CN113198765B - Photovoltaic cleaning robot capable of automatically returning and continuing - Google Patents
Photovoltaic cleaning robot capable of automatically returning and continuing Download PDFInfo
- Publication number
- CN113198765B CN113198765B CN202110486933.6A CN202110486933A CN113198765B CN 113198765 B CN113198765 B CN 113198765B CN 202110486933 A CN202110486933 A CN 202110486933A CN 113198765 B CN113198765 B CN 113198765B
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- cleaning robot
- module
- photovoltaic cleaning
- driving
- photovoltaic
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- 238000004140 cleaning Methods 0.000 title claims abstract description 83
- 230000001960 triggered effect Effects 0.000 claims abstract description 9
- 230000005856 abnormality Effects 0.000 claims abstract description 7
- 230000002159 abnormal effect Effects 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a photovoltaic cleaning robot capable of automatically returning and continuing the journey, which comprises a vehicle body, wherein the vehicle body comprises a chassis and a frame arranged on the chassis, an ultrasonic module, a camera module, a battery module and a micro-control unit are arranged on the chassis, and the reasons of abnormality are recorded and return instructions are triggered if a period of abnormality occurs by sensing the electric quantity of the battery module, the slip rate of a crawler driving device and ultrasonic data; the micro control unit calculates the nearest route to return; when the fault is solved, the photovoltaic cleaning robot is placed at the starting point again, the starting equipment is initialized, the scene similarity and the last operation state are judged according to the operation record to determine whether the breakpoint cruising function is required to be started, if the breakpoint cruising function is started, the number of lines which are not operated before cruising is returned is analyzed according to the operation record, and the photovoltaic cleaning robot is controlled to reach the designated position to perform continuous operation. The invention can effectively improve the operation efficiency and has the characteristics of saving manpower and reducing the maintenance cost of the power station.
Description
Technical Field
The invention relates to a photovoltaic cleaning robot capable of automatically returning and continuing.
Background
Solar photovoltaic, a renewable clean energy source, has become an important force for global energy revolution today. Dirt such as wind sand, dust and the like are easy to accumulate on the surface of the solar cell panel, and if maintenance operations such as cleaning and monitoring and the like are not carried out in time and scientifically, the power generation of the assembly can be attenuated by 40% -60% at most, and the generated energy is reduced by 20% -30%. Therefore, the concept of improving the power generation capacity and the benefit of a power station by reasonably and scientifically cleaning and maintaining the solar panels and carefully maintaining the components is accepted by the industry.
When the photovoltaic mobile robot works autonomously, the position of the photovoltaic mobile robot needs to be judged by means of the detection device. At present, the special sensing device or fixing device is mainly added to the photovoltaic array to position the photovoltaic array in the market, so that the machine can walk, clean or monitor the photovoltaic array. Such an induction manner of adding a specific induction device or a fixing device not only increases the equipment cost, but also is easily limited by the size and shape of the photovoltaic array, so that the additional device cannot be installed. The photovoltaic frame is partially relied on for positioning, but the constraint of the frame causes the operation speed of the robot to be greatly reduced, and the robot is influenced by the array distribution, so that an optimal operation path can not be accurately planned, and the operation efficiency and the economic benefit are seriously influenced.
Disclosure of Invention
In view of the above problems in the prior art, the main object of the present invention is to provide a photovoltaic cleaning robot capable of automatically returning and continuing to travel, which can effectively improve the working efficiency, and has the characteristics of saving manpower and reducing the maintenance cost of a power station.
