CN110882970A - Photovoltaic cleaning robot with photovoltaic board detection component - Google Patents
Photovoltaic cleaning robot with photovoltaic board detection component Download PDFInfo
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- CN110882970A CN110882970A CN201911161567.6A CN201911161567A CN110882970A CN 110882970 A CN110882970 A CN 110882970A CN 201911161567 A CN201911161567 A CN 201911161567A CN 110882970 A CN110882970 A CN 110882970A
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- 238000001514 detection method Methods 0.000 title claims abstract description 142
- 238000004140 cleaning Methods 0.000 title claims abstract description 83
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000005611 electricity Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to a photovoltaic cleaning robot with a photovoltaic panel detection assembly, which comprises a robot body, wherein a driving mechanism, a crawler mechanism and a cleaning mechanism are arranged on the robot body, the driving mechanism is electrically connected with the cleaning mechanism, the crawler mechanism drives the robot body to run, the cleaning mechanism is fixedly arranged on the outer side wall of the front end of the robot body, the cleaning mechanism is driven by the driving mechanism to perform cleaning operation, the photovoltaic panel detection assembly is arranged on the robot body and comprises a plurality of photovoltaic panel detection modules, each photovoltaic panel detection module comprises a shell, the shell is in a cuboid shape, the lower end of the shell is open, a brush is arranged at the lower end of the shell, and a camera and an infrared sensor are arranged at the upper end of the shell. The invention has the purposes of simplifying the detection structure of the photovoltaic cleaning robot and improving the applicability and the automation degree of the photovoltaic cleaning robot.
Description
Technical Field
The embodiment of the invention relates to the technical field of photovoltaic cleaning robots, in particular to a photovoltaic cleaning robot with a photovoltaic panel detection assembly.
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, the process is basically full-automatic, and the position of the photovoltaic cleaning walking robot needs to be judged by means of a detection device. At present, no mature movable detection mode exists in the market, and a specific sensing device or a fixing device is required to be added in a photovoltaic array for positioning, so that the machine can walk and be clean on the photovoltaic array. Such an induction method of adding a specific induction device or a fixing device not only increases the cost of the equipment, but also is easily limited by the size and shape of the photovoltaic array, so that an additional device cannot be installed.
Disclosure of Invention
In view of the above problems in the prior art, a primary object of the present invention is to provide a photovoltaic cleaning robot with a photovoltaic panel detection assembly, which can simplify the detection structure of the photovoltaic cleaning robot and improve the applicability and automation degree of the photovoltaic cleaning robot.
The technical scheme of the invention is as follows:
a photovoltaic cleaning robot with a photovoltaic panel detection component comprises a body, the body is provided with a driving mechanism, a crawler mechanism and a cleaning mechanism, the driving mechanism is electrically connected with the cleaning mechanism, the crawler mechanism drives the machine body to walk, the cleaning mechanism is fixedly arranged on the outer side wall of the front end of the machine body, the cleaning mechanism is driven by the driving mechanism to perform cleaning operation, the photovoltaic cleaning robot also comprises a photovoltaic panel detection assembly, the photovoltaic panel detection assembly is arranged on the machine body, and the photovoltaic panel detection assembly comprises a plurality of photovoltaic panel detection modules, each of the photovoltaic panel detection modules comprises a housing, the shape of casing is the cuboid, the lower extreme opening of casing, the lower extreme of casing is provided with the brush, the upper end of casing is provided with camera and infrared sensor.
A plurality of photovoltaic board detection module includes four photovoltaic board detection modules, is first photovoltaic board detection module, second photovoltaic board detection module, third photovoltaic board detection module and fourth photovoltaic board detection module respectively, wherein: the first photovoltaic panel detection module is fixedly arranged in front of the outer side wall of the left end of the machine body, the second photovoltaic panel detection module is fixedly arranged in front of the outer side wall of the right end of the machine body, the third photovoltaic panel detection module is fixedly arranged at the rear of the outer side wall of the right end of the machine body, and the fourth photovoltaic panel detection module is fixedly arranged at the rear of the outer side wall of the left end of the machine body.
