CN112756307A - Photovoltaic panel cleaning robot and deviation rectifying method thereof - Google Patents
Photovoltaic panel cleaning robot and deviation rectifying method thereof Download PDFInfo
- Publication number
- CN112756307A CN112756307A CN202110112658.1A CN202110112658A CN112756307A CN 112756307 A CN112756307 A CN 112756307A CN 202110112658 A CN202110112658 A CN 202110112658A CN 112756307 A CN112756307 A CN 112756307A
- Authority
- CN
- China
- Prior art keywords
- photovoltaic panel
- assembly
- cleaning robot
- guide wheel
- baffle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000009434 installation Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims 2
- 230000007704 transition Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Cleaning In General (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a photovoltaic panel cleaning robot and a deviation rectifying method thereof, and belongs to photovoltaic panel cleaning equipment. The method comprises the following steps: the cleaning device comprises a frame assembly, a cleaning assembly, a driving assembly and a positioning detection assembly. The frame assembly is erected above the photovoltaic panel and the photovoltaic panel mounting rack; the cleaning assembly is arranged below the frame assembly and used for cleaning the photovoltaic panel; the driving components are respectively arranged at two sides of the frame component and provide power for the forward movement of the cleaning robot; the positioning detection assembly is arranged at the bottom of the driving assembly and used for detecting the included angle between the driving assembly and the outer edge of the photovoltaic panel mounting frame in real time. According to the invention, the inclined angle of the photovoltaic panel cleaning robot is obtained by detecting the included angle between the driving assembly and the outer edge of the photovoltaic panel, when the inclined angle exceeds a threshold value, the control panel reduces the output speed of the driving assembly on the forward inclined side of the cleaning robot, and improves the output speed of the driving assembly on the other side, so that the deviation correction of the photovoltaic robot is realized.
Description
Technical Field
The invention belongs to photovoltaic panel cleaning equipment, and particularly relates to a photovoltaic panel cleaning robot and a deviation rectifying method thereof.
Background
The existing photovoltaic panel cleaning robot comprises driving wheels arranged on two sides of a machine shell and used for controlling an advancing route, and limiting wheels arranged on the outer side of the shell, vertical to the driving wheels and abutted against the side face of an outer frame of a photovoltaic panel. The driving wheels on the two sides walk along the outer frame of the photovoltaic panel under the driving of the motor, but in the walking process, the deviation of the photovoltaic panel cleaning robot can be caused by the fact that the driving rotating speeds of the driving wheels on the two sides are not consistent or the installation defects of the photovoltaic panel are caused.
The existing photovoltaic panel cleaning robot generally detects the deflection angle of the robot through a deviation-rectifying positioning monitoring unit located in the middle of the photovoltaic panel cleaning robot, and then realizes deviation rectification through adjusting the rotating speed of a driving motor and belt transmission. The inventor finds that because the deviation-rectifying positioning detection unit is positioned in the middle, when a large gap or height difference exists between the two photovoltaic panels during installation, the deviation-rectifying positioning unit can cause the distortion of detection data due to jolt and other reasons when passing through the area, and a deviation-rectifying error is formed.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a photovoltaic panel cleaning robot and a deviation rectifying method thereof, which aims to solve the problems involved in the background technology.
The technical scheme is as follows: a photovoltaic panel cleaning robot, comprising: the cleaning device comprises a frame assembly, a cleaning assembly, a driving assembly and a positioning detection assembly.
The frame assembly is erected above the photovoltaic panel and the photovoltaic panel mounting rack;
the cleaning assembly is arranged below the frame assembly and used for cleaning the photovoltaic panel;
the driving assemblies are respectively arranged on two sides of the frame assembly and provide power for the forward movement of the cleaning robot;
and the positioning detection assembly is arranged at the bottom of the driving assembly and used for detecting the included angle between the driving assembly and the outer edge of the photovoltaic panel mounting rack in real time.
Preferably, the frame assembly comprises: the frame assembly comprises a rectangular frame, an outer cover shell arranged on the frame, an electric box arranged on one side of the frame assembly, and a control panel and a battery which are arranged in the electric box; the control panel is in signal connection with the driving assembly and the positioning detection assembly. Firstly, the frame assembly plays a role in supporting and fixing other assemblies, secondly, the battery provides power for the cleaning robot, and the control panel is used for controlling the cleaning robot.
Preferably, a group of middle guide wheel assemblies are mounted at the bottom of the middle position of the frame assembly; the intermediate idler assembly includes: the device comprises a truss fixedly arranged on the rack and a middle guide wheel arranged on the truss through a bearing. Firstly the middle guide wheel plays a supporting role, secondly a user can reasonably lengthen the frame assembly according to the width of the photovoltaic panel to be cleaned, and then the middle guide wheel assembly is arranged in the middle of the frame assembly, so that the usable area of the frame assembly is increased, and the cleaning efficiency is improved.