The technical scheme of the invention is as follows:
The utility model provides a can return to the journey and photovoltaic cleaning robot of continuation of journey automatically, photovoltaic cleaning robot includes automobile body, rolling brush cleaning module and track drive arrangement, rolling brush cleaning module sets up the front side of automobile body, photovoltaic cleaning robot passes through rolling brush cleaning module carries out cleaning operation to the photovoltaic board, track drive arrangement sets up the both sides of automobile body, photovoltaic cleaning robot is in walk under track drive arrangement's drive, the automobile body includes the chassis and sets up the frame on the chassis, be provided with the casing on the frame, the left side wall and the right side wall outside of frame are provided with one respectively track drive arrangement, be provided with ultrasonic module, camera module, battery module and micro-control unit on the chassis, ultrasonic module, camera module and battery module respectively with micro-control unit electricity is connected, wherein:
The micro control unit scores the whole state of the photovoltaic cleaning robot by sensing the electric quantity of the battery module, the slip rate of the crawler belt driving device and the ultrasonic data sent by the ultrasonic module, and records the abnormal reason and triggers a return instruction if the whole state is abnormal for a period of time; the micro-control unit calculates the nearest path to return to the navigation through a decision system according to the operation state and path planning data of the current photovoltaic cleaning robot; and after the fault is solved, the photovoltaic cleaning robot is placed at the starting point again, the starting equipment is initialized, the micro control unit judges scene similarity and the last operation state according to the operation record so as to determine whether a breakpoint cruising function needs to be started, if the breakpoint cruising function is started, the number of lines which are not operated before cruising is returned is analyzed according to the operation record, and the micro control unit controls the photovoltaic cleaning robot to reach the designated position so as to perform continuous operation.
The micro control unit senses the electric quantity of the battery module, and specifically comprises the following components: the micro control unit performs voltage division sampling on the bus voltage in real time through the double resistors, then transmits the acquired voltage signals to an analog-to-digital converter interface in the micro control unit, and optimizes and converts the voltage signals.
The crawler driving device is provided with an encoder, and the encoder is used for feeding back the speed of the crawler in the crawler driving device so as to obtain driving mileage; the visual mileage of the photovoltaic cleaning robot is obtained through the camera module; and the vehicle body is also provided with an inertial measurement unit, the inertial measurement unit is used for acquiring the inertial mileage of the photovoltaic cleaning robot, and then the state of the crawler belt driving device is good within the same reasonable range through the driving mileage, the visual mileage and the inertial mileage.
When the deviation among the driving mileage, the visual mileage and the inertia mileage is larger, the slip rate of the crawler driving device is higher at the moment, and when the state of maintaining the higher slip rate exceeds a certain time, an abnormal alarm with higher slip rate is triggered.
Through monitoring the ultrasonic data sent by the ultrasonic module, when the photovoltaic cleaning robot is in the cleaning operation process, the ultrasonic data exceeds the floating range between the vehicle body and the surface of the photovoltaic panel for a long time, and the abnormal alarm of the ultrasonic data is triggered when the ultrasonic data exceeds a certain time.
The vehicle body is provided with a monitoring system, and when the monitoring system receives the abnormal alarm with higher slip rate and/or the abnormal alarm of ultrasonic data, the decision system is informed, the current abnormal reason is recorded, and a return instruction is triggered.
The crawler driving device comprises a crawler, a driving module, a driven module, a pressure bearing frame and a pressing module, wherein the driving module, the driven module, the pressure bearing frame and the pressing module are arranged in the crawler, the driven module and the driving module are respectively positioned at the front end and the rear end in the crawler, one side of the pressure bearing frame is fixedly connected with the outer side wall of the frame, and the pressing module is movably arranged below the pressure bearing frame.
The driving module comprises a driving shaft and a driving wheel fixedly arranged on the driving shaft, the driving shaft rotates under the driving of a driving motor arranged on the frame, and the driving wheel drives the crawler belt to move.
The driven module comprises a driven shaft and a driven wheel arranged on the driven shaft, and a locknut is arranged at one end of the driven shaft, which is positioned on the driven wheel.
The pressure-bearing frame comprises a first pressure-bearing plate and a second pressure-bearing plate, wherein the first pressure-bearing plate is vertically arranged along the length direction and is fixedly arranged on the outer side wall of the frame through a fastening bolt, the second pressure-bearing plate is horizontally arranged along the length direction and is fixedly connected with the lower end of the first pressure-bearing plate along one side wall of the length direction, and a plurality of groups of fixing parts are arranged on the lower surface of the second pressure-bearing plate along the length direction.
