CN112684798A - Solar panel and heliostat cleaning robot working environment cleaning structure - Google Patents
Solar panel and heliostat cleaning robot working environment cleaning structure Download PDFInfo
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- CN112684798A CN112684798A CN202011521453.0A CN202011521453A CN112684798A CN 112684798 A CN112684798 A CN 112684798A CN 202011521453 A CN202011521453 A CN 202011521453A CN 112684798 A CN112684798 A CN 112684798A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 43
- 239000004576 sand Substances 0.000 claims abstract description 97
- 239000004575 stone Substances 0.000 claims abstract description 65
- 238000012545 processing Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000011084 recovery Methods 0.000 claims description 32
- 230000005856 abnormality Effects 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000007790 scraping Methods 0.000 claims description 3
- 230000007723 transport mechanism Effects 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 238000010248 power generation Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 9
- 238000010408 sweeping Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 4
- 239000006096 absorbing agent Substances 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000003749 cleanliness Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
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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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides a solar panel and heliostat cleaning robot working environment cleaning structure, which comprises a driving unit, a detection unit, a processing unit and an execution unit, wherein the driving unit can drive a robot to move to a preset position, the detection unit is arranged on the driving unit and is used for detecting the ground environment and identifying abnormity and forming environment model information and position information for the abnormity, the processing unit comprises a processor and is used for receiving the environment model information and the position information and outputting a first control command according to the movement speed of the robot, wherein the execution unit executes the first control command, different mechanical processing modes are adopted for sand stone bulges or pits aiming at the environment information, and the defects of low working efficiency and poor working precision caused by unevenness in the moving environment in the moving process of the robot can be eliminated, the working efficiency of the robot is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a solar panel and heliostat cleaning robot working environment cleaning structure.
Background
In recent years, solar power generation technology is developed on a large scale, wherein solar panels are widely used for power generation and are installed in various environments such as green buildings, photovoltaic power stations and building roofs, solar energy is increasingly used as a clean renewable energy source, meanwhile, most of installation environments are installed outdoors, dust often exists on the surfaces of the solar panels due to sedimentation in air and other reasons, the dust enables the solar panels to absorb sunlight, the efficiency of the solar panels is further influenced, the dust on the surfaces of the solar panels is timely cleaned, and the improvement of the power generation efficiency of the solar panels is facilitated.
Meanwhile, the photo-thermal power generation technology is a new solar energy utilization technology following the photovoltaic power generation technology, and comprises a tower type solar thermal power generation technology, a groove type solar thermal power generation technology, a disc type solar thermal power generation technology and a linear Fresnel type solar thermal power generation technology. The tower type solar thermal power generation adopts a large number of heliostats to gather sunlight on a heat absorber on the top of a heat absorbing tower, heat working media, generate steam and push a steam turbine to drive a generator to generate power. The function that the heliostat realized is to gather the sunlight on the heat absorber, and the cleanliness of heliostat mirror surface will influence the reflectivity of mirror surface, and then influences the incident energy of heat absorber, consequently, the higher cleanliness is kept to the heliostat mirror surface, will improve light and heat conversion efficiency, so, will regularly clean the heliostat.
With the progress of science and technology, in view of the fact that solar panels are more and more widely used and tens of thousands of heliostats in a mirror field are used, the manual cleaning mode cannot meet the requirements, the cleaning of the solar panels and the heliostats is gradually replaced by a robot, the operation efficiency can be greatly improved and the manual labor intensity is reduced by cleaning the solar panels and the heliostats in a robot operation mode, but the robot often influences the operation efficiency and the operation precision due to various bulges or tunnels in the operation environment in the operation process, and even can not well complete the cleaning operation.
Patent document CN205725619U discloses a photovoltaic panel cleaning robot, which includes a traveling device, a frame, a cleaning roller, etc., and the robot can automatically clean the photovoltaic panels arranged in order, but the design still cannot solve the influence of the rugged working environment on the movement of the robot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a solar panel and a heliostat cleaning robot working environment cleaning structure.