Preferably, a brush assembly or an electromagnetic sweeping assembly for sweeping the photovoltaic panel is arranged below the frame. The cleaning device is used for cleaning the photovoltaic panel.
Preferably, the drive assembly comprises: fixed mounting is in the benchmark board of frame subassembly both sides, through a plurality of bracing pieces with benchmark board fixed connection's mounting panel sets up the driving motor of mounting panel outside one end, with the driving motor output is connected, and is passed the driving shaft of mounting panel and benchmark board is located the benchmark board outside, with the action wheel that the driving shaft is connected, is passed through the gear train transmission the driven shaft of mounting panel and benchmark board, and is located the benchmark board outside, with the driven wheel that the driven shaft is connected. On one hand, the output accuracy of the cleaning robot is improved by adopting gear transmission; on the other hand, through the relatively independent driving assemblies arranged on the two sides of the frame, when the cleaning robot deflects, the deviation rectification is realized by adjusting the output rates of the two groups of driving assemblies.
Preferably, the positioning detection assembly comprises: the photovoltaic panel comprises a first guide wheel, a second guide wheel and a position sensor, wherein the first guide wheel and the second guide wheel are always abutted against an outer frame of the photovoltaic panel; because the first guide wheel and the second guide wheel are abutted against the outer frame of the photovoltaic panel, the included angle between the connecting line of the first guide wheel and the second guide wheel and the outer edge of the photovoltaic panel can be obtained by detecting the position change of the first baffle or the second baffle, and the deflection angle of the photovoltaic panel cleaning robot is further obtained.
Preferably, the positioning detection assembly comprises: the tension spring device comprises a fixing plate fixedly mounted on a driving assembly, a rotating shaft arranged on one side of the fixing plate, a tension spring upright post fixedly mounted on the other side of the fixing plate, an inner support rod and an outer support rod hinged on the rotating shaft, a first guide wheel and a second guide wheel respectively rotatably mounted at the other ends of the inner support rod and the outer support rod, a first baffle plate and a second baffle plate respectively fixedly mounted on the inner support rod and the outer support rod, a first tension spring used for connecting the first baffle plate and the tension spring upright post, a second tension spring used for connecting the second baffle plate and the tension spring upright post, and a first position sensor and a second position sensor which are arranged on the fixing plate and respectively positioned behind the first baffle plate and the second baffle plate;
the first guide wheel and the second guide wheel are always abutted against the outer frame of the photovoltaic panel under the action of the first tension spring and the second tension spring, and the included angle between the connecting line of the first guide wheel and the second guide wheel and the outer edge of the photovoltaic panel can be obtained by detecting the position change of the first baffle or the second baffle, so that the deflection angle of the photovoltaic panel cleaning robot is obtained.
Preferably, the first baffle plate and the second baffle plate are identical in structure, and the installation directions are mirror images; wherein the first baffle includes: the tension spring mounting hole is formed in the bending part along the body part mounted on the inner support rod, the bending part extends outwards along the inner support rod, and the tension spring mounting hole is formed in the bending part. The bending part is used for installing a first tension spring and a second tension spring, and the body part is used for being matched with a position sensor to detect the deflection angle of the inner support rod and the outer support rod.
Preferably, the included angle between the first baffle and the perpendicular bisector of the first position sensor is [90 ° - α, 90 °); the included angle between the second baffle and the perpendicular bisector of the second position sensor ranges from 90 degrees to alpha degrees and 90 degrees; the alpha is a deflection threshold of the first baffle or the second baffle. When the cleaning robot finds the deviation, the first baffle and the second baffle can deviate, when the cleaning robot deviates, the first baffle is perpendicular to the first position sensor, or the second baffle is perpendicular to the second position sensor, the first position sensor or the second position sensor receives distance information, namely the cleaning robot is considered to reach a threshold value in the deviation, and the control panel can further adjust the output efficiency of the driving assembly to realize deviation correction.
The invention also provides a deviation rectifying method of the photovoltaic panel cleaning robot, which comprises the following steps:
detecting an included angle between the driving assembly and the outer edge of the photovoltaic panel to obtain a deflection angle of the photovoltaic panel cleaning robot;
transmitting the output result to the control panel;
when the deflection angle exceeds a threshold value, the control panel reduces the output speed of the driving assembly on the forward deflection side of the cleaning robot and improves the output speed of the driving assembly on the other side.
