CN112845476A - Environment self-adaptive cleaning method and system for artificial intelligent cleaning robot - Google Patents
Environment self-adaptive cleaning method and system for artificial intelligent cleaning robot Download PDFInfo
- Publication number
- CN112845476A CN112845476A CN202011523245.4A CN202011523245A CN112845476A CN 112845476 A CN112845476 A CN 112845476A CN 202011523245 A CN202011523245 A CN 202011523245A CN 112845476 A CN112845476 A CN 112845476A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- cleaning robot
- robot
- environment
- adaptive
- 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 212
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000007613 environmental effect Effects 0.000 claims abstract description 29
- 238000013473 artificial intelligence Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 13
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 6
- 239000000428 dust Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
-
- 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
-
- 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
-
- 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
- H02S40/12—Means for removing snow
-
- 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
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an environment self-adaptive cleaning method and system of an artificial intelligent cleaning robot, comprising the following steps: the cleaning robot acquires environmental parameters according to the feedback data of the sensor module group, and adjusts the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters, so that the running direction of the cleaning robot is consistent with the wind direction. By constructing the robot environment self-adaptive system, the invention solves the problems of repeated cleaning or low cleaning efficiency of the solar photovoltaic panel and the eyepiece lens, and also solves the problem of ineffective cleaning in rainy and snowy days.
Description
Technical Field
The invention relates to the technical field of artificial intelligent robots, in particular to an environment self-adaptive cleaning method and system of an artificial intelligent cleaning robot.
Background
With the development of the era, artificial intelligence becomes popular in the years, no matter in any technical field, the artificial intelligence is developed, and the artificial intelligence is added with tiles for realizing the higher, faster and better era. The robot can be used for solving many things efficiently.
The cleaning device in the prior art can complete cleaning by using the cleaning part, needs manual operation, and is time-consuming and labor-consuming. Although the cleaning apparatus is also applied to the robot, the cooperation of driving to cleaning is not achieved, and manual cooperation is still required.
Environmental factors sometimes directly affect the cleaning effect and then affect the specular reflection efficiency, such as the wind direction during cleaning, during the working process of the cleaning robot. If the wind direction is the same as the robot cleaning route, silt and dust generated during the mirror surface cleaning can be blown to the uncleaned mirror by wind, so that the cleaning efficiency is not greatly influenced; however, if the wind direction is reversed to the cleaning route of the robot, dust and sand are blown to the cleaned mirror each time, so that the cleaning efficiency is greatly affected by the back-and-forth wiping of the robot, and therefore the traveling direction of the robot is very important.
Through retrieval, patent document CN211953856U discloses an online robot cleaning device for a condenser in a power plant, which comprises a frame and a nozzle main pipe, wherein the frame is provided with a transverse slide rail, the nozzle main pipe is connected with an outer slide block, two ends of the tubular slide rail penetrate to the outside of the frame, a transmission screw rod is arranged inside the slide rail, the transmission screw rod is provided with an inner slide block, the transmission screw rod is connected with a driving motor, and the driving motor is arranged outside the frame; the side wall of one side of the sliding rail is a guide wall, the inner side of the guide wall is an inner guide surface, the outer side of the guide wall is an outer guide surface, the inner sliding block is in sliding fit with the inner guide surface, and the outer sliding block is in sliding fit with the outer guide surface; the outer sliding block and the inner sliding block are both provided with permanent magnets, and the magnetic poles of the two permanent magnets attract each other. The prior art has the disadvantage that the utilization of the drive screw and the slide block still requires energy in terms of cleaning efficiency and later maintenance, and therefore needs to be improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an environment self-adaptive cleaning method and system of an artificial intelligent cleaning robot.
The invention provides an environment self-adaptive cleaning method of an artificial intelligent cleaning robot, which comprises the following steps: the cleaning robot acquires environmental parameters according to the feedback data of the sensor module group, and adjusts the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters, so that the running direction of the cleaning robot is consistent with the wind direction.