The invention has the following advantages and beneficial effects: the invention aims to improve the automation degree and the use convenience of the photovoltaic robot, can autonomously return to a designated place when the equipment state is poor and the operation cannot be maintained, and can return to the position with the number of lines which are not operated and also continue to operate in the same scene after the maintenance modification, thereby effectively improving the operation efficiency of the photovoltaic cleaning robot, saving the manpower and reducing the maintenance cost of a power station.
Drawings
Fig. 1 is a schematic perspective view of a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 2 is an exploded structural schematic view of a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 3 is a schematic top view of a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 4 is a schematic front view of a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of an already-operated path when a photovoltaic cleaning robot provided by an embodiment of the present invention sends a return instruction.
Fig. 6 is a schematic diagram of a return voyage of a photovoltaic cleaning robot according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a photovoltaic cleaning robot cruising according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of an exploded structure of a track driving device according to an embodiment of the present invention, which is matched with a vehicle body.
Fig. 9 is an exploded view of a track driving device according to an embodiment of the present invention.
Fig. 10 is a schematic perspective view of a compression frame and a compression module according to an embodiment of the present invention.
Fig. 11 is a schematic diagram of an exploded structure of a compression frame and a compression module according to an embodiment of the present invention.
Fig. 12 is a schematic perspective view of a support fixing beam, a support outside a pinch roller and a support inside the pinch roller according to an embodiment of the present invention.
Fig. 13 is an enlarged perspective view of a bearing frame according to an embodiment of the present invention.
Fig. 14 is an enlarged schematic view of the outer bracket or the inner bracket of the pinch roller according to the embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention will be further described with reference to the drawings and specific examples.
As shown in fig. 1 to 14: the photovoltaic cleaning robot capable of automatically returning and continuing to travel provided by the embodiment of the invention comprises a vehicle body 100, a rolling brush cleaning assembly 200 and a crawler driving device 300, wherein the rolling brush cleaning assembly 200 is arranged on the front side of the vehicle body 100, the photovoltaic cleaning robot cleans a photovoltaic panel through the rolling brush cleaning assembly 200, the crawler driving device 300 is arranged on two sides of the vehicle body 100, the photovoltaic cleaning robot walks under the driving of the crawler driving device 300, the vehicle body 100 comprises a chassis (not shown in the figure) and a frame 101 arranged on the chassis, the frame 101 is provided with a shell 103, the left side wall and the right side wall of the frame 101 are respectively provided with the crawler driving device 300, the chassis is provided with an ultrasonic module 104, a camera module 105, a battery module 106 and a micro control unit (not shown in the figure), and the ultrasonic module 104, the camera module 105 and the battery module 106 are respectively electrically connected with the micro control unit, wherein:
the micro-control unit scores the overall state of the photovoltaic cleaning robot by sensing the electric quantity of the battery module 106, the slip rate of the crawler driving device 300 and the ultrasonic data sent by the ultrasonic module 104, and records the abnormal reason and triggers a return instruction if the period of time is abnormal; the micro-control unit calculates the nearest path to return to the navigation through a decision system according to the operation state and path planning data of the current photovoltaic cleaning robot; and after the fault is solved, the photovoltaic cleaning robot is placed at the starting point again, the starting equipment is initialized, the micro control unit judges scene similarity and the last operation state according to the operation record so as to determine whether a breakpoint cruising function needs to be started, if the breakpoint cruising function is started, the number of lines which are not operated before cruising is returned is analyzed according to the operation record, and the micro control unit controls the photovoltaic cleaning robot to reach the designated position so as to perform continuous operation.
The micro control unit senses the electric quantity of the battery module 106, specifically: the micro control unit performs voltage division sampling on the bus voltage in real time through the double resistors, then transmits the acquired voltage signals to an analog-to-digital converter (ADC) interface in the micro control unit, optimizes and converts the voltage signals through software, and ensures the accuracy of measuring the electric quantity of the battery module 106. For example, when the electric quantity of the battery module 106 is 25V, the voltage acquired by the ADC is 3.16V, and the electric quantity of the battery module 106 is sufficient; when the electric quantity of the battery module 106 is 15V, the voltage acquired by the ADC is 1.896V. In the process of autonomous operation of the photovoltaic cleaning robot, the voltage acquired by the ADC is lower than 1.896V, and the state is maintained to exceed 2 seconds to trigger an abnormal alarm of insufficient electric quantity of the battery module 106.