Has the advantages that: the invention relates to a photovoltaic panel cleaning robot and a deviation rectifying method thereof.
Compared with the prior art, the invention has the following advantages:
1. because the location detection subassembly is located clean the robot both sides, work as the location detection subassembly passes through photovoltaic board outer frame back, can not receive the influence of photovoltaic board installation factor, and the detection data distortion forms the error of rectifying.
2. Before the skew angle does not reach the threshold value, location determine module guarantees through first extension spring, second extension spring first guide pulley, second guide pulley offset with the outer frame of photovoltaic board all the time, when cleaning the robot and appearing the incline, corresponding skew angle also can appear thereupon in inner branch and outer support bar, still can make the photovoltaic board after the incline clean the robot along the direction walking of photovoltaic board.
3. When the deflection angle reaches a threshold value, the control panel reduces the output speed of the driving assembly on the forward deflection side of the cleaning robot, improves the output speed of the driving assembly on the other side, and realizes the deviation correction of the photovoltaic robot.
4. Through rational design first baffle with the perpendicular bisector of first position sensor the second baffle with the perpendicular bisector contained angle of second position sensor when cleaning the robot and appearing the skew, first baffle and first position sensor or the second baffle with when the second position sensor is perpendicular, then first position sensor or the second position sensor receives distance information, considers promptly that cleaning the robot skew reaches the threshold value, and the control panel can further adjust drive assembly's output efficiency, realizes rectifying. Therefore, the first baffle plate is controlled to be perpendicular to the first position sensor and the second baffle plate and to be perpendicular to the installation included angle of the second position sensor, the judgment of the deflection angle threshold value can be achieved, the calculation requirement on the control panel is reduced, and the control circuit is simplified.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of a driving assembly according to the present invention.
Fig. 3 is a schematic structural view of the gear unit of the present invention.
FIG. 4 is a first schematic structural diagram of the deviation rectifying, positioning and detecting assembly of the present invention.
FIG. 5 is a second schematic structural diagram of the deviation rectification positioning detection assembly of the present invention.
Fig. 6 is a partially enlarged view of the first baffle plate in the present invention.
Fig. 7 is a schematic view of the construction of the intermediate idler assembly of the present invention.
FIG. 8 is a schematic view of the sweeping assembly of the present invention.
Fig. 9 is a schematic configuration diagram of the cleaning robot in the present invention.
FIG. 10 is a schematic diagram of the relationship between the angle of the baffle and the position sensor in the present invention.
The reference signs are: the cleaning device comprises a frame assembly 100, a cleaning assembly 200, a driving assembly 300, a positioning detection assembly 400, a middle guide wheel assembly 500, a frame 101, an outer casing 102, an electric box 103, a solar photovoltaic panel 104, a cleaning motor 201, a transition shaft 202, a brush 203, a reference plate 301, a support rod 302, a mounting plate 303, a driving motor 304, a driving shaft 305, a driving wheel 306, a first gear 307, a transition gear 308, a second gear 309, a driven shaft 310, a driven wheel 311, a protective cover 312, a fixing plate 401, a rotating shaft 402, a tension spring upright 403, an inner support rod 404, an outer support rod 405, a first guide wheel 406, a second guide wheel 407, a first baffle 408, a second baffle 409, a first tension spring 410, a second tension spring 411, a first position sensor 412, a second position sensor 413, a tension spring mounting hole 414, a body part 408a bent part 408b, a truss 501, a middle guide wheel 502 and a.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
As shown in fig. 1 to 10, a photovoltaic panel cleaning robot and a deviation rectifying method thereof include: the cleaning device comprises a frame assembly 100, a cleaning assembly 200, a driving assembly 300, a positioning detection assembly 400, a middle guide wheel assembly 500, a frame 101, an outer casing 102, an electric box 103, a solar photovoltaic panel 104, a cleaning motor 201, a transition shaft 202, a brush 203, a reference plate 301, a support rod 302, a mounting plate 303, a driving motor 304, a driving shaft 305, a driving wheel 306, a first gear 307, a transition gear 308, a second gear 309, a driven shaft 310, a driven wheel 311, a protective cover 312, a fixing plate 401, a rotating shaft 402, a tension spring upright 403, an inner support rod 404, an outer support rod 405, a first guide wheel 406, a second guide wheel 407, a first baffle 408, a second baffle 409, a first tension spring 410, a second tension spring 411, a first position sensor 412, a second position sensor 413, a tension spring mounting hole 414, a body part 408a bent part 408b, a truss 501, a middle guide wheel 502 and a.