According to the invention, the solar panel and heliostat cleaning robot work environment cleaning structure comprises:
the driving unit drives the robot to move to a preset position;
the system comprises a detection unit, a processing unit and a processing unit, wherein the detection unit is used for detecting a ground environment, identifying an abnormality and forming environment model information and position information for the abnormality;
the processing unit is used for receiving the environment model information and the position information and outputting a first control command according to the movement speed of the robot;
and the execution unit executes the first control command.
Preferably, the detection unit includes a sand detection radar, an ultrasonic sensor, and a distance sensor;
the sand and stone detection radar is used for acquiring abnormal information, and the ultrasonic sensor and the distance sensor are used for acquiring the position of the abnormal information.
Preferably, the abnormality includes protrusion information and pit information;
the environment model information includes protrusion model information and pit model information, wherein the execution unit performs a recycling operation when the protrusion information is obtained, and performs an output operation when the pit information is obtained.
Preferably, the execution unit comprises a first sand recovery motor, a second sand recovery motor, a sand recovery sweeping plate, a sand recovery shovel wheel and a conveying mechanism;
first gravel and sand is retrieved the motor and can order about gravel and sand to retrieve and sweep the board and rotate and can carry the gravel and sand of retrieving extremely gravel and sand recovery shovel wheel, second gravel and sand is retrieved the motor and can order about gravel and sand and retrieve shovel wheel and rotate and will gravel and sand carry extremely transport mechanism.
Preferably, the conveying mechanism comprises a front conveying belt, a rear conveying belt, a left conveying belt and a right conveying belt;
one end of the front conveyor belt and one end of the rear conveyor belt are respectively connected with the gravel recovery shovel wheel, and the other ends of the front conveyor belt and the rear conveyor belt are respectively connected with the left conveyor belt and the right conveyor belt.
Preferably, the execution unit further comprises a push plate motor and one or more push plates;
the push plate motor can drive the push plate to move along the surface of the left conveying belt and/or the right conveying belt.
Preferably, the execution unit further comprises a scraper and a scraper motor;
the scraper motor can drive the scraper to move so as to carry out scraping operation.
Preferably, when the environment model information obtained by the processing unit exceeds a preset threshold, the processing unit outputs a second control command, and the driving unit executes the second control command.
Preferably, the system further comprises a control center, and when the environment model information obtained by the processing unit exceeds a preset threshold, the processing unit transmits the environment model information to the control center.
Preferably, the preset threshold is set according to the maximum load capacity of the sand on the execution unit.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the detection unit is arranged to acquire the environmental information in front of the movement of the robot and transmit the environmental information to the processing unit so as to send the control command according to different environmental information, and different mechanical processing modes are adopted for sand and stone bumps or pits aiming at the environmental information, so that the defects of low operation efficiency and poor operation precision caused by unevenness in the movement environment in the movement process of the robot can be eliminated, and the operation efficiency of the robot can be improved.
2. When the obtained environment model information exceeds the preset threshold value, the method can be flexibly avoided, and the practicability and the flexibility of the equipment are greatly improved.
3. According to the sand and stone storage and transportation device, the plurality of conveying belts are arranged to realize sand and stone storage and transportation, and can be arranged along the circumferential direction, so that the input and output designs in different directions are formed, and the practicability of the device is greatly improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of the working principle of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a solar panel and heliostat cleaning robot working environment cleaning structure, which comprises a driving unit, a detection unit, a processing unit and an execution unit, wherein the driving unit can drive a robot to move to a preset position, the detection unit is preferably arranged on the driving unit and is used for detecting the ground environment and identifying abnormity, environment model information and position information are formed for the abnormity, the abnormity comprises protrusion information and pit information, the environment model information comprises protrusion model information and pit model information, when the protrusion information is obtained, namely the robot moves to the preset position, sand protrusion appears in front, the execution unit carries out recovery operation, the execution unit removes the protrusion part through a sand recovery sweeping plate which is arranged on the execution unit and collects the removed sand, when the pit information is obtained, when the robot moves to the preset position, a sand pit appears in the front, the execution unit performs output operation, fills sand and stone stored on the conveying belt of the execution unit into the pit, and drives the scraper blade to scrape the sand and stone filled into the pit through the sand and stone scraping motor. The processing unit comprises a processor for receiving the environment model information and the position information and outputting a first control command according to the movement speed of the robot, wherein the execution unit executes the first control command.
