CN111958576A - Rotatable attitude control arm support with buffer at end part - Google Patents
Rotatable attitude control arm support with buffer at end part Download PDFInfo
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- CN111958576A CN111958576A CN202010801887.XA CN202010801887A CN111958576A CN 111958576 A CN111958576 A CN 111958576A CN 202010801887 A CN202010801887 A CN 202010801887A CN 111958576 A CN111958576 A CN 111958576A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a rotatable attitude control arm support with a buffer at the end part, which comprises: the cantilever crane is provided with a supporting end at one end and a free end at the other end, the supporting end is rotatably connected with the platform, and the free end of the cantilever crane is connected with a cleaning device for cleaning the photovoltaic panel through a buffer device; the buffer device comprises an outer sleeve connected with the arm support and an inner sleeve movably connected with the arm support, wherein the outer sleeve limits the inner sleeve to only displace a preset distance in the long edge direction of the outer sleeve; the outer sleeve is connected with the inner sleeve through a buffer mechanism, and the buffer mechanism can pull the inner sleeve and the cleaning device to keep a balanced state when the component force of the photovoltaic panel on the vertical direction of the reaction force of the photovoltaic panel on the cleaning device is smaller than or equal to the gravity of the cleaning device and the inner sleeve; the arm support is connected with the cleaning device through the buffer device, so that the stability and the safety of the cleaning device during working can be ensured.
Description
Technical Field
The invention relates to a robot, in particular to a rotatable attitude control arm support with a buffer at the end part of a photovoltaic panel cleaning robot.
Background
With the continuous expansion of the application scale of photovoltaic power generation, an intelligent cleaning robot capable of regularly cleaning foreign matters such as sand, dust and snow on the surface of a solar cell panel is urgently needed. When the self-walking cleaning robot works, the vehicle chassis needs to be leveled in real time due to poor ground conditions, but the leveling action of the vehicle chassis has hysteresis, so that the risk of impacting a photovoltaic panel by a cleaning device exists; the row spacing that the photovoltaic board was arranged is less, and the photovoltaic board is arranged relatively densely and area is great, for the operating efficiency who improves cleaning robot, cleaning robot turns 180 degrees after accomplishing one row and gets into next row and clean, this just requires the cantilever crane that can realize 180 degrees gyration, in addition, because cleaning device is far away relatively apart from the robot main part when the operating posture, will produce great moment of toppling like this, leads to the danger that the robot main part turned on one's side easily. Therefore, it is necessary to design a safe arm support with strong overturn resistance.
Disclosure of Invention
The invention provides a rotatable attitude control arm support utilizing the end part of a buffer device to buffer, and solves the technical problems that a cleaning device in the related art generates a larger overturning moment and has high danger.
According to one aspect of the invention, a rotatable attitude control arm support with a buffer at the end part is provided, which comprises:
the cantilever crane is provided with a supporting end at one end and a free end at the other end, the supporting end is rotatably connected with the platform, and the free end of the cantilever crane is connected with a cleaning device for cleaning the photovoltaic panel through a buffer device;
the buffer device comprises an outer sleeve connected with the arm support and an inner sleeve movably connected with the arm support, wherein the outer sleeve limits the inner sleeve to only displace a preset distance in the long edge direction of the outer sleeve; the outer sleeve is connected with the inner sleeve through a buffer mechanism, and the buffer mechanism can pull the inner sleeve and the cleaning device to keep a balanced state when the component force of the photovoltaic panel on the vertical direction of the reaction force of the photovoltaic panel on the cleaning device is smaller than or equal to the gravity of the cleaning device and the inner sleeve;
the buffer mechanism can enable the inner sleeve to displace along the long edge of the outer sleeve in the direction far away from the photovoltaic panel until the component force of the photovoltaic panel in the vertical direction of the reaction force of the photovoltaic panel on the cleaning device is smaller than or equal to the gravity of the cleaning device and the inner sleeve when the component force of the photovoltaic panel in the vertical direction of the reaction force of the photovoltaic panel on the cleaning device is larger than the gravity of the cleaning device and the inner sleeve.
The buffer device is characterized in that the inner sleeve and the outer sleeve are matched with the extension spring to balance the gravity of the hung cleaning device, so that the cleaning device is in a balanced state when being hung, and when the cleaning device is stressed by upward force, the cleaning device can easily move upwards, thereby structurally playing roles of buffering and preventing collision.
The rotatable attitude control arm support with the buffer at the end part can simply and flexibly control the attitude of the arm support, the cleaning device is conveyed to a specified working position, and after the vehicle body turns, the arm support can rotate 180 degrees to perform cleaning work of the next row. The posture of the arm support can be adjusted by combining the angle between the small arm and the large arm and the angle between the large arm and the upright column according to the relative position of the cleaning device and the photovoltaic panel. The arm support is connected with the cleaning device through the buffer device, so that the working stability and safety of the cleaning device can be ensured.