The frame assembly comprises a rectangular frame 101, an outer cover shell 102 arranged on the frame, an electric box 103 arranged on one side of the frame assembly, and a control board and a battery arranged in the electric box 103; a reference plate 301 is fixedly installed at one side of the frame assembly 100 and is fixedly connected with the mounting plate 303 through a plurality of support rods 302, and a predetermined space is left between the reference plate 301 and the mounting plate 303 for installing a transmission component; the driving motor 304 is arranged at one end of the outer side of the mounting plate 303 and is positioned at one side of the mounting plate 303, the driving shaft 305 is connected with the output end of the driving motor 304 and penetrates through the mounting plate 303 and the reference plate 301, the driving wheel 306 is connected with the driving shaft 305 and is positioned at the outer side of the reference plate 301, the middle part of the driving shaft 305 is provided with a first gear 307, the first gear 307 is meshed with a plurality of transition gears 308, and a second gear 309 is meshed with the transition gears 308 and is arranged on the driven shaft 310; the first gear 307, the second gear 309 and the transition gear 308 are all helical gears, and the diameters and the numbers of teeth thereof are the same. And the positioning detection assembly 400 is arranged at the bottom of the driving assembly and used for detecting the included angle between the connecting line of the driving wheel 306 and the driven wheel 311 and the outer edge of the photovoltaic panel in real time. A protective cover 312 is arranged outside the driving assembly 300, and the protective cover 312 is fixedly connected with the reference plate 301. In this embodiment, the driving motor 304 is a brushless hall dc motor.
In a further embodiment, the positioning detection assembly 400 includes a fixing plate 401, the fixing plate 401 is fixedly mounted at the bottom of the frame assembly 100, and the frame assembly 100 is erected on a photovoltaic panel; a rotating shaft 402 is arranged on one side of the fixing plate 401, and a tension spring upright column 403 is fixedly mounted on the other side of the fixing plate 401, wherein two tension spring mounting holes 414 are formed in the tension spring upright column 403; the inner support 404 and the outer support 405 are hinged on the rotating shaft 402 and can rotate along the rotating shaft 402, a first baffle 408 and a second baffle 409 are fixedly installed at the middle positions of the inner support 404 and the outer support 405, the first baffle 408 and the second baffle 409 have the same structure, and the installation directions are mirror images. The first baffle 408 includes: a main body portion 408a attached along the inner lever 404, a bent portion 408b extending outward along the inner lever 404, and a tension spring attachment hole 414 provided in the bent portion 408 b. One end of a first tension spring 410 is mounted in a tension spring mounting hole 414 of the first baffle 408, and the other end of the first tension spring is mounted in a tension spring mounting hole 414 of the tension spring upright column 403; one end of a second tension spring 411 is installed in a tension spring installation hole 414 of the second baffle 409, the other end of the second tension spring 411 is installed in a tension spring installation hole 414 of the tension spring upright post 403, and the included angle between the first tension spring 410 and the second tension spring 411 is always smaller than 180 degrees. And a first guide wheel 406 and a second guide wheel 407 are rotatably mounted at the other ends of the inner support rod 404 and the outer support rod 405, and the guide wheels always abut against the outer frame of the photovoltaic panel under the action of a first tension spring 410 and a second tension spring 411. A first position sensor 412 and a second position sensor 413 are both arranged on the fixing plate 401, the first position sensor 412 and the second position sensor 413 are respectively positioned behind the first baffle 408 and the second baffle 409, and a predetermined distance is reserved between the first position sensor 412 and the first baffle 408; a predetermined distance is left between the second position sensor 413 and the second shutter 409.
In a further embodiment, the control board is in signal connection with the driving motor 304 of the driving assembly and the first position sensor 412 and the second position sensor 413, and is used for receiving the position information and feeding back the position information in time to adjust the rotating speed of the driving motor 304.
In a further embodiment, a set of intermediate guide wheel assemblies 500 are mounted at the bottom of the rectangular frame 101; the intermediate idler assembly includes: a truss 501 fixedly arranged on the stander, and an intermediate guide wheel 502 arranged on the truss 501 through a bearing. Firstly, the middle guide wheel 502 plays a supporting role, secondly, a user can reasonably lengthen the frame assembly according to the width of the photovoltaic panel to be cleaned, and then the middle guide wheel assembly 500 is arranged in the middle of the frame assembly, so that the usable area of the frame assembly is increased, and the cleaning efficiency is improved.