Preferably, the sensor module group includes IOT devices and sensors.
Preferably, the acquiring, by the cleaning robot, the environmental parameter according to the feedback data of the sensor module group, and the adjusting, in real time, the operating state and the speed of the cleaning robot according to the acquired environmental parameter includes:
step M1: moving the robot to the right front of the mirror and judging the direction and the direction of the mirror;
step M2: collecting data according to a sensor module group arranged on the cleaning device, and analyzing the influence of the surrounding environment on the cleaning work of the cleaning robot in real time according to the collected data;
step M3: feeding back the influence of the obtained surrounding environment on the cleaning work of the cleaning robot to the cleaning robot and making a corresponding decision, wherein when the cleaning robot cleans one mirror to another mirror in the running process, and analyzing the change of the wind direction in the surrounding environment, the cleaning sequence of the next surface of the robot is adjusted accordingly; when the wind direction in the surrounding environment is not changed through analysis, the cleaning sequence of the next mirror of the robot is kept unchanged, and the running direction of the cleaning robot is ensured to be consistent with the wind direction;
during the cleaning process, the cleaning rotating speed and the cleaning angle are adjusted by detecting the vibration frequency of the mirror surface.
Preferably, the method further comprises the following steps: and if the humidity sensor detects rain or snow and the detected rain or snow lasts for a preset time, the cleaning robot stops cleaning and returns to the charging station to stand by.
Preferably, the adjusting the operation state and the speed of the cleaning robot in real time according to the acquired environmental parameters includes: and controlling the running path of the cleaning robot in real time by using an artificial intelligent environment self-adaptive algorithm according to the acquired environment parameters.
The invention provides an environment self-adaptive cleaning system of an artificial intelligent cleaning robot, which comprises: the cleaning robot acquires environmental parameters according to the feedback data of the sensor module group, and adjusts the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters, so that the running direction of the cleaning robot is consistent with the wind direction.
Preferably, the sensor module group includes IOT devices and sensors.
Preferably, the acquiring, by the cleaning robot, the environmental parameter according to the feedback data of the sensor module group, and the adjusting, in real time, the operating state and the speed of the cleaning robot according to the acquired environmental parameter includes:
module M1: moving the robot to the right front of the mirror and judging the direction and the direction of the mirror;
module M2: collecting data according to a sensor module group arranged on the cleaning device, and analyzing the influence of the surrounding environment on the cleaning work of the cleaning robot in real time according to the collected data;
module M3: feeding back the influence of the obtained surrounding environment on the cleaning work of the cleaning robot to the cleaning robot and making a corresponding decision, wherein when the cleaning robot cleans one mirror to another mirror in the running process, and analyzing the change of the wind direction in the surrounding environment, the cleaning sequence of the next surface of the robot is adjusted accordingly; when the wind direction in the surrounding environment is not changed through analysis, the cleaning sequence of the next mirror of the robot is kept unchanged, and the running direction of the cleaning robot is ensured to be consistent with the wind direction;
during the cleaning process, the cleaning rotating speed and the cleaning angle are adjusted by detecting the vibration frequency of the mirror surface.
Preferably, the method further comprises the following steps: and if the humidity sensor detects rain or snow and the detected rain or snow lasts for a preset time, the cleaning robot stops cleaning and returns to the charging station to stand by.
Preferably, the adjusting the operation state and the speed of the cleaning robot in real time according to the acquired environmental parameters includes: and controlling the running path of the cleaning robot in real time by using an artificial intelligent environment self-adaptive algorithm according to the acquired environment parameters.
Compared with the prior art, the invention has the following beneficial effects:
by constructing the robot environment self-adaptive system, the invention solves the problems of repeated cleaning or low cleaning efficiency of the solar photovoltaic panel and the eyepiece lens, and also solves the problem of ineffective cleaning in rainy and snowy days.