The lateral wall of casing is provided with a plurality of fixed orificess, the casing pass through the fixed orifices with the lateral wall fixed connection of fuselage, the casing bottom is provided with square LED lamp, just the LED lamp is fixed to be set up on the inside wall of casing bottom.
The LED lamp comprises a first LED lamp, a second LED lamp, a third LED lamp and a fourth LED lamp, wherein the shapes of the first LED lamp, the second LED lamp, the third LED lamp and the fourth LED lamp are cuboids, and the first LED lamp, the second LED lamp, the third LED lamp and the fourth LED lamp are sequentially connected end to end and are respectively arranged on four inner side walls of the bottom of the shell.
Photovoltaic board determine module still includes the camera drive plate, the camera drive plate sets up the top at casing top, just the camera drive plate with the camera electricity is connected, infrared sensor's lower extreme is fixed to be set up in the first mounting hole at casing top, just infrared sensor's upper end runs through second mounting hole on the camera drive plate and upwards extends, the upper end of camera is fixed to be set up in the third mounting hole of camera drive plate lower surface setting, just the lower extreme of camera runs through the fourth mounting hole that the casing top set up and inwards extend in the casing.
The infrared sensor is arranged at the upper end of the shell, the upper end of the shell is close to one side of the fixing hole, and the camera is arranged at the upper end of the shell, away from one side of the fixing hole.
The shape of brush is square, the brush includes first brush, second brush, third brush and fourth brush, the shape of first brush, second brush, third brush and fourth brush is the cuboid, first brush, second brush, third brush and fourth brush end to end in proper order and set up respectively on four lateral walls of casing bottom.
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 fuselage bottom, just the left wheel track passes through left wheel driving motor's drive removes, right wheel track sets up the right side of fuselage bottom, just right wheel track passes right wheel driving motor's drive removes.
The invention has the following advantages and beneficial effects: the photovoltaic cleaning robot with the photovoltaic panel detection assembly comprises a robot body, wherein a driving mechanism, a crawler mechanism and a cleaning mechanism are arranged on the robot body, the driving mechanism is respectively electrically connected with the cleaning mechanism and the crawler mechanism, the crawler mechanism drives the robot body to travel under the driving of the driving mechanism, the cleaning mechanism is fixedly arranged on the outer side wall of the front end of the robot body, and the cleaning mechanism performs cleaning operation under the driving of the driving mechanism; in addition, the photovoltaic cleaning robot also comprises a photovoltaic panel detection assembly, the photovoltaic panel detection assembly is arranged on the machine body, the photovoltaic panel detection assembly comprises a plurality of photovoltaic panel detection modules, and particularly, four photovoltaic panel detection modules with the same structure, namely a first photovoltaic panel detection module, a second photovoltaic panel detection module, a third photovoltaic panel detection module and a fourth photovoltaic panel detection module, are respectively arranged at four corners of the machine body of the photovoltaic cleaning robot, so that the assembly in the early stage and the maintenance in the later stage are facilitated; the photovoltaic panel frame detection device has the advantages that the photovoltaic panel frame detection device has the function of detecting the photovoltaic panel frames in the left and right welting cleaning process of the photovoltaic cleaning robot, so that the detection structure of the photovoltaic cleaning robot is simplified, the applicability of the photovoltaic cleaning robot is improved, and the purpose of cleaning operation by the photovoltaic robot in stable operation can be realized; the automation degree of the photovoltaic robot is improved, so that the induction photovoltaic surface can be automatically controlled to stably walk and clean, manpower is saved, and the maintenance cost of a power station is reduced.
Drawings
Fig. 1 is a schematic top view of a photovoltaic cleaning robot with a photovoltaic panel detection assembly according to an embodiment of the present invention.
Fig. 2 is an exploded schematic structural diagram of a photovoltaic panel detection module in a photovoltaic cleaning robot with a photovoltaic panel detection assembly according to an embodiment of the present invention.