It should be noted that, when the environment model information obtained by the processing unit exceeds a preset threshold, that is, the internal storage space of the execution unit is exceeded after the sand and stone stored inside is not enough to fill the detected pit or the detected raised sand and stone is recovered, the processing unit outputs a second control command, the driving unit executes the second control command, that is, the processing unit controls the driving unit to bypass the detected abnormality, that is, the driving unit bypasses the detected abnormality, meanwhile, the present invention is further provided with a control center, when the environment model information obtained by the processing unit exceeds the preset threshold, the processing unit transmits the environment model information to the control center, the control center notifies the responsible person of the received abnormality information in a screen alarm manner or through a separately designed alarm, and the responsible person performs positioning and selects manual to field processing according to the monitoring picture on the field, the working environment of the site is optimized to ensure the working efficiency of the robot, wherein the preset threshold is set according to the maximum bearing capacity of the sand and the stone on the execution unit, for example, the maximum bearing capacity of the sand and the stone on the execution unit is 0.25m3The preset threshold may be set to 0.22m3Meanwhile, after the processing unit obtains the environment model information, the processing unit also takes the amount of sand and stones which are stored inside into account through a set program so as to ensure the normal operation of the equipment.
Further, the execution unit comprises a first sand and stone recovery motor, a second sand and stone recovery motor, a sand and stone recovery sweeping plate, a sand and stone recovery shovel wheel and a conveying mechanism, the first sand and stone recovery motor can drive the sand and stone recovery sweeping plate to rotate and can convey the recovered sand and stone to the sand and stone recovery shovel wheel, the second sand and stone recovery motor can drive the sand and stone recovery shovel wheel to rotate and convey the sand and stone to the conveying mechanism, the conveying mechanism comprises a front conveying belt, a rear conveying belt, a left conveying belt and a right conveying belt, one ends of the front conveying belt and the rear conveying belt are respectively connected with the sand and stone recovery shovel wheel, the other ends of the front conveying belt and the rear conveying belt are respectively connected with the left conveying belt and the right conveying belt, the left conveying belt and the right conveying belt are used for storing the sand and stone, and when the sand and stone on the left conveying belt and the right conveying belt reach a certain weight, the processing unit can control the sand and stone recovery shovel wheel on the front conveying, The rear conveyor belt places a portion of gravel to increase overall storage.
Specifically, the detection unit includes a sand detection radar, an ultrasonic sensor, and a distance sensor, where the sand detection radar is configured to acquire abnormal information, and the ultrasonic sensor and the distance sensor are configured to acquire a position where the abnormal information is located.
Specifically, the execution unit still includes push pedal motor and one or polylith push pedal, the push pedal motor can order about the surface motion of left conveyer belt and/or right conveyer belt is followed to the push pedal, the execution unit still includes scraper blade and scraper blade motor, the scraper blade motor can order about the scraper blade motion and then can carry out the operation of strickleing off.
The working principle of the invention is as follows:
in the process that the cleaning robot goes to the preset position under the driving of the driving unit, the detection unit on the driving unit detects the ground state in front, including sand bumps, pits and the like. When the sand and stone are detected to be convex, the sand and stone detection radar scans the convex appearance of the sand and stone and establishes a sand and stone convex model, the ultrasonic sensor and the distance sensor detect the positions of sand and stone protrusions or pits, signals are transmitted to the processor, the processor starts the first sand and stone recovery motor and the second sand and stone recovery motor according to the advancing speed of the driving unit, the first sand and stone recovery motor drives the sand and stone recovery sweeping plate to rotate, the convex sand and stone is pushed into the sand and stone recovery shovel wheel, the second sand and stone recovery motor drives the sand and stone recovery shovel wheel to rotate, the recovered sand and stone are poured into the front sand and stone conveying belt and the rear sand and stone conveying belt, and the sand and stone are conveyed to the left sand and stone conveying belt and the right sand and stone conveying belt through the front sand and stone conveying belt and the. When the sand and stone detection radar, the ultrasonic sensor and the distance sensor detect sand and stone pits, the radar scans the appearance of the sand and stone pits and establishes a sand and stone pit model, the ultrasonic sensor and the distance sensor detect the position of the sand and stone, signals are transmitted to the processor, the processor starts the left conveying belt and the right conveying belt of the sand and stone according to the advancing speed of the driving unit, the stored sand and stone are conveyed to the position of the pits, the volume of the sand and stone required for filling the pits is calculated according to the pit model, the stored sand and stone are pushed to the pits by one or more push plates, the sand and stone leveling motor is started, the sand and stone leveling motor drives the scraper to rotate to the position of the pushed sand and stone, the driving unit advances, the pushed sand and stone are leveled by the scraper, and the sand and stone leveling motor reversely rotates to drive the. When the detection radar, the ultrasonic sensor and the distance sensor detect that the sand and stone bulges or pits are larger than the range which can be recovered or filled by the cleaning robot, signals are transmitted to the processor, the processor sends an avoidance instruction to the driving unit, the driving unit drives the cleaning robot to bypass the bulges or pits, and meanwhile, the cleaning robot transmits the wireless data to the control center.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a clean structure of solar panel, heliostat cleaning robot operation environment which characterized in that includes:
the driving unit drives the robot to move to a preset position;
the system comprises a detection unit, a processing unit and a processing unit, wherein the detection unit is used for detecting a ground environment, identifying an abnormality and forming environment model information and position information for the abnormality;
the processing unit is used for receiving the environment model information and the position information and outputting a first control command according to the movement speed of the robot;
and the execution unit executes the first control command.
2. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 1, wherein the detection unit comprises a sand detection radar, an ultrasonic sensor, and a distance sensor;
the sand and stone detection radar is used for acquiring abnormal information, and the ultrasonic sensor and the distance sensor are used for acquiring the position of the abnormal information.
3. A solar panel, heliostat cleaning robot working environment cleaning structure of claim 1, wherein the anomaly comprises protrusion information and pit information;
the environment model information includes protrusion model information and pit model information, wherein the execution unit performs a recycling operation when the protrusion information is obtained, and performs an output operation when the pit information is obtained.
4. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 1, wherein the execution unit comprises a first sand recovery motor, a second sand recovery motor, a sand recovery sweep plate, a sand recovery scoop wheel, and a transport mechanism;
first gravel and sand is retrieved the motor and can order about gravel and sand to retrieve and sweep the board and rotate and can carry the gravel and sand of retrieving extremely gravel and sand recovery shovel wheel, second gravel and sand is retrieved the motor and can order about gravel and sand and retrieve shovel wheel and rotate and will gravel and sand carry extremely transport mechanism.
5. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 4, wherein the conveyor mechanism comprises a front conveyor belt, a rear conveyor belt, a left conveyor belt, and a right conveyor belt;
one end of the front conveyor belt and one end of the rear conveyor belt are respectively connected with the gravel recovery shovel wheel, and the other ends of the front conveyor belt and the rear conveyor belt are respectively connected with the left conveyor belt and the right conveyor belt.
6. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 5, wherein the execution unit further comprises a pusher motor and one or more pusher plates;
the push plate motor can drive the push plate to move along the surface of the left conveying belt and/or the right conveying belt.
7. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 6, wherein the execution unit further comprises a squeegee and a squeegee motor;
the scraper motor can drive the scraper to move so as to carry out scraping operation.
8. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 1, wherein the processing unit outputs a second control command and the driving unit executes the second control command when the environment model information obtained by the processing unit exceeds a preset threshold.
9. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 8, further comprising a control center, wherein the processing unit transmits environment model information to the control center when the environment model information obtained by the processing unit exceeds a preset threshold.
10. The solar panel and heliostat cleaning robot working environment cleaning structure of claim 8, wherein the preset threshold is set according to the maximum loading of sand and stone on the execution unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011521453.0A CN112684798B (en) | 2020-12-21 | 2020-12-21 | Solar panel and heliostat cleaning robot operation environment cleaning structure |
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| CN202011521453.0A CN112684798B (en) | 2020-12-21 | 2020-12-21 | Solar panel and heliostat cleaning robot operation environment cleaning structure |
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| CN112684798B CN112684798B (en) | 2024-04-30 |
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