The track driving device 300 is provided with an encoder, and the encoder is used for feeding back the speed of the track 301 in the track driving device 300 so as to obtain a driving mileage; acquiring the visual mileage of the photovoltaic cleaning robot through the camera module 105; the vehicle body 100 is further provided with an inertial measurement unit (not shown in the drawing) through which the inertial mileage of the photovoltaic cleaning robot is obtained, and then the state of the track driving device 300 is judged to be excellent within the same reasonable range through the driving mileage, the visual mileage and the inertial mileage.
When the deviation among the driving mileage, the visual mileage, and the inertia mileage is large, the slip rate of the track driving device 300 at this time is high, and when the state (i.e., the state where the slip rate is high) is maintained for more than a certain time, for example, 2s, an abnormal alarm of the slip rate being high is triggered.
By monitoring the ultrasonic data transmitted by the ultrasonic module 104, when the photovoltaic cleaning robot is in the cleaning process, the ultrasonic data exceeds the floating range between the vehicle body 100 and the surface of the photovoltaic panel for a long time, and if the state is maintained for a certain time, the abnormal alarm of the ultrasonic data is triggered. Specifically, when the photovoltaic cleaning robot is working on the photovoltaic surface, the ultrasonic data is 30-50mm, if foreign matters are always stuck on the surface of the ultrasonic transmission module 104 at this time, the data obtained by shielding the normal work of the ultrasonic transmission module is 0mm, and other ultrasonic modules 104 are normally in the range of 30-50mm, and the state is maintained for more than 2 seconds to trigger the abnormal alarm of the ultrasonic data.
The vehicle body 100 is provided with a monitoring system, and when the monitoring system receives the abnormal alarm with higher slip rate and/or the abnormal alarm of ultrasonic data, the decision system is informed, the current abnormal reason is recorded, and a return instruction is triggered. The operation mode of the photovoltaic cleaning robot is that the lower end of the photovoltaic array is used as a starting point, the first stage is linearly driven to the last row of components of the photovoltaic array, then the second stage is started to transversely operate until the photovoltaic array is completely covered, so that a return path can be determined according to the operation state of the photovoltaic cleaning robot and the scene of the photovoltaic array, and if the photovoltaic array is linearly driven to the last row of the photovoltaic array, the photovoltaic array can immediately turn around and return; if the transverse operation starts to enter the second stage, and the direction of the photovoltaic cleaning robot is the same as the operation direction of the photovoltaic array, the photovoltaic cleaning robot continues to advance until the photovoltaic cleaning robot starts to turn around and returns to the path of the first stage when the photovoltaic cleaning robot advances to a safe distance allowing turning around, and then turns to the starting point position and runs straight to the starting point; if the transverse operation starts to enter the second stage, the direction of the photovoltaic cleaning robot is opposite to the array operation direction, the photovoltaic cleaning robot continues to travel to a path where the edge of the photovoltaic array reaches the first stage, the operation of turning around next line is canceled, the turning direction is turned to the starting point position, and the photovoltaic cleaning robot travels straight to the starting point.
When the staff solves the problems of insufficient battery power, high slip rate of the driving device or abnormal ultrasonic data, when the equipment is placed below the array to continue operation, the equipment normally completes first-order straight line running to the last line of components of the array, whether the scene and the operation direction are the same as the operation record or not is judged, and if the scene is different, normal and autonomous operation of the cruising function is canceled. If the scenes are the same and the cleaning line number is greater than 2, starting a cruising function, if the equipment operation records that the first line is in the returning operation, directly returning to the starting point of the first line, and then starting autonomous transverse operation; if the equipment operation record is carried out on the even-numbered line, the operation is started from the next line, namely, the autonomous transverse operation is started from the line number of the current even-numbered line plus one.
The track driving module 300 comprises a track 301, a driving module, a driven module, a pressure bearing frame 302 and a pressing module, wherein the driving module, the driven module, the pressure bearing frame 302 and the pressing module are arranged in the track 301, the driven module and the driving module are respectively positioned at the front end and the rear end in the track 301, one side of the pressure bearing frame 302 is fixedly connected with the outer side wall of the frame 101, and the pressing module is movably arranged below the pressure bearing frame 302.