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 an environment adaptive cleaning system of an artificial intelligent cleaning robot;
FIG. 2 is a schematic diagram of an environment adaptive cleaning system of an artificial intelligent cleaning robot;
fig. 3 is a flow chart of an environment adaptive cleaning method of an artificial intelligent cleaning robot.
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.
Example 1
The invention utilizes the artificial intelligent environment self-adaptive algorithm to control the travel path of the cleaning robot in real time, thereby achieving the effect of maximizing the cleaning effect and efficiency and further improving the working efficiency.
Environmental factors sometimes directly affect the cleaning effect and then affect the specular reflection efficiency, such as the wind direction during cleaning, during the working process of the cleaning robot. If the wind direction is the same as the robot cleaning route, silt and dust generated during the mirror surface cleaning can be blown to the uncleaned mirror by wind, so that the cleaning efficiency is not greatly influenced; however, if the wind direction is reversed to the cleaning route of the robot, dust and sand are blown to the cleaned mirror each time, so that the cleaning efficiency is greatly affected by the back-and-forth wiping of the robot, and therefore the traveling direction of the robot is important, as shown in fig. 1-2.
The running direction of the robot is consistent with the wind direction, and it is very important that the cleaning robot adjusts the real-time motion state and speed according to the environmental parameters.
The invention provides an environment self-adaptive cleaning method of an artificial intelligent cleaning robot, which comprises the following steps: the cleaning robot acquires environmental parameters according to the feedback data of the sensor module group, and adjusts the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters, so that the running direction of the cleaning robot is consistent with the wind direction.
Specifically, the sensor module group includes an IOT device and a sensor.
Specifically, the step of acquiring an environmental parameter by the cleaning robot according to the feedback data of the sensor module group, and the step of adjusting the running state and the speed of the cleaning robot in real time according to the acquired environmental parameter includes: as shown in figure 3 of the drawings,
step M1: moving the robot to the right front of the mirror and judging the direction and the direction of the mirror;
step M2: collecting data according to a sensor module group arranged on the cleaning device, and analyzing the influence of the surrounding environment on the cleaning work of the cleaning robot in real time according to the collected data;
step M3: feeding back the influence of the obtained surrounding environment on the cleaning work of the cleaning robot to the cleaning robot and making a corresponding decision, wherein when the cleaning robot cleans one mirror to another mirror in the running process, and analyzing the change of the wind direction in the surrounding environment, the cleaning sequence of the next surface of the robot is adjusted accordingly; when the wind direction in the surrounding environment is not changed through analysis, the cleaning sequence of the next mirror of the robot is kept unchanged, the running direction of the cleaning robot is ensured to be consistent with the wind direction, and the cleaning rotating speed and the cleaning angle are adjusted through detecting the vibration frequency of the mirror surface in the cleaning process.
Specifically, the method further comprises the following steps: and if the humidity sensor detects rain or snow and the detected rain or snow lasts for a preset time, the cleaning robot stops cleaning and returns to the charging station to stand by.
Specifically, the adjusting the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters includes: and controlling the running path of the cleaning robot in real time by using an artificial intelligent environment self-adaptive algorithm according to the acquired environment parameters.
Specifically, the phenomenon that vibration (mirror surface shaking) with a small amplitude is generated when the robot cleaning device just touches the edge of the mirror surface after rotating is also included, and the vibration can be generated by detecting the vibration frequency and then feeding back to the robot to adjust the rotating speed or the angle and the like so as to reduce the safety risk and optimize the cleaning efficiency.
The invention provides an environment self-adaptive cleaning system of an artificial intelligent cleaning robot, which comprises: the cleaning robot acquires environmental parameters according to the feedback data of the sensor module group, and adjusts the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters, so that the running direction of the cleaning robot is consistent with the wind direction.
Specifically, the sensor module group includes an IOT device and a sensor.