Further, the buffer mechanism is an extension spring, and two ends of the extension spring are respectively connected with the inner sleeve and the outer sleeve.
Furthermore, a guide mechanism is further arranged between the inner sleeve and the outer sleeve, the guide mechanism comprises a sliding block arranged on the inner sleeve, a sliding groove matched with the sliding block is arranged on the outer sleeve, and the sliding block is embedded into the sliding groove and can move along the sliding groove.
Further, the arm support is used for moving the cleaning device to a preset position, and the arm support comprises:
the upright post is rotatably connected with the platform and is driven to rotate on the platform by a rotary driving mechanism;
one end of the large arm is connected with the upright post through a joint;
one end of the small arm is connected with one end of the large arm far away from the upright post through a joint, and the other end of the small arm is connected with a buffer mechanism;
the upright post and the large arm and the small arm are connected through linear driving pieces, and the linear driving pieces are used for driving the large arm and the small arm to swing around the joint.
Furthermore, a slewing bearing is arranged between the upright post and the platform and used for rotatably supporting the upright post.
Furthermore, the linear driving part is a hydraulic cylinder, and two ends of the hydraulic cylinder between the large arm and the upright post are hinged with the large arm and the upright post through lug seats; the two ends of the hydraulic cylinder between the small arm and the big arm are hinged with the small arm and the big arm through ear seats.
Further, the arm support is connected with a control system, the control system controls the posture of the arm support, and the control system comprises:
the photovoltaic database is connected with each photovoltaic power station through a network, the photovoltaic power stations send photovoltaic information to the photovoltaic database for storage, the photovoltaic information comprises photovoltaic panel elevation angles and related information, and the related information at least comprises time, wind speed and photovoltaic power station latitude;
the data extraction unit is connected with the photovoltaic database through a network and extracts photovoltaic information of the photovoltaic database to the data preprocessing unit;
the data preprocessing unit is used for screening the photovoltaic information based on preset indexes to obtain a reference photovoltaic information list, wherein the preset indexes comprise: the difference value between the latitude of the photovoltaic power station and the latitude where the sweeping device is located at present is smaller than a first threshold value; the difference value between the time in the photovoltaic information and the current time of the cleaning device is smaller than a second threshold value; the difference value between the wind speed in the photovoltaic information and the wind speed at the current position of the cleaning device is smaller than a third threshold value;
the photovoltaic information screening unit is used for normalizing the elevation angles of the photovoltaic panels and the relevant information in the photovoltaic information in the reference photovoltaic list, then respectively giving weights to the photovoltaic panels, and calculating a reference value A of the photovoltaic information and an average value B of the reference values A of the photovoltaic information in the reference photovoltaic list; screening the photovoltaic information in the reference photovoltaic list with the difference value between the reference value A and the average value B smaller than a fourth threshold value to obtain a final photovoltaic list;
the photovoltaic information processing unit calculates the average value of the photovoltaic panel elevation angles of all the photovoltaic information in the final photovoltaic list to obtain the average value of the photovoltaic panel elevation angles;
and the attitude control unit is used for adjusting the attitude of the arm support based on the elevation average value of the photovoltaic panel so as to enable the scanning request surface of the cleaning device to be attached to the light receiving surface of the photovoltaic panel of the current photovoltaic power station.
Further, the attitude control unit adjusts the attitude of the arm support by adjusting the linear driving amount of the linear driving piece.
Further, the posture of the arm support at least comprises: the rotation angle phi of the upright post relative to the initial position, the included angle alpha between the large arm and the upright post, and the included angle beta between the small arm and the large arm;
and setting a fifth threshold value for the included angle alpha, setting a sixth threshold value for the included angle beta, and stopping driving of the linear driving piece when the included angle alpha and/or the included angle beta exceed the threshold values.
Further, the controlling the posture of the boom by the control system comprises:
extracting photovoltaic information of a photovoltaic database;
screening the photovoltaic information based on preset indexes to obtain a reference photovoltaic information list, wherein the preset indexes comprise: the difference value between the latitude of the photovoltaic power station and the latitude where the sweeping device is located at present is smaller than a first threshold value; the difference value between the time in the photovoltaic information and the current time of the cleaning device is smaller than a second threshold value; the difference value between the wind speed in the photovoltaic information and the wind speed at the current position of the cleaning device is smaller than a third threshold value;
normalizing the elevation angles of the photovoltaic panels and the related information in the photovoltaic information in the reference photovoltaic list, then respectively giving weights to the photovoltaic panels, and calculating a reference value A of the photovoltaic information and an average value B of the reference values A of the photovoltaic information in the reference photovoltaic list;
screening the photovoltaic information in the reference photovoltaic list of which the difference value between the reference value A and the average value B is smaller than a fourth threshold value to obtain a final photovoltaic list;
calculating an average value of the elevation angles of the photovoltaic panels of all the photovoltaic information in the final photovoltaic list to obtain an average value of the elevation angles of the photovoltaic panels;
and adjusting the posture of the arm support based on the elevation average value of the photovoltaic panel so that the scanning request surface of the cleaning device can be attached to the light receiving surface of the photovoltaic panel of the current photovoltaic power station.
The invention has the beneficial effects that: the technical scheme adopted by the invention for solving the technical problems is as follows: a rotatable attitude control arm support with a buffer at the end comprises an end buffer device, an arm support and a bottom rotation drive. The buffer device comprises an inner sleeve, an outer sleeve, an extension spring and a nylon slide block, wherein the inner sleeve and the outer sleeve in the buffer device are matched with the extension spring to balance the gravity of the hung cleaning device, so that the cleaning device is in a balanced state when being hung, and when the cleaning device is subjected to an upward force, the cleaning device can easily move upwards, thereby playing roles of buffering and collision prevention in structure; the arm support comprises a large arm, a small arm, an upright post and a variable amplitude hydraulic cylinder. Used for adjusting the spatial position of the hung cleaning device; the bottom rotary drive comprises a rotary support and a hydraulic motor, the bottom rotary drive is driven by the hydraulic motor to rotate to support the arm support, and the arm support is fixedly connected with the bottom rotary drive and can realize rotary action when the arm support is subjected to a large overturning moment.
The buffer device can ensure the working stability and safety of the cleaning device.
The bottom slewing drive can realize stable slewing action when bearing a large overturning moment.
The working principle of the invention is as follows: the 3-degree-of-freedom rotatable attitude control arm support can simply and flexibly control the attitude of the mechanical arm, a cleaning device is conveyed to a specified working position, and the arm support can rotate 180 degrees after a vehicle body turns to perform cleaning work of the next row.
The arm support is connected with the cleaning device through the buffer device, so that the stability and the safety of the cleaning device during working can be ensured.
The posture of the arm support can be adjusted by adjusting the angle between the small arm and the large arm and the angle between the large arm and the upright post according to the relative position of the cleaning device and the photovoltaic panel.
Drawings
Fig. 1 is a schematic view of the overall structure of a control arm support according to an embodiment of the present invention;
FIG. 2 is a front view of a control boom of an embodiment of the present invention;
FIG. 3 is a top view of the control boom of the embodiment of the present invention;
fig. 4 is a schematic block diagram of a control system of the boom according to the embodiment of the present invention;
fig. 5 is a simplified schematic diagram of a motion state of the boom according to the embodiment of the present invention;
fig. 6 is a simplified schematic diagram of a motion state of the boom according to the embodiment of the present invention;
fig. 7 is a flowchart of a method for controlling the boom according to the embodiment of the present invention.
In the figure: the device comprises an inner sleeve 1, an outer sleeve 2, a buffer mechanism 3, a sliding block 4, a small arm 5, a large arm 6, a stand column 7, a linear driving piece 8, a balance valve 9, a slewing bearing 10, a slewing driving mechanism 11, a photovoltaic database 101, a data extraction unit 102, a data preprocessing unit 103, a photovoltaic information screening unit 104, a photovoltaic information processing unit 105 and an attitude control unit 106.
Detailed Description
The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thereby implement the subject matter described herein, and are not intended to limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements discussed without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as needed. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with respect to some examples may also be combined in other examples.
In this embodiment, a rotatable attitude control arm support with a buffer at an end is provided, as shown in fig. 1 to 3, schematic diagrams of a rotatable attitude control arm support with a buffer at an end according to the present invention are shown, and as shown in the drawings, the control arm support includes:
the cantilever crane is provided with a supporting end at one end and a free end at the other end, the supporting end is rotatably connected with the platform, and the free end of the cantilever crane is connected with a cleaning device for cleaning the photovoltaic panel through a buffer device;
the buffer device comprises an outer sleeve 2 connected with the arm support and an inner sleeve 1 movably connected with the arm support, wherein the outer sleeve 2 limits the inner sleeve 1 to move for a preset distance only in the long side direction of the outer sleeve 2; the outer sleeve 2 is connected with the inner sleeve 1 through a buffer mechanism 3, and the buffer mechanism 3 can pull the inner sleeve 1 and the cleaning device to keep a balanced state when the component force of the photovoltaic panel on the vertical direction of the reaction force of the cleaning device is less than or equal to the gravity of the cleaning device and the inner sleeve 1;
the buffer mechanism 3 can enable the inner sleeve 1 to displace along the long edge of the outer sleeve 2 in the direction far away from the photovoltaic panel when the component force of the photovoltaic panel on the cleaning device in the vertical direction is greater than the gravity of the cleaning device and the inner sleeve 1 until the component force of the photovoltaic panel on the cleaning device in the vertical direction is less than or equal to the gravity of the cleaning device and the inner sleeve 1;
the balance state means that the cleaning device is still when the arm support is stable and still.