The driving module comprises a driving shaft 303 and a driving wheel 304 fixedly arranged on the driving shaft 303, wherein the driving shaft 303 is driven by a driving motor (not shown in the figure) arranged on the frame 101 to rotate, and the crawler 301 is driven by the driving wheel 304 to move. In addition, a locknut 307 is disposed at one end of the driving shaft 303, which is located at the driving wheel 304, so as to limit the orientation of the driving wheel 304, prevent the driving wheel 304 from being separated from the driving shaft 303, and improve the safety and reliability to a certain extent.
The driven module comprises a driven shaft 305 and a driven wheel 306 arranged on the driven shaft 305, wherein a locknut 307 is arranged at one end of the driven shaft 305, which is positioned at the driven wheel 306, so that the driven wheel 306 can be effectively prevented from falling off from the driven shaft 305, and the safety and reliability are further improved.
The pressure-bearing frame 302 includes first bearing plate 321 and second bearing plate 322, first bearing plate 321 is along the vertical setting of length direction and through fastening bolt (not shown in the figure) fixed the lateral wall of frame 101, second bearing plate 322 along the horizontal setting of length direction and along a lateral wall of length direction with the lower extreme fixed connection of first bearing plate 321, second bearing plate 322 lower surface is provided with multiunit fixed part along length direction, all is provided with a support fixed beam 308 in every fixed part of group, the both ends of support fixed beam 308 are provided with pinch roller outer support 309 and pinch roller inner support 310 respectively, pinch roller outer support 309 with be provided with pinch roller fixed axle 311 between the pinch roller inner support 310, pinch roller fixed axle 311's both ends all are provided with pinch roller 313 through bearing 312, the pinch roller 313 supports and leans on the arc tooth that sets up on track 301 inside wall. Meanwhile, the bracket fixing beam 308, the pinch roller outer bracket 309, the pinch roller inner bracket 310, the pinch roller fixing shaft 311, and the pinch roller 313 form the pinch roller module. In addition, the pinch roller 313, the driving wheel 304, and the driven wheel 306 are engaged with arc-shaped teeth provided on the inner side wall of the track 301, respectively.
The first bearing plate 321 and the second bearing plate 322 are integrally formed, a plurality of reinforcing ribs 320 are arranged on the upper surface of the second bearing plate 322 along the length direction, and one end of each reinforcing rib 320 is fixedly connected with the outer side wall of the first bearing plate 321. Through the design, namely the first bearing plate 321 and the second bearing plate 322 are integrally formed, the combination firmness of the first bearing plate 321 and the second bearing plate 322 can be improved, and the safety and reliability are improved; in addition, the plurality of reinforcing ribs 320 are provided on the second bearing plate 322, so that the strength of the second bearing plate 322 can be further improved, and the purpose of prolonging the service life of the bearing frame 302 can be further achieved.
Each set of fixing parts comprises a first fixing convex part 331 and a second fixing convex part 332, a first fixing hole 333 is arranged in the first fixing convex part 331, a second fixing hole 334 is arranged in the second fixing convex part 332, and two ends of the bracket fixing beam 308 are respectively arranged in the first fixing hole 333 and the second fixing hole 334. Meanwhile, the first fixing protrusion 331 is fixedly disposed at a front end of the lower surface of the second bearing plate 322, and the second fixing protrusion 332 is fixedly disposed at a rear end of the lower surface of the second bearing plate 322. In addition, the first fixing protrusion 331 may be formed by extending the front end of the first bearing plate 322 downward, so that the firmness of the combination of the first fixing protrusion 331 and the second bearing plate 322 can be improved, and the safety and reliability can be further improved.
The outer bracket 309 and the inner bracket 310 of the pinch roller comprise a mounting portion 314, a first connecting plate 315 and a second connecting plate 316 are respectively arranged on the left side and the right side of the mounting portion 314, the first connecting plate 315, the second connecting plate 316 and the mounting portion 314 form an inverted V-shaped structure, the end portion of the bracket fixing beam 308 is arranged in a mounting hole 317 on the mounting portion 314, a first connecting hole 318 is arranged at one end, far away from the mounting portion 314, of the first connecting plate 315, a pinch roller fixing shaft 311 is arranged in the first connecting hole 318, a second connecting hole 319 is arranged at one end, far away from the mounting portion 314, of the second connecting plate 316, and the pinch roller fixing shaft 311 is arranged in the second connecting hole 319.
Through the above design, that is, the outer bracket 309 and the inner bracket 310 of the pinch roller comprise the mounting portion 314, and the left side and the right side of the mounting portion 314 are respectively provided with the first connecting plate 315 and the second connecting plate 316 in an outward extending manner, that is, the first connecting plate 315 and the second connecting plate 316 are integrally formed with the mounting portion 314, so that the combination firmness of the first connecting plate 315 and the second connecting plate 316 with the mounting portion 314 can be improved; since the mounting portion 314 is provided with the mounting hole 317, both ends of the bracket fixing beam 308 are respectively provided in the mounting hole 317 of the mounting portion 314 in the pinch roller outer bracket 309 and the mounting hole 317 of the mounting portion 314 in the pinch roller inner bracket 310, so the pinch roller outer bracket 309 and the pinch roller inner bracket 310 are connected to the second pressure receiving plate 322 through the bracket fixing beam 308.
In addition, since the structure formed by the first connection plate 315, the second connection plate 316 and the mounting portion 314 is an inverted V-shaped structure, the firmness of the connection between the first connection plate 315, the second connection plate 316 and the mounting portion 314 can be further improved; meanwhile, the end of the first connecting plate 315 far away from the mounting portion 314, that is, the end of the first connecting plate 315 is provided with a first connecting hole 318, and the end of the second connecting plate 316 far away from the mounting portion 314, that is, the end of the second connecting plate 316 is provided with a second connecting hole 319, so that the pinch roller fixing shaft 311 is arranged between two corresponding first connecting holes 318 and in two second connecting holes 319 between the pinch roller outer bracket 309 and the pinch roller inner bracket 310, and the two ends of the pinch roller fixing shaft 311 are respectively provided with a pinch roller 313 through bearings 312, that is, the second supporting plate 322 is movably connected with a plurality of pinch rollers 313 through the pinch roller outer bracket 309 and the pinch roller inner bracket 310, so that the pressure-bearing frame 302 is abutted against the inner side wall of the track 301 through a plurality of pinch rollers 313 arranged in parallel to achieve the purpose of tightly contacting the track 301 with the working surface, that is, the photovoltaic panel surface.
According to the photovoltaic cleaning robot capable of automatically returning and continuing the journey, when the electric quantity stage of a battery module of the photovoltaic cleaning robot is low, the slip rate stage of the crawler driving device is high, and the ultrasonic data stage sent by the ultrasonic module is abnormal, the micro-control unit records the reason of the abnormality and returns the journey autonomously; meanwhile, the micro control unit calculates the nearest route to return to the navigation through the decision system according to the current equipment operation state and route planning data; and after the fault is solved, the photovoltaic cleaning robot is placed at the starting point again, and the starting equipment is initialized and judged to continuously operate according to the number of lines of the return record analysis and the continuous operation after the return operation belongs to the same scene as the return operation.
Finally, it should be noted that: the embodiments described above are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. The utility model provides a can return to the journey and photovoltaic cleaning robot of duration automatically, photovoltaic cleaning robot includes automobile body, rolling brush cleaning subassembly and track drive arrangement, rolling brush cleaning subassembly sets up the front side of automobile body, photovoltaic cleaning robot passes through rolling brush cleaning subassembly carries out cleaning operation to photovoltaic board, track drive arrangement sets up the both sides of automobile body, photovoltaic cleaning robot is in walk under track drive arrangement's drive, its characterized in that: the automobile body includes the chassis and sets up the frame on the chassis, be provided with the casing on the frame, the left side wall and the right side wall outside of frame are provided with one respectively track drive arrangement, be provided with ultrasonic module, camera module, battery module and little control unit on the chassis, ultrasonic module, camera module and battery module respectively with little control unit electricity is connected, wherein:
The micro control unit scores the whole state of the photovoltaic cleaning robot by sensing the electric quantity of the battery module, the slip rate of the crawler belt driving device and the ultrasonic data sent by the ultrasonic module, and records the abnormal reason and triggers a return instruction if the whole state is abnormal for a period of time; the micro-control unit calculates the nearest path to return to the navigation through a decision system according to the operation state and path planning data of the current photovoltaic cleaning robot; when the fault is solved, the photovoltaic cleaning robot is placed at a starting point again, starting equipment is initialized, the micro control unit judges scene similarity and the last operation state according to operation records to determine whether a breakpoint cruising function needs to be started, if the breakpoint cruising function is started, the number of lines which are not operated before cruising is returned is analyzed according to the operation records, and the micro control unit controls the photovoltaic cleaning robot to reach a designated position to perform continuous operation;
The micro control unit senses the electric quantity of the battery module, and specifically comprises the following components: the micro control unit performs partial pressure sampling on bus voltage in real time through double resistors, then transmits acquired voltage signals to an analog-to-digital converter interface in the micro control unit, and optimizes and converts the voltage signals;
the crawler driving device is provided with an encoder, and the encoder is used for feeding back the speed of the crawler in the crawler driving device so as to obtain driving mileage;
The visual mileage of the photovoltaic cleaning robot is obtained through the camera module;
The vehicle body is also provided with an inertial measurement unit, the inertial measurement unit is used for acquiring the inertial mileage of the photovoltaic cleaning robot, and then the state of the crawler belt driving device is judged to be good within the same reasonable range through the driving mileage, the visual mileage and the inertial mileage;
When the deviation among the driving mileage, the visual mileage and the inertia mileage is larger, the slip rate of the crawler driving device is higher at the moment, and when the state is maintained for a certain time, an abnormal alarm with higher slip rate is triggered; and monitoring ultrasonic data transmitted by the ultrasonic module, and triggering ultrasonic data abnormality alarm when the ultrasonic data exceeds a floating range between the vehicle body and the surface of the photovoltaic panel for a long time and the state is maintained for a certain time in the cleaning operation process of the photovoltaic cleaning robot.
2. The automatic return and cruising photovoltaic cleaning robot according to claim 1, wherein a monitoring system is arranged on the vehicle body, and when the monitoring system receives the slip rate high abnormality alarm and/or the ultrasonic data abnormality alarm, the decision system is informed, the current abnormality cause is recorded, and a return instruction is triggered.
3. The photovoltaic cleaning robot capable of automatically returning and continuing to travel according to any one of claims 1-2, wherein the crawler driving device comprises a crawler, a driving module, a driven module, a pressure bearing frame and a pressing module, wherein the driving module, the driven module, the pressure bearing frame and the pressing module are arranged in the crawler, the driven module and the driving module are respectively positioned at the front end and the rear end in the crawler, one side of the pressure bearing frame is fixedly connected with the outer side wall of the frame, and the pressing module is movably arranged below the pressure bearing frame.
4. The automatic return and cruising photovoltaic cleaning robot according to claim 3, wherein the driving module comprises a driving shaft and a driving wheel fixedly arranged on the driving shaft, the driving shaft rotates under the driving of a driving motor arranged on the frame, and the caterpillar is driven to move by the driving wheel.
5. The automatic return and cruising photovoltaic cleaning robot according to claim 3, wherein the driven module comprises a driven shaft and a driven wheel arranged on the driven shaft, and a locknut is arranged at one end of the driven shaft, which is positioned on the driven wheel.
6. The photovoltaic cleaning robot capable of automatically returning and continuing to travel according to claim 3, wherein the pressure-bearing frame comprises a first pressure-bearing plate and a second pressure-bearing plate, the first pressure-bearing plate is vertically arranged along the length direction and is fixedly arranged on the outer side wall of the frame through a fastening bolt, the second pressure-bearing plate is horizontally arranged along the length direction and is fixedly connected with the lower end of the first pressure-bearing plate along one side wall of the length direction, and a plurality of groups of fixing parts are arranged on the lower surface of the second pressure-bearing plate along the length direction.
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