Specifically, the step of acquiring an environmental parameter by the cleaning robot according to the feedback data of the sensor module group, and the step of adjusting the running state and the speed of the cleaning robot in real time according to the acquired environmental parameter includes:
module M1: moving the robot to the right front of the mirror and judging the direction and the direction of the mirror;
module M2: collecting data according to a sensor module group arranged on the cleaning device, and analyzing the influence of the surrounding environment on the cleaning work of the cleaning robot in real time according to the collected data;
module M3: feeding back the influence of the obtained surrounding environment on the cleaning work of the cleaning robot to the cleaning robot and making a corresponding decision, wherein when the cleaning robot cleans one mirror to another mirror in the running process, and analyzing the change of the wind direction in the surrounding environment, the cleaning sequence of the next surface of the robot is adjusted accordingly; when the wind direction in the surrounding environment is not changed through analysis, the cleaning sequence of the next mirror of the robot is kept unchanged, and the running direction of the cleaning robot is ensured to be consistent with the wind direction.
Specifically, the method further comprises the following steps: and if the humidity sensor detects rain or snow and the detected rain or snow lasts for a preset time, the cleaning robot stops cleaning and returns to the charging station to stand by.
Specifically, the adjusting the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters includes: and controlling the running path of the cleaning robot in real time by using an artificial intelligent environment self-adaptive algorithm according to the acquired environment parameters.
Specifically, the phenomenon that vibration (mirror surface shaking) with a small amplitude is generated when the robot cleaning device just touches the edge of the mirror surface after rotating is also included, and the vibration can be generated by detecting the vibration frequency and then feeding back to the robot to adjust the rotating speed or the angle and the like so as to reduce the safety risk and optimize the cleaning efficiency.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
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. An environment self-adaptive cleaning method of an artificial intelligence cleaning robot is characterized by comprising the following steps: the cleaning robot acquires environmental parameters according to the feedback data of the sensor module group, and adjusts the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters, so that the running direction of the cleaning robot is consistent with the wind direction.
2. The adaptive cleaning method for an artificial intelligence cleaning robot environment of claim 1, wherein the set of sensor modules comprises an IOT device and a sensor.
3. The environment adaptive cleaning method of an artificial intelligence cleaning robot according to claim 1, wherein the cleaning robot obtains environment parameters according to the feedback data of the sensor module group, and adjusting the operation state and speed of the cleaning robot in real time according to the obtained environment parameters comprises:
step M1: moving the robot to the right front of the mirror and judging the direction and the direction of the mirror;
step M2: collecting data according to a sensor module group arranged on the cleaning device, and analyzing the influence of the surrounding environment on the cleaning work of the cleaning robot in real time according to the collected data;
step M3: feeding back the influence of the obtained surrounding environment on the cleaning work of the cleaning robot to the cleaning robot and making a corresponding decision, wherein when the cleaning robot cleans one mirror to another mirror in the running process, and analyzing the change of the wind direction in the surrounding environment, the cleaning sequence of the next surface of the robot is adjusted accordingly; when the wind direction in the surrounding environment is not changed through analysis, the cleaning sequence of the next mirror of the robot is kept unchanged, and the running direction of the cleaning robot is ensured to be consistent with the wind direction;
during the cleaning process, the cleaning rotating speed and the cleaning angle are adjusted by detecting the vibration frequency of the mirror surface.
4. The adaptive cleaning method for an artificial intelligence cleaning robot environment according to claim 1, further comprising: and if the humidity sensor detects rain or snow and the detected rain or snow lasts for a preset time, the cleaning robot stops cleaning and returns to the charging station to stand by.
5. The environment adaptive cleaning method for the artificial intelligence cleaning robot according to claim 1, wherein the adjusting the running state and speed of the cleaning robot in real time according to the acquired environment parameters comprises: and controlling the running path of the cleaning robot in real time by using an artificial intelligent environment self-adaptive algorithm according to the acquired environment parameters.