In a further embodiment, a cleaning assembly 200 for cleaning the photovoltaic panel is arranged below the frame 101, and the cleaning assembly 200 is a brush assembly or an electromagnetic cleaning assembly. In this embodiment, the sweeping assembly is exemplified by a brush assembly, which comprises: and the cleaning motor 201 is arranged in the middle of the mounting plate 303, the output shaft of the cleaning motor 201 penetrates through the mounting plate 303 and the reference plate 301, one end of the cleaning motor 201 is connected with the output shaft of the cleaning motor 201 through a transition shaft 202, and the other end of the cleaning motor is fixedly arranged on the brush 203 on the truss 501 through a brush bearing 503. The cleaning motor 201 drives the brush 203 to rotate, so that the photovoltaic panel is cleaned, and certainly, for a person skilled in the art, the brush assembly or the electromagnetic cleaning assembly is a conventional technical means in the art, and can be other conventional cleaning assemblies 200 in the art, which is not described herein in detail.
In a further embodiment, because the distance between the position sensors of the baffles is short, and the position sensors of the baffles are not in a complete alignment state, higher requirements are put on the installation requirements and the detection accuracy of the position sensors. In order to further reduce the requirement on equipment and reduce the detection cost, the invention reasonably designs the included angles between the perpendicular bisector of the first baffle 408 and the first position sensor 412 and between the perpendicular bisector of the second baffle 409 and the second position sensor 413, when the cleaning robot is deflected, the first baffle 408 is perpendicular to the first position sensor 412, or the second baffle 409 is perpendicular to the second position sensor 413, then the first position sensor 412 or the second position sensor 413 receives distance information, that is, the cleaning robot is considered to be deflected to reach the threshold value, and the control board can further adjust the output efficiency of the driving assembly 300 to realize deviation rectification. Specifically, the included angle β between the first baffle 408 and the perpendicular bisector of the first position sensor 412 is [90 ° - α, 90 °); the included angle beta between the second baffle 409 and the perpendicular bisector of the second position sensor 413 is in the range of [90 degrees to α degrees, 90 degrees ]; the α is a deflection threshold of the first flap 408 or the second flap 409. When the cleaning robot finds a deviation, the first baffle 408 and the second baffle 409 also deviate, and when the first baffle 408 is perpendicular to the first position sensor 412, the distance information is received, and the deviation reaches a threshold value, the control board can further adjust the output efficiency of the driving assembly 300 to realize deviation correction. Therefore, the installation included angles between the first baffle 408 and the first position sensor 412 and between the second baffle 409 and the second position sensor 413 are controlled, so that the judgment of the deflection angle threshold value can be realized, the calculation requirement on a control board is reduced, and the control circuit is simplified.
In order to facilitate understanding of the technical scheme of the photovoltaic panel cleaning robot, the working principle of the photovoltaic panel cleaning robot is briefly explained: when the cleaning robot moves forward along the frame of the photovoltaic panel, under the action of the first tension spring 410 and the second tension spring 411, the first guide wheel 406 and the second guide wheel 407 always abut against the outer frame of the photovoltaic panel, and when the cleaning robot deflects, the first guide wheel 406 and the second guide wheel 407 can enable the deflected cleaning robot to continue to walk along the outer frame of the photovoltaic panel. Meanwhile, when the frame assembly 100 deflects, the inner support rod 404 and the outer support rod 405 correspondingly deflect at different angles, the positions of the first baffle 408 and the second baffle 409 are changed, and finally the position changes of the first baffle 408 and the second baffle 409 are detected through the first position sensor 412 and the second position sensor 413, so that the included angle between the connecting line of the driving wheel 306 and the driven wheel 311 and the outer edge of the photovoltaic panel, namely the deflection condition of the frame assembly 100, is obtained, and finally deflection data are fed back to the control panel. And further realize the correction to cleaning robot route. The problem of current cleaning machines people's the location detecting element that rectifies receive the interference easily, form the error of rectifying is solved.
The invention also provides a deviation rectifying method of the photovoltaic panel cleaning robot, which comprises the following steps: detecting an included angle between the driving assembly 300 and the outer edge of the photovoltaic panel to obtain a deflection angle of the photovoltaic panel cleaning robot; transmitting the output result to the control panel; when the deflection angle exceeds the threshold value, the control board reduces the output speed of the driving assembly 300 on the forward deflection side of the cleaning robot and increases the output speed of the driving assembly 300 on the other side.