Fig. 3 is an exploded schematic structural diagram of a photovoltaic panel detection module in another direction of a photovoltaic cleaning robot with a photovoltaic panel detection assembly according to an embodiment of the present invention.
Fig. 4 is a schematic perspective view of a photovoltaic panel detection module in a photovoltaic cleaning robot with a photovoltaic panel detection assembly according to an embodiment of the present invention.
Fig. 5 is a schematic perspective view of another direction of a photovoltaic panel detection module in the photovoltaic cleaning robot with the photovoltaic panel detection assembly according to the embodiment of the invention.
Fig. 6 is a schematic perspective view of an LED lamp in a photovoltaic cleaning robot with a photovoltaic panel detection assembly according to an embodiment of the present invention.
Fig. 7 is a schematic perspective view of a brush in a photovoltaic cleaning robot having a photovoltaic panel detection assembly according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a photovoltaic cleaning robot with a photovoltaic panel detection assembly according to an embodiment of the present invention, which performs a cleaning operation on a photovoltaic panel.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
As shown in fig. 1 to 8: the photovoltaic cleaning robot with the photovoltaic panel detection assembly provided by the embodiment of the invention comprises a robot body 100, wherein a driving mechanism, a crawler mechanism and a cleaning mechanism 102 are arranged on the robot body 100, the driving mechanism is electrically connected with the cleaning mechanism 102, the crawler mechanism drives the robot body 100 to run, the cleaning mechanism 102 is fixedly arranged on the outer side wall of the front end of the robot body 100, and the cleaning mechanism 102 is driven by the driving mechanism to perform cleaning operation, the photovoltaic cleaning robot further comprises a photovoltaic panel detection assembly, the photovoltaic panel detection assembly is arranged on the machine body 100, and the photovoltaic panel detection assembly comprises a plurality of photovoltaic panel detection modules, each photovoltaic panel detection module comprises a casing 120, the casing 120 is cuboid, the lower end of the casing 120 is open, the lower end of the casing 120 is provided with a brush 130, and the upper end of the casing 120 is provided with a camera 140 and an infrared sensor 150.
The plurality of photovoltaic panel detection modules include four photovoltaic panel detection modules, which are a first photovoltaic panel detection module 111, a second photovoltaic panel detection module 112, a third photovoltaic panel detection module 113, and a fourth photovoltaic panel detection module 114, respectively, wherein: the first photovoltaic panel detection module 111 is fixedly arranged in front of the outer side wall of the left end of the body 100, the second photovoltaic panel detection module 112 is fixedly arranged in front of the outer side wall of the right end of the body 100, the third photovoltaic panel detection module 113 is fixedly arranged at the rear of the outer side wall of the right end of the body 100, and the fourth photovoltaic panel detection module 114 is fixedly arranged at the rear of the outer side wall of the left end of the body 100. Through the above design, namely, the four corners of the outer side wall of the body 100 are respectively provided with the first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114, and the four photovoltaic panel detection modules have the same structure, so that not only the detection structure of the photovoltaic cleaning robot can be simplified, but also the applicability of the photovoltaic cleaning robot can be improved.
The side wall of the housing 120 is provided with a plurality of fixing holes 121, the housing 120 is fixedly connected with the outer side wall of the body 100 through the fixing holes 121, the bottom of the housing 120 is provided with a square LED lamp 160, and the LED lamp 160 is fixedly arranged on the inner side wall of the bottom of the housing 120.
The LED lamp 160 includes a first LED lamp 161, a second LED lamp 162, a third LED lamp 163 and a fourth LED lamp 164, the first LED lamp 161, the second LED lamp 162, the third LED lamp 163 and the fourth LED lamp 164 are all rectangular parallelepipeds in shape, and the first LED lamp 161, the second LED lamp 162, the third LED lamp 163 and the fourth LED lamp 164 are sequentially connected end to end and respectively disposed on four inner sidewalls of the bottom of the housing 120. Through the above design, namely, the first LED lamp 161, the second LED lamp 162, the third LED lamp 163 and the fourth LED lamp 164 are respectively arranged on the four inner side walls of the bottom of the housing 120, when the photovoltaic cleaning robot performs cleaning operation on the surface of a photovoltaic panel, except that the LED lamp arranged in each photovoltaic panel detection module does not have any other light source, the uniform brightness inside the housing in the photovoltaic panel detection module can be maintained, and the accuracy and the working efficiency of detection are further improved.
Photovoltaic board detection subassembly still includes camera drive board 170, camera drive board 170 sets up the top at casing 120 top, and camera drive board 170 is connected with camera 140 electricity, infrared sensor 150's lower extreme is fixed to be set up in the first mounting hole 122 at casing 120 top and downwardly extending, and infrared sensor 150's upper end runs through the second mounting hole (not shown in the figure) on the camera drive board 170 and upwardly extending, camera 140's upper end is fixed to be set up in the third mounting hole (not shown in the figure) of camera drive board 107 lower surface setting, and camera 140's lower extreme runs through the fourth mounting hole 123 that casing 120 top set up and extends to casing 120. Through the design, the interior of the shell in each photovoltaic panel detection module is hollow, so that the camera 140 and the infrared sensor 150 can work conveniently.
The infrared sensor 150 is disposed at a side of the upper end of the case 120 close to the fixing hole 121, and the camera 140 is disposed at a side of the upper end of the case 120 far from the fixing hole 121. Through the above design, the casing 120 is fixedly connected with the outer side wall of the body 100 through the plurality of fixing holes 121, so that the assembly in the early stage and the maintenance in the later stage are facilitated, meanwhile, the infrared sensor 150 is arranged at the position, close to one side of the body 100, of the top of the casing 120, and the camera 140 is arranged at the outer side of the infrared sensor 150.
The shape of the brush 130 is square, the brush 130 includes a first brush 131, a second brush 132, a third brush 133 and a fourth brush 134, the first brush 131, the second brush 132, the third brush 133 and the fourth brush 134 are rectangular, and the first brush 131, the second brush 132 and the third brush 133 and the fourth brush 134 are sequentially connected end to end and are respectively disposed on four outer sidewalls of the bottom of the housing 120. Through the above design, set up first brush 131, second brush 132, third brush 133 and fourth brush 134 respectively at four lateral walls in the bottom of casing 201 promptly, can effectively shelter from external light, still can improve the height of casing 120, increased the height that photovoltaic cleaning machines people can stride the barrier, also reduced the wearing and tearing on fuselage 100 and photovoltaic board surface, improved photovoltaic board detection module's durability.
The running gear includes a crawler belt mechanism, the driving mechanism includes a driving motor, wherein, the crawler belt mechanism includes a left wheel crawler belt 101 and a right wheel crawler belt 104, the driving motor includes a left wheel driving motor 105 and a right wheel driving motor 106, the left wheel crawler belt 101 is disposed on the left side of the chassis 103 in the machine body 100, and the left wheel crawler belt 101 is moved by the driving of the left wheel driving motor 105, the right wheel crawler belt 104 is disposed on the right side of the chassis 103 in the machine body 100, and the right wheel crawler belt 104 is moved by the driving of the right wheel driving motor 106.
According to the photovoltaic cleaning robot with the photovoltaic panel detection assembly, the installation position of the infrared sensor 150 is closer to the body 100 of the photovoltaic cleaning robot relative to the camera 140, the camera 140 is horizontally vertical to the side surface of the body 100, and the top of the camera 140 is close to the infrared sensor 150; when the photovoltaic panel detection assembly works, the infrared sensor 150 in each photovoltaic panel detection module detects whether the bottom of the corresponding machine body 100 has a contact working plane, and if the working plane cannot be detected, the infrared sensor 150 directly outputs a suspension state (namely, is located outside the photovoltaic panel).
Under the condition that the infrared sensor 150 in the corresponding photovoltaic panel detection module detects the corresponding working plane, the camera 140 collects the image of the working plane uniformly irradiated by the LED lamp in the internal space of the photovoltaic panel detection module, and processes the image: starting from the first column of the image by taking the upper left corner of the image as a starting point, if the brightness of a pixel point is greater than a set preset value, the detection count at the moment is the difference of subtracting the current line number from the total line number (the height of the image), and the total detection count is added to all the detection counts of the column. And after the first row is calculated, continuing to calculate until the judgment of all the pixel points is finished. If the image is large, the total detected count will be large, and scaling the total count, i.e., dividing by the total number of columns, will yield a relatively suitable range of data values.
According to the photovoltaic cleaning robot with the photovoltaic panel detection assembly, provided by the embodiment of the invention, taking the first photovoltaic panel detection module 111 at the upper left corner of the body 100 of the photovoltaic cleaning robot as an example, if the photovoltaic panel frame is at a position deviated to the left side of the first photovoltaic panel detection module 111, namely the body 100 is close to the inside of the photovoltaic panel 200 and is far away from the photovoltaic panel frame, the infrared sensor 105 still detects that the operation plane exists, the photovoltaic panel frame is required to be positioned below the collected image, and the photovoltaic panel frame is displayed as white on the image and has higher brightness, so that the total detection count at this time is smaller than that of the photovoltaic panel frame at the midpoint of the first photovoltaic panel detection module 111. If the photovoltaic panel frame is located at a position deviated to the right side of the first photovoltaic panel detection module 111, that is, under the condition that the body 100 deviates from the photovoltaic panel and is far away from the photovoltaic panel frame, the photovoltaic panel frame should be located above the collected image, and the total detection count is larger than the total detection count of the photovoltaic panel frame at the midpoint of the first photovoltaic panel detection module 111; a relatively suitable fluctuation range is set, and whether the frame is located on the left side, the center and the right side of the first photovoltaic panel detection module 111 is determined according to the output total detection count, so that the first photovoltaic panel detection module 111 is determined to be in an operation plane state (inside the photovoltaic panel), a frame state (just along the frame) and a suspension state (outside the photovoltaic panel), as shown in fig. 8, the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112 are both in the suspension state, the third photovoltaic panel detection module 113 is determined to be in the frame state, and the fourth photovoltaic panel detection module 114 is determined to be in the operation plane state.
According to the photovoltaic cleaning robot with the photovoltaic panel detection assembly, provided by the embodiment of the invention, through the four photovoltaic panel detection modules distributed at the four corners of the body of the photovoltaic cleaning robot, namely the first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114, the photovoltaic cleaning robot respectively plays a role in detecting the borders of the photovoltaic panels in the left and right welting cleaning process of the photovoltaic cleaning robot.
When the photovoltaic cleaning robot carries out cleaning operation on the left welt, the two photovoltaic panel detection modules (namely the first photovoltaic panel detection module 111 and the fourth photovoltaic panel detection module 114) on the left side of the machine body 100 play a role of providing data for linear correction control; the two photovoltaic panel detection modules in front (namely the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) play a role in detecting the photovoltaic panel frame in front, and the two photovoltaic panel detection modules in rear (namely the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) play a role in detecting the photovoltaic panel frame in rear, so that data are provided for front and rear obstacle crossing cleaning and stopping cleaning.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a photovoltaic cleaning machines people with photovoltaic board determine module, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism, crawler and clean the mechanism on the fuselage, actuating mechanism with clean the mechanism electricity and connect, crawler drives the fuselage and walks, clean the fixed setting of mechanism on the fuselage front end lateral wall, just clean the operation, its characterized in that of cleaning under actuating mechanism's drive of mechanism: the photovoltaic cleaning robot further comprises a photovoltaic panel detection assembly, the photovoltaic panel detection assembly is arranged on the robot body and comprises a plurality of photovoltaic panel detection modules and every photovoltaic panel detection module respectively comprises a shell, the shell is in a cuboid shape, the lower end of the shell is open, a brush is arranged at the lower end of the shell, and a camera and an infrared sensor are arranged at the upper end of the shell.
2. The photovoltaic cleaning robot having a photovoltaic panel detection assembly according to claim 1, wherein the plurality of photovoltaic panel detection modules includes four photovoltaic panel detection modules, a first photovoltaic panel detection module, a second photovoltaic panel detection module, a third photovoltaic panel detection module, and a fourth photovoltaic panel detection module, wherein: the first photovoltaic panel detection module is fixedly arranged in front of the outer side wall of the left end of the machine body, the second photovoltaic panel detection module is fixedly arranged in front of the outer side wall of the right end of the machine body, the third photovoltaic panel detection module is fixedly arranged at the rear of the outer side wall of the right end of the machine body, and the fourth photovoltaic panel detection module is fixedly arranged at the rear of the outer side wall of the left end of the machine body.
3. The photovoltaic cleaning robot with the photovoltaic panel detection assembly according to any one of claims 1-2, wherein a plurality of fixing holes are formed in a side wall of the housing, the housing is fixedly connected with an outer side wall of the body through the fixing holes, a square LED lamp is arranged at the bottom of the housing, and the LED lamp is fixedly arranged on the inner side wall of the bottom of the housing.
4. The photovoltaic cleaning robot with the photovoltaic panel detection assembly according to claim 3, wherein the LED lamps comprise a first LED lamp, a second LED lamp, a third LED lamp and a fourth LED lamp, the first LED lamp, the second LED lamp, the third LED lamp and the fourth LED lamp are cuboid in shape, and the first LED lamp, the second LED lamp, the third LED lamp and the fourth LED lamp are sequentially connected end to end and are respectively arranged on four inner side walls of the bottom of the shell.
5. The photovoltaic cleaning robot with the photovoltaic panel detection assembly according to any one of claims 1-2, wherein the photovoltaic panel detection assembly further comprises a camera driving board, the camera driving board is disposed above the top of the housing, the camera driving board is electrically connected to the camera, the lower end of the infrared sensor is fixedly disposed in the first mounting hole of the top of the housing, the upper end of the infrared sensor penetrates through the second mounting hole of the camera driving board and extends upward, the upper end of the camera is fixedly disposed in the third mounting hole disposed on the lower surface of the camera driving board, and the lower end of the camera penetrates through the fourth mounting hole disposed on the top of the housing and extends into the housing.
6. The photovoltaic cleaning robot with the photovoltaic panel detection assembly according to claim 3, wherein the infrared sensor is disposed on a side of the upper end of the housing close to the fixing hole, and the camera is disposed on a side of the upper end of the housing away from the fixing hole.
7. The photovoltaic cleaning robot with the photovoltaic panel detection assembly according to any one of claims 1-2, wherein the brush is square, the brush comprises a first brush, a second brush, a third brush and a fourth brush, the first brush, the second brush, the third brush and the fourth brush are cuboid in shape, and the first brush, the second brush, the third brush and the fourth brush are sequentially connected end to end and are respectively disposed on four outer sidewalls of the bottom of the housing.
8. The photovoltaic cleaning robot having the photovoltaic panel detection assembly according to any one of claims 1 to 2, wherein the traveling device includes a crawler belt and a driving motor connected to the crawler belt, wherein the crawler belt includes a left wheel crawler belt and a right wheel crawler belt, the driving motor includes a left wheel driving motor and a right wheel driving motor, the left wheel crawler belt is disposed on a left side of the bottom of the body, the left wheel crawler belt is driven by the left wheel driving motor to move, the right wheel crawler belt is disposed on a right side of the bottom of the body, and the right wheel crawler belt is driven by the right wheel driving motor to move.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911161567.6A CN110882970A (en) | 2019-11-22 | 2019-11-22 | Photovoltaic cleaning robot with photovoltaic board detection component |
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| CN201911161567.6A CN110882970A (en) | 2019-11-22 | 2019-11-22 | Photovoltaic cleaning robot with photovoltaic board detection component |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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