to detection sensor 113, and 110 He of the first metal detection sensor in left side
Second metal detection sensor 111 in front should have photovoltaic panel.Cleaning direction should be at this time cleans to the left.
If putting for photovoltaic robot meets above-mentioned condition, the indicator light of photovoltaic robot can flash for prompting can be with
Start cleaning instruction by button transmission.When issue start cleaning instruction when, sensing is detected according to different at this time infrared shutter
Corresponding cleaning direction is arranged in device assembly and metal detection sensor module data.
After determining cleaning direction, photovoltaic robot one section of specific distance of advance.For general 300 watts of monocrystalline below
Photovoltaic robot can be set according to the occupied area of photovoltaic robot having a size of 1650*990*40mm or so in silicon component
Advance 700mm, if the data of infrared shutter detection sensor component show always front without photovoltaic edges of boards in this section of distance
Frame, then the photovoltaic panel of this photovoltaic array is longitudinal, and walking path should be " N " vee path V, and photovoltaic robot is from bottom edge
It at the top of the cleaning to photovoltaic array of frame straight line, then turns, robot body downward, cleans low to photovoltaic array along frame straight line
Portion.According to the turning of cleaning direction, cleaning proceeds to the another side of photovoltaic panel, and turning continues to clean upward, thus completes a column
The cleaning of photovoltaic panel.During driving to another side, infrared shutter detection sensor component detection is avoided to deposit less than front
Cause to run off photovoltaic panel in frame, so needing to record mileage information during this by encoder carries out clipping, such as
400mm.Similarly according to the turning of cleaning direction, advance in certain clipping, completes across column.Turning again makes robot body court
On, continue the cleaning of starting column, the cleaning until completing entire photovoltaic array.
If detecting that there are photovoltaic panel frames in front in one section specifically way of distance 700mm, at this time this photovoltaic
The photovoltaic panel of array be it is horizontal, walking path should be " Z " vee path V, and photovoltaic robot straight line returns to original corner
Position, the other end according to the turning of cleaning direction, until driving to photovoltaic array.According to the turning of cleaning direction, make robot sheet
Upward, cleaning proceeds to the another side of photovoltaic panel to body, turns and continues cleaning until initial position towards the contrary direction of cleaning
Side, thus complete a line photovoltaic panel cleaning.During driving to another side, infrared shutter detection sensing is avoided
Device assembly, which can't detect front, to be caused to run off photovoltaic panel there are frame, so also needing to record this process by encoder
Middle mileage information carries out clipping, such as 400mm.Similarly according to the turning of cleaning direction, advance in certain clipping, completes inter-bank.
Turning again makes robot body towards cleaning direction, continues the cleaning of starting row, the cleaning until completing entire photovoltaic array.Photovoltaic
The top corner of cleaning initial point can be rested on after the completion of robot cleaner, photovoltaic robot also needs to return to the upper of the other side
Corner is fallen, this just meets the initial request for crossing another photovoltaic array.
When climbing is to new photovoltaic array, photovoltaic robot is in the top of photovoltaic array at this time, before robot body
Into being directed downward, the first same one section of specific distance of advancing of photovoltaic robot is sentenced by infrared shutter detection sensor component
Whether there is or not photovoltaic panel frame in the path of disconnected photovoltaic robot operation, judge that the photovoltaic panel in photovoltaic plate array is longitudinal or horizontal
It sets, with determination " N ", still " Z " vee path V is cleaned.After determining cleaning path, moves on and passed by metal detection
Sensor component judges whether there is also photovoltaic panels in front, to reach the bottom of photovoltaic array.Photovoltaic array bottom is reached, gold is passed through
Belong to detection sensor component and judges that right and left with the presence or absence of metal, that is, photovoltaic panel, determines cleaning direction.Determine new photovoltaic
The cleaning direction of array and cleaning path complete the autonomous selection cleaning of new photovoltaic array, to reach during this cleaning
Complete autonomous selection cleaning.
As shown in Fig. 2, until photovoltaic panel after one section of specific range is advanced in the direction of label 1 in photovoltaic Robot arrow
Frame, determination at this time be " N " vee path V cleaning；After photovoltaic robot reaches the frame of photovoltaic panel, the rotation of photovoltaic robot
Turn 180 °, the direction of label 2 is advanced along arrow, until the bottom frame of photovoltaic panel；When photovoltaic robot reaches photovoltaic panel
When bottom frame, according to the fuselage direction in cleaning direction and photovoltaic robot, before selection is turned left along the direction of label 3 in arrow
Into, and so on, until reaching the clean terminal of photovoltaic array；Circle represents the clean terminal of photovoltaic array in figure.
As shown in figure 3, reaching photovoltaic panel after one section of specific range is advanced in the direction of label 1 in photovoltaic Robot arrow
Frame, determination at this time be " Z " vee path V cleaning；When photovoltaic robot reaches the frame of photovoltaic panel, label 2 along arrow
Direction retreat, until the bottom frame of photovoltaic panel；When photovoltaic robot reaches the bottom frame of photovoltaic panel, according to cleaning side
To the fuselage direction with photovoltaic robot, selection is turned left advances along the direction of label 3 in arrow, and so on；When photovoltaic machine
When device people reaches the photovoltaic panel upper right corner of this journey, at this time the vehicle body of photovoltaic robot to the right, according to cleaning direction and fuselage direction,
Selection is turned left to be crossed in next column photovoltaic panel along advancing with the same direction of label 1 in arrow；When photovoltaic robot reaches most
When pushing up the upper left corner of column, the vehicle body of photovoltaic robot is upward at this time, according to the fuselage direction in cleaning direction and photovoltaic robot, choosing
It selects to turn right and advance along in arrow 5 direction；When the upper right corner of column is most pushed up in the arrival of photovoltaic robot, photovoltaic robot at this time
Vehicle body is upward, according to cleaning direction and fuselage direction, after photovoltaic robot rotates 180 °, before the direction of label 6 in arrow
Into until arriving again at the clean terminal of photovoltaic array, photovoltaic array cleaning is completed；Wherein circle represents photovoltaic array clean end
Point.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. a kind of method of the robot autonomous selection cleaning route of photovoltaic, which is characterized in that the photovoltaic clean robot includes
Robot body, the robot body include chassis and the shell that is arranged on the chassis, are provided on the chassis
Running gear, the photovoltaic clean robot are walked by the running gear, are provided with metal detection on the chassis
Sensor module, also sets up infrared shutter sensor component on the chassis, and road is cleaned in the robot autonomous selection of photovoltaic
The method of line is as follows:
Photovoltaic robot is placed in the photovoltaic panel of the lower-left or bottom right corner that need clean photovoltaic array, at this time photovoltaic machine
Device people is in the edge of first photovoltaic array；
The chassis for adjusting photovoltaic robot, makes infrared shutter detection sensor component sense that machine is placed on photovoltaic array
Lower left corner edge or bottom right corner edge；
When meeting above-mentioned placement condition, the indicator light of photovoltaic robot can flash, and then receive the clean instruction of beginning and go forward side by side
Row advances；During advancing one section of specific range, judge that photovoltaic robot transports by infrared shutter detection sensor component
Whether there is or not photovoltaic panel frame in capable path, judge the photovoltaic panel in photovoltaic plate array be it is longitudinal or horizontal, still with determination " N "
The cleaning of " Z " vee path V；
When determining cleaning direction and cleaning path, the autonomous selection cleaning of this photovoltaic array is completed.
2. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 1, which is characterized in that further include
Following steps: when new photovoltaic array is arrived in climbing, photovoltaic robot is in the top of photovoltaic array, fuselage direction of advance at this time
Downward, the first same one section of specific distance of advancing of machine, judges photovoltaic machine by the infrared shutter detection sensor component
Device people operation path in whether there is or not photovoltaic panel frames, and judge the photovoltaic panel in photovoltaic plate array be it is longitudinal or horizontal, with true
Determine " N " still " Z " font cleaning path.
3. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 2, which is characterized in that further include
Following steps: moving on after determining cleaning path, by the metal detection sensor component judge front whether there is also
Photovoltaic panel behind the bottom for reaching photovoltaic array, is sentenced with reaching the bottom of photovoltaic array by the metal detection sensor component
Disconnected right and left whether there is photovoltaic panel, cleans direction to determine, determines cleaning direction and the cleaning path of new photovoltaic array, complete
It is cleaned at the autonomous selection of new photovoltaic array, to reach the autonomous selection cleaning during cleaning herein.
4. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 1, which is characterized in that described red
Outer shutter sensor component includes the first infrared shutter sensor component and the second infrared shutter sensor component, and described first is red
The left side on the chassis is arranged in outer shutter sensor component, and the second infrared shutter sensor component is arranged described
Right side on chassis.
5. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 4, which is characterized in that described the
One infrared shutter sensor component includes the first infrared shutter sensor and the second infrared shutter sensor, and described first is infrared
The front end of the chassis upper left side is arranged in shutter sensor, and the second infrared shutter sensor is arranged on the chassis
The rear end in left side.
6. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 4, which is characterized in that described the
Two infrared shutter sensor components include the infrared shutter sensor of third and the 4th infrared shutter sensor, and the third is infrared
The front end on right side on the chassis is arranged in shutter sensor, and the 4th infrared shutter sensor is arranged on the chassis
The rear end on right side.
7. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 1, which is characterized in that the gold
Belonging to detection sensor component includes the first metal detection sensor, the second metal detection sensor, third metal detection sensor
And the 4th metal detection sensor, in which:
The left side on the chassis is arranged in first metal detection sensor, and the second metal detection sensor setting exists
The right side on the chassis, and the 4th metal is arranged in front side on the chassis, the third metal detection sensor
The rear side on the chassis is arranged in detection sensor.
8. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 7, which is characterized in that described the
One metal detection sensor is fixed on the lateral wall of the chassis upper left side fixed plate, the second metal detection sensing
Device is fixed on the chassis on the inner sidewall of anterior planting, and the third metal detection sensor is fixed at institute
It states on chassis on the lateral wall of right side fixed plate, it is fixed that the 4th metal inspection sensor is fixed at rear side on the chassis
On the lateral wall of plate.
9. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 5, which is characterized in that described the
One infrared shutter sensor and the second infrared shutter sensor are separately positioned on the inside of the chassis upper left side fixed plate
Position, and the first infrared shutter sensor and the second infrared shutter sensor are located on the same line.
10. the method for the robot autonomous selection cleaning route of the photovoltaic according to claim 6, which is characterized in that described
The infrared shutter sensor of third and the 4th infrared shutter sensor are separately positioned on the inside of right side fixed plate on the chassis
Position, and the infrared shutter sensor of the third and the 4th infrared shutter sensor are located on the same line.
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Application publication date: 20190809 |