Specifically, when the cleaning robot finds a deviation, the first baffle 408 and the second baffle 409 also deviate, and when the first baffle 408 is perpendicular to the first position sensor 412, that is, when distance information is received, it indicates that the speed of the driving assembly 300 on the present side is too high, that is, the cleaning robot deviates forward to the driving assembly 300 on the present side (for convenience of describing the technical solution of the present invention, it is assumed that the first guide wheel 406 in this embodiment is located on the front side of the cleaning robot), and the deviation angle reaches a threshold value, the control board can further reduce the output speed of the driving assembly 300 on the present side, and increase the output speed of the driving assembly 300 on the other side; on the contrary, when the second baffle 409 is perpendicular to the second position sensor 413, that is, the distance information is received, it indicates that the speed of the driving assembly 300 on the side is too slow, that is, the cleaning robot moves forward to the driving assembly 300 on the other side, and the deflection angle reaches the threshold value, the control board can further increase the output speed of the driving assembly 300 on the side and decrease the output speed of the driving assembly 300 on the other side; and (5) correcting the deviation.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (10)
1. A photovoltaic panel cleaning robot, comprising:
the frame assembly is erected above the photovoltaic panel and the photovoltaic panel mounting rack;
the cleaning assembly is arranged below the frame assembly and used for cleaning the photovoltaic panel;
the driving assemblies are respectively arranged on two sides of the frame assembly and provide power for the forward movement of the cleaning robot;
and the positioning detection assembly is arranged at the bottom of the driving assembly and used for detecting the included angle between the driving assembly and the outer edge of the photovoltaic panel mounting rack in real time.
2. The photovoltaic panel cleaning robot of claim 1, wherein the frame assembly comprises: the frame assembly comprises a rectangular frame, an outer cover shell arranged on the frame, an electric box arranged on one side of the frame assembly, and a control panel and a battery arranged in the electric box.
3. The photovoltaic panel cleaning robot as recited in claim 2, wherein the control board is in signal connection with the drive assembly and the positioning detection assembly.
4. The photovoltaic panel cleaning robot according to claim 1, wherein a set of intermediate guide wheel assemblies are mounted at the bottom of the middle position of the frame assembly;
the intermediate idler assembly includes: the frame assembly comprises a truss fixedly arranged on the frame assembly and a middle guide wheel arranged on the truss through a bearing.
5. The photovoltaic panel cleaning robot of claim 1, wherein the drive assembly comprises: fixed mounting is in the benchmark board of frame subassembly both sides, through a plurality of bracing pieces with benchmark board fixed connection's mounting panel sets up the driving motor of mounting panel outside one end, with the driving motor output is connected, and is passed the driving shaft of mounting panel and benchmark board is located the benchmark board outside, with the action wheel that the driving shaft is connected, is passed through the gear train transmission the driven shaft of mounting panel and benchmark board, and is located the benchmark board outside, with the driven wheel that the driven shaft is connected.
6. The photovoltaic panel cleaning robot of claim 1, wherein the positioning detection assembly comprises: the photovoltaic panel comprises a first guide wheel, a second guide wheel and a position sensor, wherein the first guide wheel and the second guide wheel are always abutted against the outer frame of the photovoltaic panel;
and obtaining the deflection angle of the photovoltaic panel cleaning robot by detecting the included angle between the connecting line of the first guide wheel and the second guide wheel and the outer edge of the photovoltaic panel.
7. The photovoltaic panel cleaning robot of claim 6, wherein the positioning detection assembly comprises: the tension spring device comprises a fixing plate fixedly mounted on a driving assembly, a rotating shaft arranged on one side of the fixing plate, a tension spring upright post fixedly mounted on the other side of the fixing plate, an inner support rod and an outer support rod hinged on the rotating shaft, a first guide wheel and a second guide wheel respectively rotatably mounted at the other ends of the inner support rod and the outer support rod, a first baffle plate and a second baffle plate respectively fixedly mounted on the inner support rod and the outer support rod, a first tension spring used for connecting the first baffle plate and the tension spring upright post, a second tension spring used for connecting the second baffle plate and the tension spring upright post, and a first position sensor and a second position sensor which are arranged on the fixing plate and respectively positioned behind the first baffle plate and the second baffle plate;
the first guide wheel and the second guide wheel are always abutted to the outer frame of the photovoltaic panel under the action of the first tension spring and the second tension spring.
8. The photovoltaic panel cleaning robot as recited in claim 7, wherein the first barrier is identical in structure to the second barrier and has a mirror symmetry in installation direction;
wherein the first baffle includes: the tension spring mounting hole is formed in the bending part along the body part mounted on the inner support rod, the bending part extends outwards along the inner support rod, and the tension spring mounting hole is formed in the bending part.
9. The photovoltaic panel cleaning robot of claim 7, wherein the included angle between the first baffle and the perpendicular bisector of the first position sensor is in the range of [90 ° - α, 90 °;
the included angle between the second baffle and the perpendicular bisector of the second position sensor ranges from 90 degrees to alpha degrees and 90 degrees;
wherein α is a deflection threshold of the first baffle or the second baffle.
10. A deviation rectifying method of a photovoltaic panel cleaning robot is characterized by comprising the following steps:
detecting an included angle between the driving assembly and the outer edge of the photovoltaic panel to obtain a deflection angle of the photovoltaic panel cleaning robot;
transmitting the output result to the control panel;
when the deflection angle exceeds a threshold value, the control panel reduces the output speed of the driving assembly on the forward deflection side of the cleaning robot and improves the output speed of the driving assembly on the other side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110112658.1A CN112756307B (en) | 2021-01-27 | 2021-01-27 | Photovoltaic panel cleaning robot and deviation correcting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110112658.1A CN112756307B (en) | 2021-01-27 | 2021-01-27 | Photovoltaic panel cleaning robot and deviation correcting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112756307A true CN112756307A (en) | 2021-05-07 |
| CN112756307B CN112756307B (en) | 2024-07-16 |
Family
ID=75706184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110112658.1A Active CN112756307B (en) | 2021-01-27 | 2021-01-27 | Photovoltaic panel cleaning robot and deviation correcting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112756307B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114042662A (en) * | 2021-11-17 | 2022-02-15 | 江苏德天智能设备有限公司 | Cleaning system and cleaning method for photovoltaic power station |
| CN114405882A (en) * | 2022-01-13 | 2022-04-29 | 合肥仁洁智能科技有限公司 | Cleaning apparatus and control method of cleaning apparatus |
| CN115268442A (en) * | 2022-07-27 | 2022-11-01 | 湖州丽天智能科技有限公司 | Automatic deviation rectifying method and system for photovoltaic cleaning robot and cleaning robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001227110A (en) * | 2000-02-18 | 2001-08-24 | Asahi Glass Co Ltd | Supporting fittings for roof panel, roofing method, and panel unit for roofing |
| US20110031044A1 (en) * | 2009-08-04 | 2011-02-10 | Ehud Gal | Robotic platform & methods for overcoming obstacles |
| CN105057301A (en) * | 2015-09-17 | 2015-11-18 | 中国船舶重工集团公司第七一三研究所 | Automatic deviation rectifying method and automatic deviation rectifying system for advancement of solar panel cleaning vehicle |
| CN106076908A (en) * | 2016-06-15 | 2016-11-09 | 湖南大学 | Photovoltaic panel scavenging machine |
| CA2913284A1 (en) * | 2015-11-27 | 2017-05-27 | Leo Beaulieu | Remote controlled mobile traffic control system and method |
| CN107309230A (en) * | 2017-08-01 | 2017-11-03 | 喀什博思光伏科技有限公司 | Photovoltaic module automatic cleaning device |
| CN108787532A (en) * | 2017-04-27 | 2018-11-13 | 宁夏和而不同创意有限公司 | A kind of anhydrous sweeping robot of large-scale photovoltaic array |
| CN109227568A (en) * | 2018-10-29 | 2019-01-18 | 阳光电源股份有限公司 | A kind of Intelligent sweeping machine device people |
| CN109382384A (en) * | 2018-10-29 | 2019-02-26 | 阳光电源股份有限公司 | Photovoltaic panel sweeping robot and its deflection detection and method for correcting error |
| CN109445433A (en) * | 2018-11-05 | 2019-03-08 | 阳光电源股份有限公司 | Operating parameter setting method, method of adjustment and the device of sweeping machine |
| CN110445463A (en) * | 2019-08-19 | 2019-11-12 | 内蒙古工业大学 | Flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy and boundary detection method |
| CN215198456U (en) * | 2021-01-27 | 2021-12-17 | 江苏德天智能设备有限公司 | Photovoltaic board cleans machine people |
-
2021
- 2021-01-27 CN CN202110112658.1A patent/CN112756307B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001227110A (en) * | 2000-02-18 | 2001-08-24 | Asahi Glass Co Ltd | Supporting fittings for roof panel, roofing method, and panel unit for roofing |
| US20110031044A1 (en) * | 2009-08-04 | 2011-02-10 | Ehud Gal | Robotic platform & methods for overcoming obstacles |
| CN105057301A (en) * | 2015-09-17 | 2015-11-18 | 中国船舶重工集团公司第七一三研究所 | Automatic deviation rectifying method and automatic deviation rectifying system for advancement of solar panel cleaning vehicle |
| CA2913284A1 (en) * | 2015-11-27 | 2017-05-27 | Leo Beaulieu | Remote controlled mobile traffic control system and method |
| CN106076908A (en) * | 2016-06-15 | 2016-11-09 | 湖南大学 | Photovoltaic panel scavenging machine |