That is, an effect is produced: when the cleaning device is separated from the photovoltaic panel, the buffer mechanism 3 generates traction force to enable the cleaning device to be hung at the free end of the arm support;
still keep traction state when cleaning device begins to contact the photovoltaic board, along with the contact goes on, the photovoltaic board increases cleaning device's reaction force, until the gravity of cleaning device and inner skleeve 1 is overcome to the photovoltaic board, cleaning device reverse impact inner skleeve 1 this moment, inner skleeve 1 can be more easy outside 2 one sides of muff move, in order to avoid the cantilever crane to move cleaning device distance and excessively lead to the hard impact between cleaning device and the photovoltaic board, provide one section stroke, also predetermined distance, thereby structurally play buffering, the effect of anticollision.
The buffer mechanism 3 is optional but not limited to: mechanical, hydraulic, gas buffers;
the mechanical buffer may be selected from, but not limited to: a buffer body of elastic member and buffer material;
the elastic member can be selected from, but not limited to: springs, elastomers of elastomeric material;
as shown in fig. 1 to 3, the present embodiment specifically provides an embodiment that uses an extension spring as the buffer mechanism 3, wherein two ends of the extension spring are respectively connected to the inner sleeve 1 and the outer sleeve 2;
the extension springs are provided in an even number of two or more, and a symmetrical traction force can be formed between the inner sleeve 1 and the outer sleeve 2, so that the balance between the inner sleeve 1 and the outer sleeve 2 is increased.
The installation mode of the extension spring can be selected from but not limited to: the inner sleeve 1 and the outer sleeve 2 are connected through a spring seat, and the extension spring is hinged with the spring seat.
The inner sleeve 1 and the outer sleeve 2 are selected from but not limited to: a connection mode such as insertion and sleeve joint, which enables the two to mutually displace along a certain preset direction;
for example, the outer sleeve 2 is a rectangular cylinder, and the inner sleeve 1 is inserted into the outer sleeve 2 with a sectional shape matching therewith.
A guide mechanism is further arranged between the inner sleeve 1 and the outer sleeve 2, and the guide mechanism can be selected from but not limited to: a linear slide rail;
for example, the inner sleeve 1 is provided with a slide block 4, the outer sleeve 2 is provided with a slide groove matched with the slide block 4, and the slide block 4 is embedded into the slide groove and can move along the slide groove. The movement between the inner sleeve 1 and the outer sleeve 2 is guided by the cooperation between the slide groove and the slide 4.
The slider 4 is a nylon slider.
The arm support is used for moving the cleaning device to a preset position, and comprises:
the upright post 7 is rotatably connected with the platform and is driven to rotate on the platform by a rotary driving mechanism 11;
one end of the large arm 6 is connected with the upright post 7 through a joint;
one end of the small arm 5 is connected with one end of the large arm 6 far away from the upright post 7 through a joint, and the other end is connected with the buffer mechanism 3;
the upright post 7 and the large arm 6, and the large arm 6 and the small arm 5 are connected through a linear driving part 8, and the linear driving part 8 is used for driving the large arm 6 and the small arm 5 to swing around a joint.
The platform is selectable but not limited to: a cleaning robot body and an engineering truck body.
The swing drive mechanism 11 may be selected from, but is not limited to: hydraulic motors, electric motors;
the linear drive 8 may be selected from, but not limited to: a hydraulic cylinder, an air cylinder and a lead screw pair;
as shown in fig. 1-3, this embodiment specifically provides an embodiment that uses a hydraulic cylinder as the linear driving member 8, where two ends of the hydraulic cylinder between the large arm 6 and the upright post 7 are hinged to the large arm 6 and the upright post 7 through ear seats, and as shown in the figure, the hydraulic cylinder is connected to the lower side of the large arm 6, and the large arm 6 is swung by means of thrust;
two ends of a hydraulic cylinder between the small arm 5 and the large arm 6 are hinged with the small arm 5 and the large arm 6 through ear seats. As shown in the figure, the hydraulic cylinder is connected to the upper end of the small arm 5, the upper part of the small arm 5 is connected with the large arm 6 through a joint, and the small arm 5 is swung in a pulling mode.
The hydraulic cylinder is provided with a balance valve 9 for maintaining the position of the piston of the hydraulic cylinder.
More specifically, the hydraulic cylinder is connected to a hydraulic system.
The joint limits the large arm 6 and the small arm 5 to swing in the same plane, so that the movement requirement of the cleaning device can be met, and the limitation of the degree of freedom can enable the movement between the mechanisms to be more stable.
A slewing bearing 10 is arranged between the upright post 7 and the platform, and the slewing bearing 10 is used for rotatably supporting the upright post 7, can bear comprehensive load, and simultaneously bears larger axial and radial loads and overturning moment, so that a good and stable support is provided for the upright post 7, and the stability of the whole cantilever crane can be improved due to the stronger bearing capacity of the overturning moment.
The cleaning device is a cleaning device of an existing photovoltaic cleaning robot, and can be selected from but not limited to: a waterless cleaning device and a water cleaning device;
an example of a specific anhydrous cleaning device is provided in this embodiment: the waterless cleaning device comprises a cleaning rack connected with the buffer device, a brush and a fan are arranged on the cleaning rack, the brush is used for cleaning the surface of the photovoltaic panel in a contact manner, and the fan is used for blowing and separating the cleaned dust or sundries from the photovoltaic panel.
The elevation angles of the photovoltaic panels are set to have different angles, so that the elevation angle of the cleaning device needs to be adjusted by the arm support correspondingly to the elevation angle of the currently cleaned photovoltaic panel, the elevation angle of the currently cleaned photovoltaic panel is adjusted at a fixed time, but for the tracking photovoltaic panel, the elevation angle can be adjusted along with the sun irradiation, a plurality of elevation angle changes may occur in the cleaning process, in order to adapt to the changes, in this embodiment, a control system of the arm support is provided, as shown in fig. 4, a module schematic diagram of the control system of the arm support according to the present invention is shown, and the system includes:
the photovoltaic database 101 is connected with each photovoltaic power station through a network, the photovoltaic power stations send photovoltaic information to the photovoltaic database 101 for storage, the photovoltaic information comprises photovoltaic panel elevation angles and related information, and the related information at least comprises time, wind speed and photovoltaic power station latitude;
the photovoltaic information represents the adjusted angle of the photovoltaic panel at a certain time and the wind speed at the current time, and the photovoltaic power plant latitude.
The data extraction unit 102 is connected with the photovoltaic database 101 through a network, and extracts photovoltaic information of the photovoltaic database 101 to the data preprocessing unit 103;
the data preprocessing unit 103 is configured to screen the photovoltaic information based on preset indexes to obtain a reference photovoltaic information list, where the preset indexes include: the difference value between the latitude of the photovoltaic power station and the latitude where the sweeping device is located at present is smaller than a first threshold value; the purpose of setting the first threshold as a preset index is to exclude a photovoltaic power station with a latitude larger than the latitude difference of a photovoltaic panel where the cleaning unit is located, the larger the latitude difference is, the larger the difference of the solar incident angle is, and the reference value of the photovoltaic information becomes smaller and smaller along with the increase of the latitude difference, so that the first threshold is set to screen the photovoltaic information with a certain reference value, and the first threshold is optionally set to be 2 degrees;
the difference value between the time in the photovoltaic information and the current time of the cleaning device is smaller than a second threshold value; the purpose of setting the second threshold as a preset index is to exclude photovoltaic information with a larger time difference with the current cleaning, the irradiation angle of sunlight is gradually changed along with the time, so that the reference value of the photovoltaic information is smaller and smaller along with the increase of the time difference, the second threshold is set to screen the photovoltaic information with a certain reference value, and the second threshold can be set to be 30min optionally;
the difference value between the wind speed in the photovoltaic information and the wind speed at the current position of the cleaning device is smaller than a third threshold value; the third threshold is set as a preset index for eliminating photovoltaic information with a large wind speed difference, in order to consider the windward side and the windward angle, the elevation angle of the photovoltaic panel needs to be adjusted by considering the wind speed factor besides the sunlight irradiation angle, so that the reference value of the photovoltaic information is smaller and smaller along with the increase of the wind speed difference, the third threshold is set for screening the photovoltaic information with a certain reference value, and the third threshold can be optionally set to be 8.0 m/s;
a photovoltaic information screening unit 104 that normalizes the elevation angles of the photovoltaic panel and the items of the related information in the photovoltaic information in the reference photovoltaic list, then assigns weights to the elevation angles and the items of the related information, and calculates a reference value a of the photovoltaic information and an average value B of the reference values a of the photovoltaic information in the reference photovoltaic list;
screening the photovoltaic information in the reference photovoltaic list with the difference value between the reference value A and the average value B smaller than a fourth threshold value to obtain a final photovoltaic list;
the normalization processing adopts the existing data normalization processing method, which is a conventional technical means for those skilled in the art, and is not described herein again. And obtaining normalization values of all items after normalization processing, and mapping the data to a range of 0-1 for processing.
For example, the photovoltaic panel elevation normalization value is given a weight of 0.9, the latitude normalization value is given a weight of 0.7, the time normalization value is given a weight of 0.7, the wind speed normalization value is given a weight of 0.3, and the normalization values of the above items are multiplied by the respective weights and summed to obtain a reference value;
the photovoltaic information processing unit 105 calculates an average value of the photovoltaic panel elevation angles of all the photovoltaic information in the final photovoltaic list to obtain an average value of the photovoltaic panel elevation angles;
the attitude control unit 106 adjusts the attitude of the boom based on the average elevation value of the photovoltaic panel, so that the scanning-requesting surface of the cleaning device can be attached to the light-receiving surface of the photovoltaic panel of the current photovoltaic power station, and the essence is to avoid the damage to the cleaning device caused by the hard contact between the edge of the cleaning device and the photovoltaic panel due to the excessively large included angle between the scanning-requesting surface and the light-receiving surface of the photovoltaic panel.
Specifically, the attitude control unit 106 is configured to control a linear driving amount (also referred to as a telescopic amount) of the linear driving element 8, and adjust the attitude of the boom by controlling the linear driving amount, so as to adjust the elevation angle of the cleaning device to be consistent with the average value of the elevation angles of the photovoltaic panels;
the posture of the arm support at least comprises: the rotation angle phi of the upright post 7 relative to the initial position, the included angle alpha between the large arm 6 and the upright post 7, and the included angle beta between the small arm 5 and the large arm 6; because the length of the upright post 7, the length of the large arm 6 and the length of the small arm 5 are fixed, and the upright post 7, the large arm 6 and the small arm 5 are all positioned in the same vertical plane, a group of alpha and beta can determine the elevation angle of a cleaning unit, and the elevation angle of the cleaning unit can be directly influenced by independently adjusting alpha or beta; the rotating angle phi is only used for adjusting the position of the cleaning unit relative to the platform so as to adapt to the cleaning of the photovoltaic panel in each position of the platform;
setting a fifth threshold value for α and a sixth threshold value for β, the linear drive 8 being deactivated when α and/or β exceed the threshold values; for example, the fifth threshold and the sixth threshold are both 120 °, and the angle exceeding 120 ° cannot be increased any more.
As shown in fig. 5-6, alpha and beta correspond to the elevation angle of one sweeping unit when in the positions shown.
In this embodiment, the control system of the boom can extract the photovoltaic information of the photovoltaic database 101 at certain intervals, obtain the elevation angle of the cleaning device to be adjusted by processing the big data, and adjust the posture of the boom through the posture control unit 106 to enable the cleaning device to reach the elevation angle of the cleaning device to be adjusted, so that the cleaning device can be matched with the elevation angle of the currently cleaned photovoltaic panel, and obtain a relatively matched predicted photovoltaic panel elevation angle through processing the big data no matter whether the current photovoltaic power station uploads the photovoltaic information to the photovoltaic database 101.
In this embodiment, a control method of an arm support is further provided, as shown in fig. 7, which is a flowchart of the control method of the arm support according to the present invention, and as shown in the drawing, the flowchart includes the following steps:
step S100, extracting photovoltaic information of a photovoltaic database 101; the photovoltaic information comprises a photovoltaic panel elevation angle and related information, wherein the related information at least comprises time, wind speed and photovoltaic power station latitude; provided by respective photovoltaic power plants connected to a photovoltaic database 101.
The photovoltaic information represents the adjusted angle of the photovoltaic panel at a certain time, the wind speed at the current time and the latitude of the photovoltaic power station;
step S200, screening the photovoltaic information based on preset indexes to obtain a reference photovoltaic information list, wherein the preset indexes comprise: the difference value between the latitude of the photovoltaic power station and the latitude where the sweeping device is located at present is smaller than a first threshold value; the purpose of setting the first threshold as a preset index is to exclude a photovoltaic power station with a latitude larger than the latitude difference of a photovoltaic panel where the cleaning unit is located, the larger the latitude difference is, the larger the difference of the solar incident angle is, and the reference value of the photovoltaic information becomes smaller and smaller along with the increase of the latitude difference, so that the first threshold is set to screen the photovoltaic information with a certain reference value, and the first threshold is optionally set to be 2 degrees;
the difference value between the time in the photovoltaic information and the current time of the cleaning device is smaller than a second threshold value; the purpose of setting the second threshold as a preset index is to exclude photovoltaic information with a larger time difference with the current cleaning, the irradiation angle of sunlight is gradually changed along with the time, so that the reference value of the photovoltaic information is smaller and smaller along with the increase of the time difference, the second threshold is set to screen the photovoltaic information with a certain reference value, and the second threshold can be set to be 30min optionally;
the difference value between the wind speed in the photovoltaic information and the wind speed at the current position of the cleaning device is smaller than a third threshold value; the third threshold is set as a preset index for eliminating photovoltaic information with a large wind speed difference, in order to consider the windward side and the windward angle, the elevation angle of the photovoltaic panel needs to be adjusted by considering the wind speed factor besides the sunlight irradiation angle, so that the reference value of the photovoltaic information is smaller and smaller along with the increase of the wind speed difference, the third threshold is set for screening the photovoltaic information with a certain reference value, and the third threshold can be optionally set to be 8.0 m/s;
step S300, normalizing the elevation angles of the photovoltaic panels and the related information in the photovoltaic information in the reference photovoltaic list, then respectively giving weights to the photovoltaic panels, and calculating a reference value A of the photovoltaic information and an average value B of the reference values A of the photovoltaic information in the reference photovoltaic list;
screening the photovoltaic information in the reference photovoltaic list with the difference value between the reference value A and the average value B smaller than a fourth threshold value to obtain a final photovoltaic list;
the normalization processing adopts the existing data normalization processing method, which is a conventional technical means for those skilled in the art, and is not described herein again. And obtaining the normalization value of each item after normalization processing.
For example, the photovoltaic panel elevation normalization value is given a weight of 0.9, the latitude normalization value is given a weight of 0.7, the time normalization value is given a weight of 0.7, the wind speed normalization value is given a weight of 0.3, and the normalization values of the above items are multiplied by the respective weights and summed to obtain a reference value;
step S400, calculating the average value of the elevation angles of the photovoltaic panels of all the photovoltaic information in the final photovoltaic list to obtain the average value of the elevation angles of the photovoltaic panels;
and S500, adjusting the posture of the arm support based on the elevation average value of the photovoltaic panel to enable the scanning surface of the cleaning device to be attached to the light receiving surface of the photovoltaic panel of the current photovoltaic power station, wherein the essence is that the edge of the cleaning device is prevented from being damaged due to hard contact with the photovoltaic panel because the included angle between the scanning surface and the light receiving surface of the photovoltaic panel is too large.
Claims (10)
1. The utility model provides a but tip area buffering gyration gesture control cantilever crane which characterized in that includes:
the cantilever crane is provided with a supporting end at one end and a free end at the other end, the supporting end is rotatably connected with the platform, and the free end of the cantilever crane is connected with a cleaning device for cleaning the photovoltaic panel through a buffer device;
the buffer device comprises an outer sleeve (2) connected with the arm support and an inner sleeve (1) movably connected with the arm support, wherein the outer sleeve (2) limits the inner sleeve (1) to only displace a preset distance in the long side direction of the outer sleeve (2); the outer sleeve (2) is connected with the inner sleeve (1) through a buffer mechanism (3), and the buffer mechanism (3) can pull the inner sleeve (1) and the cleaning device to keep a balanced state when the component force of the photovoltaic panel on the vertical direction of the reaction force of the photovoltaic panel on the cleaning device is smaller than or equal to the gravity of the cleaning device and the inner sleeve (1);
the buffer mechanism (3) can enable the inner sleeve (1) to displace along the long edge of the outer sleeve (2) in the direction far away from the photovoltaic panel until the component force of the reaction force of the photovoltaic panel on the cleaning device in the vertical direction is smaller than or equal to the gravity of the cleaning device and the inner sleeve (1) when the component force of the reaction force of the photovoltaic panel on the cleaning device in the vertical direction is larger than the gravity of the cleaning device and the inner sleeve (1).
2. The slewing attitude control arm support with the buffer at the end part according to claim 1, wherein the buffer mechanism (3) is an extension spring, and two ends of the extension spring are respectively connected with the inner sleeve (1) and the outer sleeve (2).
3. The slewing attitude control arm support with the buffer at the end part according to claim 1 is characterized in that a guide mechanism is further arranged between the inner sleeve (1) and the outer sleeve (2), the guide mechanism comprises a sliding block (4) arranged on the inner sleeve (1), a sliding groove matched with the sliding block (4) is arranged on the outer sleeve (2), and the sliding block (4) is embedded into the sliding groove and can move along the sliding groove.
4. The end-buffered swing attitude control boom of claim 1 or 2, wherein the boom is configured to move a cleaning device to a predetermined position, the boom comprising:
the upright post (7) is rotatably connected with the platform and is driven to rotate on the platform by a rotary driving mechanism (11);
one end of the large arm (6) is connected with the upright post (7) through a joint;
one end of the small arm (5) is connected with one end of the large arm (6) far away from the upright post (7) through a joint, and the other end of the small arm is connected with the buffer mechanism (3);
the upright post (7) and the large arm (6) and the small arm (5) are connected through a linear driving piece (8), and the linear driving piece (8) is used for driving the large arm (6) and the small arm (5) to swing around the joint.
5. The end-buffered swing attitude control arm support according to claim 4, wherein a swing bearing (10) is arranged between the upright (7) and the platform, and the swing bearing (10) is used for rotatably supporting the upright (7).
6. The end-buffered swing attitude control arm support according to claim 4, wherein the linear driving member (8) is a hydraulic cylinder, and two ends of the hydraulic cylinder between the large arm (6) and the upright post (7) are hinged with the large arm (6) and the upright post (7) through ear seats; the two ends of the hydraulic cylinder between the small arm (5) and the big arm (6) are hinged with the small arm (5) and the big arm (6) through ear seats.
7. The boom with the buffer at the end part capable of controlling the slewing attitude as claimed in claim 4, wherein the boom is connected with a control system, the control system controls the attitude of the boom, and the control system comprises:
the photovoltaic database (101) is connected with each photovoltaic power station through a network, the photovoltaic power stations send photovoltaic information to the photovoltaic database (101) for storage, the photovoltaic information comprises photovoltaic panel elevation angles and related information, and the related information at least comprises time, wind speed and photovoltaic power station latitude;
the data extraction unit (102) is connected with the photovoltaic database (101) through a network and is used for extracting photovoltaic information of the photovoltaic database (101) to the data preprocessing unit (103);
the data preprocessing unit (103) is used for screening the photovoltaic information based on preset indexes to obtain a reference photovoltaic information list, wherein the preset indexes comprise: the difference value between the latitude of the photovoltaic power station and the latitude where the sweeping device is located at present is smaller than a first threshold value; the difference value between the time in the photovoltaic information and the current time of the cleaning device is smaller than a second threshold value; the difference value between the wind speed in the photovoltaic information and the wind speed at the current position of the cleaning device is smaller than a third threshold value;
a photovoltaic information screening unit (104) which normalizes the elevation angle of the photovoltaic panel and each item of related information in the photovoltaic information in the reference photovoltaic list, then respectively gives weights to the photovoltaic panel and the related information, and calculates a reference value A of the photovoltaic information and an average value B of the reference values A of the photovoltaic information in the reference photovoltaic list; screening the photovoltaic information in the reference photovoltaic list with the difference value between the reference value A and the average value B smaller than a fourth threshold value to obtain a final photovoltaic list;
a photovoltaic information processing unit (105) which calculates an average value of the photovoltaic panel elevation angles of all the photovoltaic information in the final photovoltaic list to obtain an average value of the photovoltaic panel elevation angles;
and the attitude control unit (106) is used for adjusting the attitude of the arm support based on the elevation average value of the photovoltaic panel so as to enable the scanning request surface of the cleaning device to be attached to the light receiving surface of the photovoltaic panel of the current photovoltaic power station.
8. The end-buffered swing posture control arm support according to claim 7, wherein the posture control unit (106) adjusts the posture of the arm support by adjusting the linear driving amount of the linear driving member (8).
9. The boom with the buffer at the end part capable of controlling the slewing attitude as claimed in claim 7, wherein the attitude of the boom at least comprises: the rotation angle phi of the upright post (7) relative to the initial position, the included angle alpha between the large arm (6) and the upright post (7), and the included angle beta between the small arm (5) and the large arm (6);
and setting a fifth threshold value for the included angle alpha, setting a sixth threshold value for the included angle beta, and stopping driving of the linear driving piece (8) when the included angle alpha and/or the included angle beta exceed the threshold values.
10. The end-buffered swing attitude control boom of claim 7, wherein the control system controlling the attitude of the boom comprises:
extracting photovoltaic information of a photovoltaic database;
screening the photovoltaic information based on preset indexes to obtain a reference photovoltaic information list, wherein the preset indexes comprise: the difference value between the latitude of the photovoltaic power station and the latitude where the sweeping device is located at present is smaller than a first threshold value; the difference value between the time in the photovoltaic information and the current time of the cleaning device is smaller than a second threshold value; the difference value between the wind speed in the photovoltaic information and the wind speed at the current position of the cleaning device is smaller than a third threshold value;
normalizing the elevation angles of the photovoltaic panels and the related information in the photovoltaic information in the reference photovoltaic list, then respectively giving weights to the photovoltaic panels, and calculating a reference value A of the photovoltaic information and an average value B of the reference values A of the photovoltaic information in the reference photovoltaic list;
screening the photovoltaic information in the reference photovoltaic list of which the difference value between the reference value A and the average value B is smaller than a fourth threshold value to obtain a final photovoltaic list;
calculating an average value of the elevation angles of the photovoltaic panels of all the photovoltaic information in the final photovoltaic list to obtain an average value of the elevation angles of the photovoltaic panels;
and adjusting the posture of the arm support based on the elevation average value of the photovoltaic panel so that the scanning request surface of the cleaning device can be attached to the light receiving surface of the photovoltaic panel of the current photovoltaic power station.
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| CN202010801887.XA CN111958576A (en) | 2020-08-11 | 2020-08-11 | Rotatable attitude control arm support with buffer at end part |
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| CN202010801887.XA CN111958576A (en) | 2020-08-11 | 2020-08-11 | Rotatable attitude control arm support with buffer at end part |
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| CN114433535A (en) * | 2022-01-24 | 2022-05-06 | 浙江大学山东工业技术研究院 | Rail mounted intelligence cleans machine people |
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| CN116687264A (en) * | 2023-04-24 | 2023-09-05 | 北京宸普豪新科技有限公司 | Mirror wiping tool and robot |
| CN115805205B (en) * | 2022-11-29 | 2024-06-21 | 新疆米胡杨新能源技术服务有限公司 | Photovoltaic power plant floats attached scavenging machine |
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