CN110212856A - A kind of method of the photovoltaic robot across seam operation - Google Patents
A kind of method of the photovoltaic robot across seam operation Download PDFInfo
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- CN110212856A CN110212856A CN201910492515.0A CN201910492515A CN110212856A CN 110212856 A CN110212856 A CN 110212856A CN 201910492515 A CN201910492515 A CN 201910492515A CN 110212856 A CN110212856 A CN 110212856A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 63
- 239000002184 metal Substances 0.000 claims abstract description 49
- 229910052751 metal Inorganic materials 0.000 claims abstract description 49
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims 1
- 239000010931 gold Substances 0.000 claims 1
- 229910052737 gold Inorganic materials 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 9
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 6
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004224 protection Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
Abstract
The embodiment of the present invention discloses a kind of method of the photovoltaic robot across seam operation, photovoltaic robot includes robot body, robot body includes chassis, running gear is provided on chassis, photovoltaic robot is walked by the running gear, Suction cup assembly is additionally provided on chassis, metal detection sensor component and infrared shutter sensor component, whether aglow outer shutter detection sensor component judges robot body in photovoltaic panel frame edge, when in photovoltaic panel frame edge, judge whether photovoltaic robot will continue to clean across seam by metal detection sensor component；In across seam, the inclination that robot body can be different degrees of judges whether robot body is in photovoltaic panel plane by infrared shutter detection sensor component；When robot body is parallel to photovoltaic panel plane again, complete to continue to clean once across seam.The cleaning efficiency and applicability of photovoltaic robot can be improved in the present invention, to reach across seam operation, save manpower and reduction power plant maintenance cost.
Description
Technical field
The present embodiments relate to photovoltaic robotic technology fields, and in particular to a kind of side of the photovoltaic robot across seam operation
Method.
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, the different gap lengths across between photovoltaic panel are carried out.Mesh
Across the seam technology of one kind of preceding comparative maturity on the market is walked by telescopic sucker, and the walking side of flexible fuselage when gap is encountered
Formula can allow robot to cross over gap.
But such telescopic sucker walking across seam mode, not only inefficiency, but also by fuselage and sensor module
Limitation across seam distance, the product of comparative maturity, across seam range in 30mm.
Summary of the invention
For this purpose, the embodiment of the present invention provides a kind of method of the photovoltaic robot across seam operation, photovoltaic clean robot is improved
Cleaning efficiency, improve the applicability of photovoltaic clean robot, and reduce the energy consumption of photovoltaic robot, made with reaching across seam
Industry saves manpower and reduces power plant maintenance cost.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
The embodiment of the present invention provides a kind of method of the photovoltaic robot across seam operation, and the photovoltaic robot includes robot
Ontology, the robot body include chassis and the shell that is arranged on the chassis, and walking dress is provided on the chassis
It sets, the photovoltaic robot is walked by the running gear, and Suction cup assembly, metal detection are additionally provided on the chassis
Sensor module and infrared shutter sensor component, method of the photovoltaic robot across seam operation is the following steps are included: aglow
Outer shutter detection sensor component judges robot body whether in photovoltaic panel frame edge, when robot body is in photovoltaic edges of boards
When frame edge, judge whether photovoltaic robot will continue to clean across seam by metal detection sensor component；In across seam, machine
Human body can be different degrees of inclination, judge whether robot body is in photovoltaic panel by infrared shutter detection sensor component
Plane；In across seam, photovoltaic robot is judged whether in photovoltaic panel by metal detection sensor component, if running off photovoltaic
Plate can issue abnormal alarm；When robot body is parallel to photovoltaic panel plane again, complete to continue to clean once across seam.
Further, the running gear includes crawler belt and the driving motor that connect with crawler belt, wherein the crawler belt packet
Revolver crawler belt and right wheel crawler belt are included, the driving motor includes revolver driving motor and right wheel driving motor, and the revolver is carried out
The left side of the tray bottom is arranged in band, and the revolver crawler belt is moved by the driving of the revolver driving motor,
The right side of the tray bottom is arranged in the right wheel crawler belt, and the right wheel crawler belt passes through the driving of the right wheel driving motor
It is moved.