| CN108787532A (en) * | 2017-04-27 | 2018-11-13 | 宁夏和而不同创意有限公司 | A kind of anhydrous sweeping robot of large-scale photovoltaic array |
| CN107309230A (en) * | 2017-08-01 | 2017-11-03 | 喀什博思光伏科技有限公司 | Photovoltaic module automatic cleaning device |
| CN109227568A (en) * | 2018-10-29 | 2019-01-18 | 阳光电源股份有限公司 | A kind of Intelligent sweeping machine device people |
| CN109382384A (en) * | 2018-10-29 | 2019-02-26 | 阳光电源股份有限公司 | Photovoltaic panel sweeping robot and its deflection detection and method for correcting error |
| CN109445433A (en) * | 2018-11-05 | 2019-03-08 | 阳光电源股份有限公司 | Operating parameter setting method, method of adjustment and the device of sweeping machine |
| CN110445463A (en) * | 2019-08-19 | 2019-11-12 | 内蒙古工业大学 | Flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy and boundary detection method |
| CN215198456U (en) * | 2021-01-27 | 2021-12-17 | 江苏德天智能设备有限公司 | Photovoltaic board cleans machine people |
Non-Patent Citations (1)
| Title |
|---|
| 陈羽明;康豫;张怡彬;: ""方向盘原理"在轮胎吊小车纠偏中的运用", 港口装卸, no. 05, 30 October 2013 (2013-10-30) * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114042662A (en) * | 2021-11-17 | 2022-02-15 | 江苏德天智能设备有限公司 | Cleaning system and cleaning method for photovoltaic power station |
| CN114405882A (en) * | 2022-01-13 | 2022-04-29 | 合肥仁洁智能科技有限公司 | Cleaning apparatus and control method of cleaning apparatus |
| CN114405882B (en) * | 2022-01-13 | 2023-10-13 | 仁洁智能科技有限公司 | Cleaning apparatus and control method of cleaning apparatus |
| CN115268442A (en) * | 2022-07-27 | 2022-11-01 | 湖州丽天智能科技有限公司 | Automatic deviation rectifying method and system for photovoltaic cleaning robot and cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112756307B (en) | 2024-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112756307A (en) | Photovoltaic panel cleaning robot and deviation rectifying method thereof | |
| CN215198456U (en) | Photovoltaic board cleans machine people | |
| WO2019024415A1 (en) | Automatic cleaning device of photovoltaic module | |
| WO2022267336A1 (en) | Photovoltaic cleaning robot based on visual slam | |
| CN215198455U (en) | Photovoltaic board cleans and uses walking bracket | |
| CN208462293U (en) | A kind of new-type PCB caching machine | |
| CN215198814U (en) | Drive unit for photovoltaic panel cleaning robot | |
| CN218809367U (en) | Automatic detection deviation rectifying structure for adhesive film production | |
| CN110280508A (en) | A kind of photovoltaic module cleaning machine and installation method | |
| CN113198765B (en) | Photovoltaic cleaning robot capable of automatically returning and continuing | |
| CN220383014U (en) | Photovoltaic cleaning robot with deviation correcting function | |
| CN219025083U (en) | Photovoltaic board cleans machine people | |
| CN221263760U (en) | Automatic cleaning robot for photovoltaic panel | |
| CN219633767U (en) | Crossing type cleaning robot | |
| CN220964798U (en) | Cleaning equipment for double-row photovoltaic module | |
| CN216226537U (en) | Corner connector installation device in solar module frame production line | |
| CN220392812U (en) | Automatic deviation correcting device | |
| CN219152895U (en) | Robot and robot positioning system | |
| CN218868166U (en) | Novel photovoltaic new forms of energy electricity generation device | |
| CN215561959U (en) | Quick gyro wheel of steel structure bridge installation usefulness | |
| CN217478659U (en) | Automatic fabric deviation correcting device and cloth inspecting machine using same | |
| CN221378632U (en) | Card collecting mechanism suitable for pass cards with different thicknesses | |
| CN219885214U (en) | Dustproof mechanism of photovoltaic module | |
| CN215846494U (en) | Equipment for marking straight welded pipe | |
| CN218437218U (en) | Foundation pile detects auxiliary device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 213000 No. 5, Hongli Road, Tianning District, Changzhou City, Jiangsu Province Applicant after: Jiangsu Detian Intelligent Technology Co.,Ltd. Address before: 213000 No. 5, Hongli Road, Tianning District, Changzhou City, Jiangsu Province Applicant before: Jiangsu Detian Intelligent Equipment Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |