CN110212856B - Photovoltaic robot seam crossing operation method - Google Patents
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- CN110212856B CN110212856B CN201910492515.0A CN201910492515A CN110212856B CN 110212856 B CN110212856 B CN 110212856B CN 201910492515 A CN201910492515 A CN 201910492515A CN 110212856 B CN110212856 B CN 110212856B
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 65
- 239000002184 metal Substances 0.000 claims abstract description 51
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The embodiment of the invention discloses a method for the seam crossing operation of a photovoltaic robot, wherein the photovoltaic robot comprises a robot body, the robot body comprises a chassis, a walking device is arranged on the chassis, the photovoltaic robot walks through the walking device, a sucker assembly, a metal detection sensor assembly and an infrared shutter sensor assembly are also arranged on the chassis, the infrared shutter detection sensor assembly is used for judging whether the robot body is positioned at the edge of a photovoltaic plate frame, and when the robot body is positioned at the edge of the photovoltaic plate frame, the metal detection sensor assembly is used for judging whether the photovoltaic robot needs to cross the seam and continue to clean; in the seam crossing process, the robot body can incline to different degrees, and whether the robot body is in the plane of the photovoltaic panel or not is judged through the infrared shutter detection sensor assembly; when the robot body is parallel to the plane of the photovoltaic panel again, one-time seam crossing is completed, and cleaning is continued. The invention can improve the cleaning efficiency and the applicability of the photovoltaic robot so as to achieve the purposes of cross-seam operation, labor saving and power station maintenance cost reduction.
Description
Technical Field
The embodiment of the invention relates to the technical field of photovoltaic robots, in particular to a method for cross-seam operation of a photovoltaic robot.
Background
Solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy. The surface of the solar cell panel is easy to accumulate dirt such as wind sand, dust and the like, and if the solar cell panel is not timely cleaned scientifically and professionally, the generated power of the module is reduced by 40% -60% to the maximum extent, and the generated energy is reduced by 20% -30%. Therefore, the concept of improving the power generation capacity and the benefit of the power station by reasonably and scientifically cleaning the solar cell panel and carefully maintaining the components is accepted by the industry.
When the photovoltaic cleaning walking robot works, different gap intervals among the photovoltaic plates need to be spanned. A relatively mature seam crossing technology in the market at present is that a robot can cross a seam by a walking mode of a telescopic machine body when the robot meets the seam through walking of a telescopic sucker.
However, the seam crossing mode of the telescopic sucker walking is not only low in efficiency, but also limited by the machine body and the sensor assembly, and the seam crossing range of a mature product is within 30 mm.
Disclosure of Invention
Therefore, the embodiment of the invention provides a photovoltaic robot seam crossing operation method, which improves the cleaning efficiency of a photovoltaic cleaning robot, improves the applicability of the photovoltaic cleaning robot, and reduces the energy consumption of the photovoltaic robot, so as to achieve seam crossing operation, save manpower and reduce the maintenance cost of a power station.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the embodiment of the invention provides a photovoltaic robot seam crossing operation method, wherein the photovoltaic robot comprises a robot body, the robot body comprises a chassis and a shell arranged on the chassis, a walking device is arranged on the chassis, the photovoltaic robot walks through the walking device, a sucker assembly, a metal detection sensor assembly and an infrared shutter sensor assembly are further arranged on the chassis, and the photovoltaic robot seam crossing operation method comprises the following steps: the infrared shutter detection sensor assembly judges whether the robot body is at the edge of a photovoltaic panel frame, and when the robot body is at the edge of the photovoltaic panel frame, the metal detection sensor assembly judges whether the photovoltaic robot needs to cross a seam to continue cleaning; in the seam crossing process, the robot body can incline to different degrees, and whether the robot body is in the plane of the photovoltaic panel or not is judged through the infrared shutter detection sensor assembly; in the seam crossing process, whether the photovoltaic robot is on a photovoltaic panel or not is judged through the metal detection sensor assembly, and if the photovoltaic robot crosses the photovoltaic panel, an abnormal alarm is given; when the robot body is parallel to the plane of the photovoltaic panel again, one-time seam crossing is completed, and cleaning is continued.
Further, running gear includes track and the driving motor who is connected with the track, wherein, the track includes left wheel track and right wheel track, driving motor includes left wheel driving motor and right wheel driving motor, the left wheel track sets up the left side of chassis bottom, just the left wheel track passes through left wheel driving motor's drive removes, the right wheel track sets up the right side of chassis bottom, just the right wheel track passes right wheel driving motor's drive removes.
Furthermore, the infrared shutter sensor assembly comprises a first infrared shutter sensor assembly, a second infrared shutter sensor assembly and a third infrared shutter sensor assembly, the first infrared shutter sensor assembly is arranged on the left side of the chassis, the second infrared shutter sensor assembly is arranged on the right side of the chassis, and the third infrared shutter sensor assembly is arranged in the middle of the chassis.
Further, the first infrared shutter sensor assembly comprises a first infrared shutter sensor, a second infrared shutter sensor and a third infrared shutter sensor, wherein the first infrared shutter sensor and the third infrared shutter sensor are respectively arranged on the left side of the chassis, and the second infrared shutter sensor is arranged on the left side of the chassis and is positioned on the right side of the first infrared shutter sensor and the right side of the third infrared shutter sensor.
Further, the second infrared shutter sensor assembly comprises a fourth infrared shutter sensor, a fifth infrared shutter sensor and a sixth infrared shutter sensor, wherein the fourth infrared shutter sensor and the sixth infrared shutter sensor are respectively arranged on the right side of the chassis, and the fifth infrared shutter sensor is arranged on the right side of the chassis and is positioned on the left sides of the fourth infrared shutter sensor and the sixth infrared shutter sensor.
Further, the third infrared shutter sensor assembly includes a seventh infrared shutter sensor, an eighth infrared shutter sensor, a ninth infrared shutter sensor, and a tenth infrared shutter sensor, wherein:
the seventh infrared shutter sensor and the eighth infrared shutter sensor are both arranged on the front side of the chassis, and the seventh infrared shutter sensor and the eighth infrared shutter sensor are both positioned between the first infrared shutter sensor and the fourth infrared shutter sensor;
the ninth infrared shutter sensor and the tenth infrared shutter sensor are both arranged on the rear side of the chassis, and the ninth infrared shutter sensor and the tenth infrared shutter sensor are both positioned between the third infrared shutter sensor and the sixth infrared shutter sensor.
Further, the metal detection sensor assembly includes a first metal detection sensor, a second metal detection sensor, a third metal detection sensor, and a fourth metal detection sensor, wherein:
the first metal detection sensor is arranged on the left side of the chassis, the second metal detection sensor is arranged on the front side of the chassis, the third metal detection sensor is arranged on the right side of the chassis, and the fourth metal detection sensor is arranged on the rear side of the chassis.
Furthermore, the first infrared shutter sensor, the second infrared shutter sensor and the third infrared shutter sensor are respectively arranged at the inner side of the left fixing plate on the chassis, and the first infrared shutter sensor and the third infrared shutter sensor are positioned on the same straight line.
Furthermore, the fourth infrared shutter sensor, the fifth infrared shutter sensor and the sixth infrared shutter sensor are respectively arranged at the inner side of the right fixing plate on the chassis, and the fourth infrared shutter sensor and the sixth infrared shutter sensor are positioned on the same straight line.
Further, the sucking disc subassembly includes first sucking disc, second sucking disc and third sucking disc, wherein, first sucking disc sets up central point on the chassis puts, the second sucking disc sets up front side on the chassis, just the third sucking disc sets up rear side on the chassis, the size of first sucking disc is greater than the size of second sucking disc and third sucking disc.
The embodiment of the invention has the following advantages: the embodiment of the invention provides a method for cross-seam operation of a photovoltaic robot, which improves the cleaning efficiency of the photovoltaic cleaning robot, improves the applicability of the photovoltaic cleaning robot, and reduces the energy consumption of the photovoltaic robot so as to achieve cross-seam operation, save manpower and reduce the maintenance cost of a power station; due to the adoption of the distributed sucker layout, the walking driving mode of the photovoltaic robot is not limited to sucker walking any more, and the cleaning effect of the photovoltaic robot in the seam crossing operation is ensured by adopting the crawler driving; due to the adoption of the distributed sucker layout, the infrared shutter and the metal detection sensor assembly, the problem of small gap crossing interval is solved, and a gap of 30mm can be easily crossed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic top view of a photovoltaic robot provided in an embodiment of the present invention, with a housing removed.
Fig. 2 is a schematic perspective view of a photovoltaic robot provided by an embodiment of the present invention, with a housing removed.
Fig. 3 is a schematic view of an action of a suction cup assembly in a cross-seam operation process of a photovoltaic robot according to an embodiment of the present invention.
In the figure: 100 a robot body; 101. a chassis; 102. a first positioning groove; 103. a second positioning groove; 104. a first infrared shutter sensor; 105. a second infrared shutter sensor; 106. a third infrared shutter sensor; 107. a fourth infrared shutter sensor; 108. a fifth infrared shutter sensor; 109. a sixth infrared shutter sensor; 110. a seventh infrared shutter sensor; 111. an eighth infrared shutter sensor; 112. a ninth infrared shutter sensor; 113. a tenth infrared shutter sensor; 114. a first metal detection sensor; 115. a second metal detection sensor; 116. a third metal detection sensor; 117. a fourth metal detection sensor; 118. a left side fixing plate; 119. a front side fixing plate; 120. a right side fixing plate; 121. a rear side fixing plate; 122. a first suction cup; 123. a second suction cup; 124. and a third sucker.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, a method for a photovoltaic robot to perform a seam crossing operation according to an embodiment of the present invention includes a robot body 100, where the robot body 100 includes a chassis 101 and a casing (not shown in the drawings) disposed on the chassis 101, a walking device is disposed on the chassis 101, the photovoltaic robot walks through the walking device, a suction cup assembly, a metal detection sensor assembly, and an infrared shutter sensor assembly are further disposed on the chassis 101, and the method for the photovoltaic robot to perform the seam crossing operation includes the following steps: judging whether the robot body 100 is positioned at the edge of the frame of the photovoltaic panel or not by the infrared shutter detection sensor assembly, and judging whether the photovoltaic robot needs to continuously clean across the seam or not by the metal detection sensor assembly when the robot body 100 is positioned at the edge of the frame of the photovoltaic panel; in the seam crossing process, the robot body can incline to different degrees, and whether the robot body is in the plane of the photovoltaic panel or not is judged through the infrared shutter detection sensor assembly; in the seam crossing process, whether the photovoltaic robot is on a photovoltaic panel or not is judged through the metal detection sensor assembly, and if the photovoltaic robot crosses the photovoltaic panel, an abnormal alarm is given; when the robot body is parallel to the plane of the photovoltaic panel again, one-time seam crossing is completed, and cleaning is continued.
The photovoltaic robot cross-seam operation method provided by the embodiment of the invention comprises the steps that the walking device comprises a crawler belt (not shown in the figure) and a driving motor (not shown in the figure) connected with the crawler belt, wherein the tracks include a left-wheel track and a right-wheel track, wherein the left-wheel track is installed in a first positioning groove 102 provided on the left side of the chassis 101, the right wheel track may be mounted in a second locating slot 103 provided on the right side of the chassis 101, the driving motors include a left wheel driving motor (not shown) and a right wheel driving motor (not shown), the left wheel track is disposed at the left side of the bottom of the chassis 101, and the left wheel crawler belt is driven by the left wheel driving motor to move, the right wheel crawler belt is arranged on the right side of the bottom of the chassis 101, and the right wheel crawler belt is driven by the right wheel driving motor to move.
According to the photovoltaic robot seam crossing operation method provided by the embodiment of the invention, the infrared shutter sensor assembly comprises a first infrared shutter sensor assembly, a second infrared shutter sensor assembly and a third infrared shutter sensor assembly, the first infrared shutter sensor assembly is arranged on the left side of the chassis 101, the second infrared shutter sensor assembly is arranged on the right side of the chassis 101, and the third infrared shutter sensor assembly is arranged in the middle of the chassis 101.
According to the method for the photovoltaic robot to perform the cross-sewing operation, the first infrared shutter sensor assembly comprises a first infrared shutter sensor 104, a second infrared shutter sensor 105 and a third infrared shutter sensor 106, wherein the first infrared shutter sensor 104 and the third infrared shutter sensor 106 are respectively arranged on the left side of the chassis 101, and the second infrared shutter sensor 105 is arranged on the left side of the chassis 101 and is positioned on the right side of the first infrared shutter sensor 104 and the third infrared shutter sensor 106.
According to the method for the photovoltaic robot to perform the cross-seam operation, the second infrared shutter sensor assembly comprises a fourth infrared shutter sensor 107, a fifth infrared shutter sensor 108 and a sixth infrared shutter sensor 109, wherein the fourth infrared shutter sensor 107 and the sixth infrared shutter sensor 109 are respectively arranged on the right side of the chassis 101, and the fifth infrared shutter sensor 108 is arranged on the right side of the chassis 101 and is located on the left side of the fourth infrared shutter sensor 107 and the sixth infrared shutter sensor 109.
In the method for photovoltaic robot seam crossing operation provided by the embodiment of the present invention, the third infrared shutter sensor component includes a seventh infrared shutter sensor 110, an eighth infrared shutter sensor 111, a ninth infrared shutter sensor 112, and a tenth infrared shutter sensor 113, where:
the seventh infrared shutter sensor 110 and the eighth infrared shutter sensor 11 are both arranged on the front side of the chassis, and the seventh infrared shutter sensor 110 and the eighth infrared shutter sensor 111 are both located between the first infrared shutter sensor 104 and the fourth infrared shutter sensor 107;
the ninth infrared shutter sensor 112 and the tenth infrared shutter sensor 113 are both disposed at the rear side on the chassis 101, and the ninth infrared shutter sensor 112 and the tenth infrared shutter sensor 113 are both located between the third infrared shutter sensor 106 and the sixth infrared shutter sensor 109.
According to the method for the photovoltaic robot to perform the cross-seam operation, the metal detection sensor assembly comprises a first metal detection sensor 114, a second metal detection sensor 115, a third metal detection sensor 116 and a fourth metal detection sensor 117, wherein:
the first metal detection sensor 114 is disposed on the left side on the chassis 101, the second metal detection sensor 115 is disposed on the front side on the chassis 101, the third metal detection sensor 116 is disposed on the right side on the chassis 101, and the fourth metal detection sensor 117 is disposed on the rear side on the chassis 101.
According to the method for the photovoltaic robot to perform the seam crossing operation, provided by the embodiment of the invention, the first metal detection sensor 114 is fixedly arranged on the outer side wall of a left fixing plate 118 on the chassis 101, the second metal detection sensor 115 is fixedly arranged on the inner side wall of a front fixing plate 119 on the chassis 101, the third metal detection sensor 116 is fixedly arranged on the outer side wall of a right fixing plate 120 on the chassis 101, and the fourth metal detection sensor 117 is fixedly arranged on the outer side wall of a rear fixing plate 121 on the chassis 101.
According to the photovoltaic robot seam crossing operation method provided by the embodiment of the invention, the first infrared shutter sensor 104, the second infrared shutter sensor 105 and the third infrared shutter sensor 106 are respectively arranged at the inner side of the left fixing plate 118 on the chassis 101, and the first infrared shutter sensor 104 and the third infrared shutter sensor 106 are positioned on the same straight line.
In the method for photovoltaic robot seam crossing operation provided by the embodiment of the present invention, the fourth infrared shutter sensor 107, the fifth infrared shutter sensor 108 and the sixth infrared shutter sensor 109 are respectively disposed at positions on the inner side of the right fixing plate 120 on the chassis 101, and the fourth infrared shutter sensor 107 and the sixth infrared shutter sensor 109 are located on the same straight line.
According to the photovoltaic robot seam crossing operation method provided by the embodiment of the invention, the sucker assembly comprises a first sucker 122, a second sucker 123 and a third sucker 124, wherein the first sucker 122 is arranged at the central position on the chassis 101, the second sucker 123 is arranged at the front side on the chassis 101, the third sucker 124 is arranged at the rear side on the chassis 101, and the size of the first sucker 102 is larger than the size of the second sucker 123 and the size of the third sucker 124. Through above-mentioned design, the sucking disc subassembly is the distributing type to be arranged promptly, and when one of them or 2 sucking discs were because there is the gap unable absorption effect that reaches, the absorption effect still exists in another sucking disc, and fail safe nature obtains the promotion of certain degree, and then improves photovoltaic robot smooth operation's level.
According to the method for the photovoltaic robot to perform the seam crossing operation, when the photovoltaic robot starts to clean on a photovoltaic array, the photovoltaic robot runs to the edge of a frame of a photovoltaic panel, and at the moment, an infrared shutter detection sensor assembly arranged on a chassis 101 in a robot body 100 senses the frame. Meanwhile, whether a photovoltaic panel exists in front is sensed by the second metal detection sensor 115 on the front side, if the photovoltaic panel exists, a seam needs to be crossed, and the photovoltaic robot continues to run.
At the initial stage of the seam crossing process, if the metal detection sensor assembly judges that no metal exists in the front (namely, a photovoltaic panel), the judgment of the data before the metal detection sensor assembly possibly occurs, the photovoltaic panel which needs to be cleaned does not exist in the front actually, in order to avoid the photovoltaic robot from falling, the photovoltaic robot can be switched to the next working state, the photovoltaic robot does not continue to advance to cross the seam, and the cleaning is continued in the next working state which is set, for example, the photovoltaic robot turns 90 degrees according to the set path and continues to advance to clean.
In the process of crossing the seam, because the sucking disc overall arrangement of distributing type is in the preceding back triplex on the chassis in the robot body, if a sucking disc is in when can't reach the adsorption effect in the seam, all the other two sucking discs still have the adsorption effect, are enough to provide the required adsorption affinity of photovoltaic robot, and then reinforcing fail safe nature.
In the seam crossing process, when the crawler belt contacts the frame of the photovoltaic panel, the robot body (the machine body) slightly inclines, and at the moment, the detection data of the third infrared shutter sensor assembly in the infrared shutter detection sensor assemblies are changed due to the inclination. If the distance between the seventh infrared shutter sensor 110 and the eighth infrared shutter sensor 111 is the distance between the first infrared shutter sensor 110 and the second infrared shutter sensor 111, the distance between the seventh infrared shutter sensor 110 and the eighth infrared shutter sensor 111 is increased, and the seventh infrared shutter sensor 110 and the eighth infrared shutter sensor 111 are not shielded to obtain different data; the ninth infrared shutter sensor 112 and the tenth infrared shutter sensor 113 will become low due to the height from the plane, and the ninth infrared shutter sensor 112 and the tenth infrared shutter sensor 113 are not shielded, so as to obtain different data, that is, it is detected that the robot body is not parallel to the plane of the photovoltaic panel. Because of the inclination, the data acquired by the infrared shutter detection sensor assembly is not the same as that when the body is parallel to the plane of the photovoltaic panel, and the data is unreliable, so that the straight line correction can not be performed according to the data. At the moment, straight-line walking is maintained only by means of data of the encoder until the crawler belt completely runs to a new photovoltaic panel plane, and at the moment, the data display machine body of the infrared shutter detection sensor assembly is parallel to the photovoltaic panel plane, and then straight-line walking correction is continuously started.
When the crawler belt completely runs to a new photovoltaic panel plane, the infrared shutter detection sensor assembly continues to detect within a certain range of amplitude limiting (before a frame of a photovoltaic panel behind the machine body is detected, the infrared shutter detection sensor assembly cannot detect a parallel plane, and amplitude limiting protection also exists in a cross seam), a frame of the photovoltaic panel is waited to be sensed to exist behind the photovoltaic robot, and at the moment, the robot body completely completes one-time cross seam on the new photovoltaic panel, and the photovoltaic panel continues to be cleaned.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (6)
1. The photovoltaic robot seam crossing operation method is characterized by comprising a robot body, wherein the robot body comprises a chassis and a shell arranged on the chassis, a walking device is arranged on the chassis, the photovoltaic robot walks through the walking device, a sucker assembly, a metal detection sensor assembly and an infrared shutter sensor assembly are further arranged on the chassis, and the photovoltaic robot seam crossing operation method comprises the following steps: the infrared shutter detection sensor assembly judges whether the robot body is at the edge of a photovoltaic panel frame, and when the robot body is at the edge of the photovoltaic panel frame, the metal detection sensor assembly judges whether the photovoltaic robot needs to cross a seam to continue cleaning; in the seam crossing process, the robot body can incline to different degrees, and whether the robot body is in the plane of the photovoltaic panel or not is judged through the infrared shutter detection sensor assembly; in the seam crossing process, whether the photovoltaic robot is on a photovoltaic panel or not is judged through the metal detection sensor assembly, and if the photovoltaic robot crosses the photovoltaic panel, an abnormal alarm is given; when the robot body is parallel to the plane of the photovoltaic panel again, one-time seam crossing is completed, and cleaning is continued;
the infrared shutter sensor assembly comprises a first infrared shutter sensor assembly, a second infrared shutter sensor assembly and a third infrared shutter sensor assembly, the first infrared shutter sensor assembly is arranged on the left side of the chassis, the second infrared shutter sensor assembly is arranged on the right side of the chassis, and the third infrared shutter sensor assembly is arranged in the middle of the chassis;
the first infrared shutter sensor assembly comprises a first infrared shutter sensor, a second infrared shutter sensor and a third infrared shutter sensor, wherein the first infrared shutter sensor and the third infrared shutter sensor are respectively arranged on the left side of the chassis, and the second infrared shutter sensor is arranged on the left side of the chassis and is positioned on the right side of the first infrared shutter sensor and the third infrared shutter sensor;
the second infrared shutter sensor assembly comprises a fourth infrared shutter sensor, a fifth infrared shutter sensor and a sixth infrared shutter sensor, wherein the fourth infrared shutter sensor and the sixth infrared shutter sensor are respectively arranged on the right side of the chassis, and the fifth infrared shutter sensor is arranged on the right side of the chassis and is positioned on the left sides of the fourth infrared shutter sensor and the sixth infrared shutter sensor;
the third infrared shutter sensor assembly includes a seventh infrared shutter sensor, an eighth infrared shutter sensor, a ninth infrared shutter sensor, and a tenth infrared shutter sensor, wherein:
the seventh infrared shutter sensor and the eighth infrared shutter sensor are both arranged on the front side of the chassis, and the seventh infrared shutter sensor and the eighth infrared shutter sensor are both positioned between the first infrared shutter sensor and the fourth infrared shutter sensor;
the ninth infrared shutter sensor and the tenth infrared shutter sensor are both arranged on the rear side of the chassis, and the ninth infrared shutter sensor and the tenth infrared shutter sensor are both positioned between the third infrared shutter sensor and the sixth infrared shutter sensor.
2. The method of claim 1, wherein the traveling device comprises a track and a driving motor connected to the track, wherein the track comprises a left wheel track and a right wheel track, the driving motor comprises a left wheel driving motor and a right wheel driving motor, the left wheel track is disposed on the left side of the chassis bottom and is driven by the left wheel driving motor to move, the right wheel track is disposed on the right side of the chassis bottom and is driven by the right wheel driving motor to move.
3. The method of a photovoltaic robot cross-stitch work as recited in claim 1, wherein the metal detection sensor assembly comprises a first metal detection sensor, a second metal detection sensor, a third metal detection sensor, and a fourth metal detection sensor, wherein:
the first metal detection sensor is arranged on the left side of the chassis, the second metal detection sensor is arranged on the front side of the chassis, the third metal detection sensor is arranged on the right side of the chassis, and the fourth metal detection sensor is arranged on the rear side of the chassis.
4. The method for photovoltaic robot seam crossing operation according to claim 1, wherein the first infrared shutter sensor, the second infrared shutter sensor and the third infrared shutter sensor are respectively arranged at positions on the chassis at the inner side of a left fixing plate, and the first infrared shutter sensor and the third infrared shutter sensor are positioned on the same straight line.
5. The method for photovoltaic robot to cross-seam work according to claim 1, wherein the fourth infrared shutter sensor, the fifth infrared shutter sensor and the sixth infrared shutter sensor are respectively arranged at positions on the chassis at the inner side of the right fixing plate, and the fourth infrared shutter sensor and the sixth infrared shutter sensor are located on the same straight line.
6. The method of claim 1, wherein the suction cup assembly comprises a first suction cup, a second suction cup, and a third suction cup, wherein the first suction cup is disposed at a central location on the chassis, the second suction cup is disposed at a front side on the chassis, and the third suction cup is disposed at a rear side on the chassis, and wherein a size of the first suction cup is larger than a size of the second suction cup and the third suction cup.
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| CN110860501A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly |
| CN110882969A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically walking along bridge floor |
| CN110882968A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot |
| CN110882970A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with photovoltaic board detection component |
| CN110882967A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot of continuity of operation |
| 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 |
| CN117282698A (en) * | 2023-09-20 | 2023-12-26 | 宁夏隆基宁光仪表股份有限公司 | Photovoltaic cleaning robot and method for autonomously selecting cleaning route thereof |
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| CN205018960U (en) * | 2015-09-02 | 2016-02-10 | 科沃斯机器人有限公司 | Automatic mobile robot |
| CN105962858A (en) * | 2016-06-28 | 2016-09-28 | 佛山科学技术学院 | Obstacle-crossing type robot for cleaning building external wall |
| CN107553497A (en) * | 2017-10-20 | 2018-01-09 | 苏州瑞得恩光能科技有限公司 | The edge positioner and its localization method of solar panel sweeping robot |
| CN207138337U (en) * | 2017-06-13 | 2018-03-27 | 蒋名权 | Robot shells structure and the solar panels clean robot using the shell mechanism |
| CN207640309U (en) * | 2017-05-19 | 2018-07-24 | 北京嘉寓门窗幕墙股份有限公司 | The flat more seam window wiping robot of one kind |
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2019
- 2019-06-06 CN CN201910492515.0A patent/CN110212856B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205018960U (en) * | 2015-09-02 | 2016-02-10 | 科沃斯机器人有限公司 | Automatic mobile robot |
| CN105962858A (en) * | 2016-06-28 | 2016-09-28 | 佛山科学技术学院 | Obstacle-crossing type robot for cleaning building external wall |
| CN207640309U (en) * | 2017-05-19 | 2018-07-24 | 北京嘉寓门窗幕墙股份有限公司 | The flat more seam window wiping robot of one kind |
| CN207138337U (en) * | 2017-06-13 | 2018-03-27 | 蒋名权 | Robot shells structure and the solar panels clean robot using the shell mechanism |
| CN107553497A (en) * | 2017-10-20 | 2018-01-09 | 苏州瑞得恩光能科技有限公司 | The edge positioner and its localization method of solar panel sweeping robot |
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| CN110212856A (en) | 2019-09-06 |
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