Further, the infrared shutter sensor component include the first infrared shutter sensor component, it is second infrared fast
Door sensor component and the infrared shutter sensor component of third, the first infrared shutter sensor component are arranged at the bottom
Left side on disk, the right side on the chassis is arranged in the second infrared shutter sensor component, and the third is infrared fast
Position intermediate on the chassis is arranged in door sensor component.
Further, the described first infrared shutter sensor component include the first infrared shutter sensor, it is second infrared fast
Door sensor and the infrared shutter sensor of third, wherein the first infrared shutter sensor and the infrared shutter sensing of third
Device is separately positioned on the left side on the chassis, and left side and position on the chassis is arranged in the second infrared shutter sensor
In the right side of the described first infrared shutter sensor and the infrared shutter sensor of third.
Further, the described second infrared shutter sensor component include the 4th infrared shutter sensor, it is the 5th infrared fast
Door sensor and the 6th infrared shutter sensor, wherein the 4th infrared shutter sensor and the 6th infrared shutter sensing
Device is separately positioned on the right side on the chassis, and right side and position on the chassis is arranged in the 5th infrared shutter sensor
In the left side of the 4th infrared shutter sensor and the 6th infrared shutter sensor.
Further, the infrared shutter sensor component of the third include the 7th infrared shutter sensor, it is the 8th infrared fast
Door sensor, the 9th infrared shutter sensor and the tenth infrared shutter sensor, in which:
The 7th infrared shutter sensor and the 8th infrared shutter sensor are arranged at the front side on the chassis, and
The 7th infrared shutter sensor and the 8th infrared shutter sensor are respectively positioned on the described first infrared shutter sensor and the 4th
Between infrared shutter sensor；
The 9th infrared shutter sensor and the tenth infrared shutter sensor are arranged at the rear side on the chassis, and
The 9th infrared shutter sensor and the tenth infrared shutter sensor are respectively positioned on the infrared shutter sensor of the third and the 6th
Between infrared shutter 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, the described first infrared shutter sensor, the second infrared shutter sensor and the infrared shutter of third pass
Sensor is separately positioned on the position of the inside of the chassis upper left side fixed plate, and the first infrared shutter sensor and
Three infrared shutter sensors are located on the same line.
Further, the 4th infrared shutter sensor, the 5th infrared shutter sensor and the 6th infrared shutter pass
Sensor is separately positioned on the chassis position of the inside of right side fixed plate, and the 4th infrared shutter sensor and the
Six infrared shutter sensors are located on the same line.
Further, the Suction cup assembly includes the first sucker, the second sucker and third sucker, wherein described first
The center on the chassis is arranged in sucker, and the front side on the chassis, and the third is arranged in second sucker
The rear side on the chassis is arranged in sucker, and the size of first sucker is greater than the ruler of second sucker and third sucker
It is very little.
The embodiment of the present invention has the advantages that the embodiment of the present invention provides a kind of side of the photovoltaic robot across seam operation
Method improves the cleaning efficiency of photovoltaic clean robot, improves the applicability of photovoltaic clean robot, and reduces photovoltaic robot
Energy consumption, with reach across seam operation, save manpower and reduce power plant maintenance cost；Due to being laid out using distributed sucker, so that
The hoofing part mode of photovoltaic robot is no longer only limitted to sucker walking, ensure that the photovoltaic robot across seam using track drive
The cleaning of operation is imitated；Due to solving across between seam using distributed sucker layout, infrared shutter and metal detection sensor component
Every small problem, the gap of 30mm can be easily crossed over.
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 that a kind of photovoltaic robot provided in an embodiment of the present invention removes the overlooking structure diagram after shell.
Fig. 2 is that a kind of photovoltaic robot provided in an embodiment of the present invention removes the schematic perspective view after shell.
Fig. 3 is a kind of effect signal of the photovoltaic robot provided in an embodiment of the present invention across Suction cup assembly in seam operation process
Figure.
In figure: 100 robot bodies；101, chassis；102, the first locating slot；103, the second locating slot；104, first is red
Outer shutter sensor；105, the second infrared shutter sensor；106, the infrared shutter sensor of third；107, the 4th infrared shutter passes
Sensor；108, the 5th infrared shutter sensor；109, the 6th infrared shutter sensor；110, the 7th infrared shutter sensor；
111, the 8th infrared shutter sensor；112, the 9th infrared shutter sensor；113, the tenth infrared shutter sensor；114, first
Metal detection sensor；115, the second metal detection sensor；116, third metal detection sensor；117, the 4th metal detection
Sensor；118, left side fixed plate；119, anterior planting；120, right side fixed plate；121, rear side fixed plate；122, first inhales
Disk；123, the second sucker；124, third sucker.
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.
It as shown in Figure 1 to Figure 3, is a kind of method of the photovoltaic robot across seam operation provided in an embodiment of the present invention, it is described
Photovoltaic robot includes robot body 100, and the robot body 100 includes chassis 101 and is arranged on the chassis 101
On shell (not shown), running gear is provided on the chassis 101, the photovoltaic robot passes through the walking and fills
It sets and walks, Suction cup assembly, metal detection sensor component and infrared shutter sensor group are additionally provided on the chassis 101
Part, method of the photovoltaic robot across seam operation is the following steps are included: aglow outer shutter detection sensor component judges machine
Whether human body 100 in the frame edge of photovoltaic panel passes through metal when frame edge of the robot body 100 in photovoltaic panel
Detection sensor component judges whether photovoltaic robot will continue to clean across seam；In across seam, robot body can be different degrees of
Inclination, judge whether robot body is in photovoltaic panel plane by infrared shutter detection sensor component；In across seam, lead to
It crosses metal detection sensor component and judges photovoltaic robot whether in photovoltaic panel, if running off photovoltaic panel, abnormal report can be issued
It is alert；When robot body is parallel to photovoltaic panel plane again, complete to continue to clean once across seam.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the running gear includes crawler belt
(not shown) and the driving motor (not shown) being connect with crawler belt, wherein the crawler belt include revolver crawler belt with
And right wheel crawler belt, wherein the revolver crawler belt is mountable in the first locating slot 102 of 101 upper left side of chassis setting, the right side
It takes turns in mountable the second locating slot 103 that right side is arranged on chassis 101 of crawler belt, the driving motor includes revolver driving motor
A left side for 101 bottom of chassis is arranged in (not shown) and right wheel driving motor (not shown), the revolver crawler belt
Side, and the revolver crawler belt is moved by the driving of the revolver driving motor, the right wheel crawler belt is arranged at the bottom
The right side of 101 bottom of disk, and the right wheel crawler belt is moved by the driving of the right wheel driving motor.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the infrared shutter sensor component
Including the first infrared shutter sensor component, the second infrared shutter sensor component and the infrared shutter sensor component of third,
The left side on the chassis 101, the second infrared shutter sensor group is arranged in the first infrared shutter sensor component
Part is arranged in the right side on the chassis 101, and during the infrared shutter sensor component of the third is arranged on the chassis 101
Between position.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the first infrared shutter sensor
Component includes the first infrared shutter sensor 104, the second infrared shutter sensor 105 and the infrared shutter sensor 106 of third,
Wherein, the described first infrared shutter sensor 104 and the infrared shutter sensor 106 of third are separately positioned on the chassis 101
Left side, the left side on the chassis 101 is arranged in for the second infrared shutter sensor 105 and to be located at described first infrared fast
The right side of door sensor 104 and the infrared shutter sensor 106 of third.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the second infrared shutter sensor
Component includes the 4th infrared shutter sensor 107, the 5th infrared shutter sensor 108 and the 6th infrared shutter sensor 109,
Wherein, the described 4th infrared shutter sensor 107 and the 6th infrared shutter sensor 109 are separately positioned on the chassis 101
Right side, the right side on the chassis 101 is arranged in for the 5th infrared shutter sensor 108 and to be located at the described 4th infrared fast
The left side of door sensor 107 and the 6th infrared shutter sensor 109.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the infrared shutter sensor of third
Component include the 7th infrared shutter sensor 110, the 8th infrared shutter sensor 111, the 9th infrared shutter sensor 112 and
Tenth infrared shutter sensor 113, in which:
Before the 7th infrared shutter sensor 110 and the 8th infrared shutter sensor 11 are arranged on the chassis
Side, and the 7th infrared shutter sensor 110 and the 8th infrared shutter sensor 111 are respectively positioned on the described first infrared shutter and pass
Between sensor 104 and the 4th infrared shutter sensor 107；
The 9th infrared shutter sensor 112 and the tenth infrared shutter sensor 113 are arranged on the chassis 101
Rear side, and to be respectively positioned on the third infrared fast for the 9th infrared shutter sensor 112 and the tenth infrared shutter sensor 113
Between door sensor 106 and the 6th infrared shutter sensor 109.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the metal detection sensor component
Including the first metal detection sensor 114, the second metal detection sensor 115, third metal detection sensor 116 and the 4th
Metal detection sensor 117, in which:
The left side on the chassis 101 is arranged in first metal detection sensor 114, and second metal detection passes
The front side on the chassis 101 is arranged in sensor 115, and the third metal detection sensor 116 is arranged on the chassis 101
Right side, and the rear side on the chassis 101 is arranged in the 4th metal detection sensor 117.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, first metal detection sensor
114 are fixed on the lateral wall of the 101 upper left side fixed plate 118 of chassis, and second metal detection sensor 115 is solid
It is arranged on the chassis 101 on the inner sidewall of anterior planting 119 calmly, the fixation of third metal detection sensor 116 is set
It sets on the chassis 101 on the lateral wall of right side fixed plate 120, the 4th metal inspection sensor 117 is fixed at institute
It states on chassis 101 on the lateral wall of rear side fixed plate 121.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the first infrared shutter sensor
104, the second infrared shutter sensor 105 and the infrared shutter sensor 106 of third are separately positioned on 101 upper left side of chassis
The position of the inside of fixed plate 118, and the first infrared shutter sensor 104 and the infrared shutter sensor of third 106
In on same straight line.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the 4th infrared shutter sensor
107, the 5th infrared shutter sensor 108 and the 6th infrared shutter sensor 109 are separately positioned on right side on the chassis 101
The position of the inside of fixed plate 120, and the 4th infrared shutter sensor 107 and the 6th infrared shutter sensor 109
In on same straight line.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, the Suction cup assembly include the first suction
Disk 122, the second sucker 123 and third sucker 124, wherein during first sucker 122 is arranged on the chassis 101
Heart position, the front side on the chassis 101 is arranged in second sucker 123, and the third sucker 124 is arranged at the bottom
Rear side on disk 101, the size of first sucker 102 are greater than the size of second sucker 123 and third sucker 124.
By above-mentioned design, i.e., Suction cup assembly is distributed arrangement, when one of them or 2 suckers are since there are gaps to be unable to reach suction
When attached effect, another sucker still remains adsorption effect, and security reliability obtains a degree of promotion, and then improves light
The level that volt photovoltaic robot runs smoothly.
A kind of method of the photovoltaic robot provided in an embodiment of the present invention across seam operation, starts in photovoltaic robot in photovoltaic
When cleaning on array, photovoltaic robot runs to the frame edge of photovoltaic panel, sets on chassis 101 in robot body 100 at this time
The infrared shutter detection sensor component set senses frame.Incuded simultaneously by the second metal detection sensor 115 of front side
Front whether there is photovoltaic panel, and photovoltaic panel is then needed across seam if it exists, and photovoltaic robot continues to travel.
In the initial phase across seam process, if metal detection sensor component judgement front without metal (namely photovoltaic panel),
Data of the explanation before possible are judged by accident, in front of reality and there is no the clean photovoltaic panels of needs, in order to avoid photovoltaic robot
It falls, photovoltaic robot can be switched to next working condition, not continue to advance across seam, in next working condition of setting
Continue to clean, for example according to the path of setting, turns 90 degree, move on cleaning.
During across seam, due to be distributed sucker layout in robot body on chassis before in after three
Point, if a sucker is in when being unable to reach adsorption effect in gap, other two sucker still remains adsorption effect, it is sufficient to mention
For adsorption capacity required for photovoltaic robot, and then enhance security reliability.
During across seam, when crawler belt touches the frame of photovoltaic panel, robot body (fuselage) will slightly
Inclination, the infrared shutter sensor component of third in infrared shutter detection sensor component detection data can be sent out due to inclination at this time
It is raw to change.If it is advancing across seam, the 7th infrared shutter sensor 110 and the 8th infrared shutter sensor 111 can be because from planes
Height is got higher, and the 7th infrared shutter sensor 110 and the 8th infrared shutter sensor 111 are not blocked, and obtain different data；
9th infrared shutter sensor 112 and the tenth infrared shutter sensor 113 can be because being lower from level, and the 9th infrared shutter passes
Sensor 112 and the tenth infrared shutter sensor 113 are not blocked, and obtain different data, that is, detect robot body injustice
Row is in photovoltaic panel plane.Because inclination the reason of, the data of the data acquisition of infrared shutter detection sensor component be not just with
Data when fuselage is parallel to photovoltaic panel plane are identical, and data are unreliable, just cannot carry out linear correction further according to data.This
When rely only on the data of encoder linear rows maintained to walk, it is infrared at this time until crawler belt is driven to completely in new photovoltaic panel plane
The data of shutter detection sensor component show that fuselage is parallel to photovoltaic panel plane, then continue starting straight line walking correction.
When driven to completely in new photovoltaic panel plane in crawler belt, infrared shutter detection sensor component (is being examined in clipping
Before the frame for measuring the photovoltaic panel at fuselage rear, infrared shutter detection sensor component cannot detect parallel plane, across seam
In there is also limited amplitude protections) a certain range in continue to test, waiting sense that there are the sides of photovoltaic panel at photovoltaic robot rear
Frame, robot body, which is all in new photovoltaic panel, at this time completes once to continue the cleaning of photovoltaic panel across seam.
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 photovoltaic robot across seam operation, which is characterized in that the photovoltaic robot includes robot body, institute
The shell that robot body includes chassis and is arranged on the chassis is stated, is provided with running gear on the chassis, it is described
Photovoltaic robot is walked by the running gear, and Suction cup assembly, metal detection sensor are additionally provided on the chassis
Component and infrared shutter sensor component, method of the photovoltaic robot across seam operation is the following steps are included: aglow outer shutter
Detection sensor component judges robot body whether in photovoltaic panel frame edge, when robot body is in photovoltaic panel frame edge
When, judge whether photovoltaic robot will continue to clean across seam by metal detection sensor component；In across seam, robot body
The different degrees of inclination of meeting, judges whether robot body is in photovoltaic panel plane by infrared shutter detection sensor component；
In across seam, photovoltaic robot is judged whether in photovoltaic panel by metal detection sensor component, if running off photovoltaic panel, meeting
Issue abnormal alarm；When robot body is parallel to photovoltaic panel plane again, complete to continue to clean once across seam.
2. method of the photovoltaic robot according to claim 1 across seam operation, which is characterized in that the running gear includes
Crawler belt and the driving motor being connect with crawler belt, wherein the crawler belt includes revolver crawler belt and right wheel crawler belt, the driving electricity
Machine includes revolver driving motor and right wheel driving motor, and the left side of the tray bottom is arranged in the revolver crawler belt, and described
Revolver crawler belt is moved by the driving of the revolver driving motor, and the right side of the tray bottom is arranged in the right wheel crawler belt
Side, and the right wheel crawler belt is moved by the driving of the right wheel driving motor.
3. method of the photovoltaic robot according to claim 1 across seam operation, which is characterized in that the infrared shutter sensing
Device assembly includes the first infrared shutter sensor component, the second infrared shutter sensor component and the infrared shutter sensor of third
The left side on the chassis, the second infrared shutter sensor is arranged in component, the first infrared shutter sensor component
The right side on the chassis is arranged in component, and the infrared shutter sensor component of the third is arranged among on the chassis
Position.
4. method of the photovoltaic robot according to claim 3 across seam operation, which is characterized in that the first infrared shutter
Sensor module includes the first infrared shutter sensor, the second infrared shutter sensor and the infrared shutter sensor of third,
In, the first infrared shutter sensor and the infrared shutter sensor of third are separately positioned on the left side on the chassis, described
Second infrared shutter sensor be arranged in the left side on the chassis and be located at the described first infrared shutter sensor and third it is red
The right side of outer shutter sensor.
5. method of the photovoltaic robot according to claim 4 across seam operation, which is characterized in that the second infrared shutter
Sensor module includes the 4th infrared shutter sensor, the 5th infrared shutter sensor and the 6th infrared shutter sensor,
In, the 4th infrared shutter sensor and the 6th infrared shutter sensor are separately positioned on the right side on the chassis, described
5th infrared shutter sensor is arranged in the right side on the chassis and is located at the 4th infrared shutter sensor and the 6th red
The left side of outer shutter sensor.
6. method of the photovoltaic robot according to claim 5 across seam operation, which is characterized in that the infrared shutter of third
Sensor module includes the 7th infrared shutter sensor, the 8th infrared shutter sensor, the 9th infrared shutter sensor and the
Ten infrared shutter sensors, in which:
The 7th infrared shutter sensor and the 8th infrared shutter sensor are arranged at the front side on the chassis, and described
7th infrared shutter sensor and the 8th infrared shutter sensor are respectively positioned on the described first infrared shutter sensor and the 4th infrared
Between shutter sensor；
The 9th infrared shutter sensor and the tenth infrared shutter sensor are arranged at the rear side on the chassis, and described
9th infrared shutter sensor and the tenth infrared shutter sensor are respectively positioned on the infrared shutter sensor of the third and the 6th infrared
Between shutter sensor.
7. method of the photovoltaic robot according to claim 1 across seam operation, which is characterized in that the metal detection sensing
Device assembly includes the first metal detection sensor, the second metal detection sensor, third metal detection sensor and the 4th gold medal
Belong to 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. method of the photovoltaic robot according to claim 4 across seam operation, which is characterized in that the first infrared shutter
Sensor, the second infrared shutter sensor and the infrared shutter sensor of third are separately positioned on the chassis upper left side fixed plate
Inside position, and the first infrared shutter sensor and the infrared shutter sensor of third are located on the same line.
9. method of the photovoltaic robot according to claim 5 across seam operation, which is characterized in that the 4th infrared shutter
Sensor, the 5th infrared shutter sensor and the 6th infrared shutter sensor are separately positioned on right side fixed plate on the chassis
Inside position, and the 4th infrared shutter sensor and the 6th infrared shutter sensor are located on the same line.
10. method of the photovoltaic robot according to claim 1 across seam operation, which is characterized in that the Suction cup assembly packet
Including the first sucker, the second sucker and third sucker, wherein the center on the chassis is arranged in first sucker,
The front side on the chassis is arranged in second sucker, and the rear side on the chassis is arranged in the third sucker, described
The size of first sucker is greater than the size of second sucker and third sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910492515.0A CN110212856B (en) | 2019-06-06 | 2019-06-06 | Photovoltaic robot seam crossing operation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910492515.0A CN110212856B (en) | 2019-06-06 | 2019-06-06 | Photovoltaic robot seam crossing operation method |
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| Publication Number | Publication Date |
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| CN110212856A true CN110212856A (en) | 2019-09-06 |
| CN110212856B CN110212856B (en) | 2020-11-24 |
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| CN201910492515.0A Active CN110212856B (en) | 2019-06-06 | 2019-06-06 | Photovoltaic robot seam crossing operation method |
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| CN111482395A (en) * | 2019-11-22 | 2020-08-04 | 深圳怪虫机器人有限公司 | Photovoltaic board cleaning robot with infrared shutter sensor device |
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