6. An environment self-adaptive cleaning system of an artificial intelligence cleaning robot, which is characterized by comprising: the cleaning robot acquires environmental parameters according to the feedback data of the sensor module group, and adjusts the running state and the speed of the cleaning robot in real time according to the acquired environmental parameters, so that the running direction of the cleaning robot is consistent with the wind direction.
7. The artificial intelligence cleaning robot environment adaptive cleaning system of claim 6, wherein the set of sensor modules includes an IOT device and a sensor.
8. The environment adaptive cleaning system for an artificial intelligence cleaning robot according to claim 6, wherein the cleaning robot obtains environment parameters according to the feedback data of the sensor module group, and adjusting the operation state and speed of the cleaning robot in real time according to the obtained environment parameters comprises:
module M1: moving the robot to the right front of the mirror and judging the direction and the direction of the mirror;
module M2: collecting data according to a sensor module group arranged on the cleaning device, and analyzing the influence of the surrounding environment on the cleaning work of the cleaning robot in real time according to the collected data;
module M3: feeding back the influence of the obtained surrounding environment on the cleaning work of the cleaning robot to the cleaning robot and making a corresponding decision, wherein when the cleaning robot cleans one mirror to another mirror in the running process, and analyzing the change of the wind direction in the surrounding environment, the cleaning sequence of the next surface of the robot is adjusted accordingly; when the wind direction in the surrounding environment is not changed through analysis, the cleaning sequence of the next mirror of the robot is kept unchanged, and the running direction of the cleaning robot is ensured to be consistent with the wind direction;
during the cleaning process, the cleaning rotating speed and the cleaning angle are adjusted by detecting the vibration frequency of the mirror surface.
9. The artificial intelligence cleaning robot environment adaptive cleaning system of claim 8, further comprising: and if the humidity sensor detects rain or snow and the detected rain or snow lasts for a preset time, the cleaning robot stops cleaning and returns to the charging station to stand by.
10. The environment-adaptive cleaning system for an artificial intelligence cleaning robot according to claim 6, wherein said adjusting the operation state and speed of the cleaning robot in real time according to the acquired environment parameters comprises: and controlling the running path of the cleaning robot in real time by using an artificial intelligent environment self-adaptive algorithm according to the acquired environment parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011523245.4A CN112845476B (en) | 2020-12-21 | 2020-12-21 | Environment self-adaptive cleaning method and system for artificial intelligent cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011523245.4A CN112845476B (en) | 2020-12-21 | 2020-12-21 | Environment self-adaptive cleaning method and system for artificial intelligent cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112845476A true CN112845476A (en) | 2021-05-28 |
| CN112845476B CN112845476B (en) | 2022-06-24 |
Family
ID=75997824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011523245.4A Active CN112845476B (en) | 2020-12-21 | 2020-12-21 | Environment self-adaptive cleaning method and system for artificial intelligent cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112845476B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102426455A (en) * | 2011-12-31 | 2012-04-25 | 浙江中控研究院有限公司 | Solar mirror surface cleaning robot system |
| CN203440782U (en) * | 2013-09-12 | 2014-02-19 | 长安大学 | Right temperature and minus temperature alternating road surface electrothermal wind anti-icer device |
| CN205463287U (en) * | 2016-01-28 | 2016-08-17 | 北京世景新能源科技有限公司 | Photovoltaic module hydraulic pressure self -adaptation cleaning device |
| CN106733798A (en) * | 2016-12-29 | 2017-05-31 | 春兴新能源电力（苏州）有限公司 | A kind of clean robot suitable for photovoltaic module |
| CN107328464A (en) * | 2017-08-18 | 2017-11-07 | 东莞英伍电子有限公司 | Audio frequency vibration toothbrush vibration angle measuring apparatus |
| CN108378763A (en) * | 2018-02-06 | 2018-08-10 | 南京永为科技有限公司 | For outdoor glass-cleaning robot |
| CN109317432A (en) * | 2018-11-12 | 2019-02-12 | 河北工业大学 | Photovoltaic module Intelligent cleaning robot |
| KR20190099740A (en) * | 2018-02-19 | 2019-08-28 | 주식회사 더블유피 | Automatic cleaning apparatus for solar cell panel |
-
2020
- 2020-12-21 CN CN202011523245.4A patent/CN112845476B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102426455A (en) * | 2011-12-31 | 2012-04-25 | 浙江中控研究院有限公司 | Solar mirror surface cleaning robot system |
| CN203440782U (en) * | 2013-09-12 | 2014-02-19 | 长安大学 | Right temperature and minus temperature alternating road surface electrothermal wind anti-icer device |
| CN205463287U (en) * | 2016-01-28 | 2016-08-17 | 北京世景新能源科技有限公司 | Photovoltaic module hydraulic pressure self -adaptation cleaning device |
| CN106733798A (en) * | 2016-12-29 | 2017-05-31 | 春兴新能源电力（苏州）有限公司 | A kind of clean robot suitable for photovoltaic module |
| CN107328464A (en) * | 2017-08-18 | 2017-11-07 | 东莞英伍电子有限公司 | Audio frequency vibration toothbrush vibration angle measuring apparatus |
| CN108378763A (en) * | 2018-02-06 | 2018-08-10 | 南京永为科技有限公司 | For outdoor glass-cleaning robot |
| KR20190099740A (en) * | 2018-02-19 | 2019-08-28 | 주식회사 더블유피 | Automatic cleaning apparatus for solar cell panel |
| CN109317432A (en) * | 2018-11-12 | 2019-02-12 | 河北工业大学 | Photovoltaic module Intelligent cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112845476B (en) | 2022-06-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105881555B (en) | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower | |
| CN109746226A (en) | Photovoltaic panel intelligence purging system for photovoltaic plant O&M | |
| CN102280498B (en) | Intelligent cleaning system for solar photovoltaic photo-thermal panel | |
| CN105149253A (en) | Solar cell panel cleaning device and system | |
| CN109871639A (en) | A kind of the sweeper working power computing device and method of view-based access control model cognition technology | |
| CN105827195A (en) | Photovoltaic module cleaning method | |
| CN108971073A (en) | A kind of automated cleaning system comprising photographic device suitable for photovoltaic panel | |
| KR20200058950A (en) | Caterpillar vehicle for cleaning solar panel | |
| CN112845476B (en) | Environment self-adaptive cleaning method and system for artificial intelligent cleaning robot | |
| CN116125995B (en) | Path planning method and system for high-speed rail inspection robot | |
| CN110258273A (en) | A kind of full-automatic road surface repairing device and method for repairing road surface | |
| CN209057168U (en) | It is a kind of applied to the dedusting of photovoltaic power generation plate, except the intelligent apparatus of sleet and bird repellent | |
| CN112966576A (en) | System and method for aiming insulator water washing robot based on multi-light source image | |
| CN103978488A (en) | Transfer robot based on cloud model control system | |
| CN110419315A (en) | A kind of foreign body eliminating apparatus and its control method | |
| CN114187505A (en) | Detection method and device for falling-off of damper of power transmission line, medium and terminal equipment | |
| CN105781544A (en) | Experimental facility for research on coal mining machine intelligent control strategy based on multi-information fusion | |
| CN208055955U (en) | Highway and railway two-purpose rail precisely cleans vehicle | |
| CN109229061A (en) | A kind of wiper and rain scrape control method | |
| CN113251631A (en) | Air conditioner control method and device, control box, air conditioner and storage medium | |
| CN114847819A (en) | Obstacle avoidance method and system for indoor cleaning robot | |
| CN111203877A (en) | Climbing building waste sorting robot system, control method, device and medium | |
| CN108971070A (en) | A kind of automation cleaning equipment suitable for photovoltaic panel | |
| CN102673462B (en) | Control method, device and system of rotation of headlight on full beam in engineering machinery | |
| Chellal et al. | Innovative robot design for cleaning solar panels |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |