CN116048134B - Biax gesture orthotic devices of photovoltaic cleaning robot - Google Patents
Biax gesture orthotic devices of photovoltaic cleaning robot Download PDFInfo
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- CN116048134B CN116048134B CN202310095365.6A CN202310095365A CN116048134B CN 116048134 B CN116048134 B CN 116048134B CN 202310095365 A CN202310095365 A CN 202310095365A CN 116048134 B CN116048134 B CN 116048134B
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- 238000010248 power generation Methods 0.000 claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention discloses a double-shaft posture correcting device of a photovoltaic cleaning robot, which relates to the technical field of new energy, and comprises four guide wheels, two ultrasonic detectors and a main control board; the photovoltaic cleaning robot comprises driving mechanisms arranged at two end parts of the photovoltaic cleaning robot; the two ultrasonic detectors and the driving mechanism are both in data connection with the main control board; the four guide wheels are arranged on two sides of the photovoltaic cleaning robot in pairs, and roll along the side surface of the power generation photovoltaic panel; the two ultrasonic detectors are respectively used for monitoring the distance values between the two guide wheels on the same side and the side face of the power generation photovoltaic panel; the invention can judge whether the photovoltaic cleaning robot inclines and the inclination direction, can operate the corresponding running motor to adjust, achieves the effect of automatically adjusting the inclination, ensures that the photovoltaic cleaning robot normally operates, is more intelligent compared with the traditional photovoltaic cleaning robot, and can also avoid damaging the power generation photovoltaic panel.
Description
Technical Field
The invention relates to the technical field of new energy, in particular to a double-shaft posture correcting device of a photovoltaic cleaning robot.
Background
There are various clean energy sources in China, and solar energy is used as representative of the clean energy sources, and has wide distribution in China, so as to fully utilize the solar energy. More and more public institutions adopt photovoltaic power generation devices to improve the power generation base number of China. However, the photovoltaic panels are installed and paved in different environments and terrains, so that a certain gradient and deviation phenomenon can occur at the joint of part of the photovoltaic panels in the paving process, and the photovoltaic cleaning robot is very easy to cause tilting and blocking phenomena when passing through a gap.
When the photovoltaic cleaning robot encounters strong convection weather such as ascending and descending slopes or sleet hail, the running wheels of the photovoltaic cleaning robot are likely to sideslip or skid, the joint of two adjacent photovoltaic plates is provided with protrusions, the two conditions can easily lead the photovoltaic cleaning robot to incline horizontally along the Z axis, conventional equipment independently adopts guide wheels to process, the mode cannot better correct the posture, and the photovoltaic plates are often damaged, so that the normal use of the photovoltaic cleaning robot is affected.
In view of the above drawbacks, the present inventors have finally achieved the present invention through long-time studies and practices.
Disclosure of Invention
The invention aims to provide a double-shaft posture correction device of a photovoltaic cleaning robot, which solves the problem that the existing photovoltaic cleaning robot cannot be well corrected in posture when encountering the phenomena of inclination and clamping, and effectively realizes the posture correction of the photovoltaic cleaning robot so that the photovoltaic cleaning robot can be normally used.
The invention solves the technical problems through the following technical scheme that the invention comprises four guide wheels, two ultrasonic detectors and a main control board; the photovoltaic cleaning robot comprises driving mechanisms arranged at two end parts of the photovoltaic cleaning robot; the two ultrasonic detectors and the driving mechanism are both in data connection with the main control board;
The four guide wheels are arranged on two sides of the photovoltaic cleaning robot in pairs, and roll along the side surface of the power generation photovoltaic panel; the two ultrasonic detectors are respectively used for monitoring the distance values between the two guide wheels on the same side and the side face of the power generation photovoltaic panel, and the ultrasonic detectors send the monitored distance values to the main control panel; the height direction of the photovoltaic cleaning robot is a Z axis, and when the photovoltaic cleaning robot is inclined horizontally along the Z axis, the main control board operates a corresponding driving mechanism to work according to the running direction and the inclination direction of the photovoltaic cleaning robot, so that the posture of the photovoltaic cleaning robot is corrected;
Utilize biax posture orthotic devices carries out photovoltaic cleaning robot's slope judgement work, and the slope judgement work process includes: when the photovoltaic cleaning robot runs, the two ultrasonic detectors respectively monitor the distance values of the two guide wheels and the side face of the power generation photovoltaic panel in real time, the monitored distance values are sent to the main control panel, and the main control panel judges the state of the photovoltaic cleaning robot according to the difference value of the distance values of the two guide wheels from the power generation photovoltaic panel;
The state judgment mode of the photovoltaic cleaning robot is as follows:
if the difference value of the two groups of distance values is within the error set by the program, the photovoltaic cleaning robot is in a normal state;
If the difference value of the two groups of distance values exceeds the error set by the program and is within the preset difference value, the photovoltaic cleaning robot is in an inclined state;
if the difference value of the two groups of distance values exceeds the error set by the program and exceeds the preset difference value, re-detection is needed, and if the re-detected difference value is recovered to a normal value, abnormal data are proved to be the data of the photovoltaic cleaning robot passing through the gap boundary; if the rechecked data do not recover the normal value, the abnormal data are proved to be the data of the photovoltaic cleaning robot in an inclined state, and the main control board starts to correct the posture.
Preferably, the intelligent cleaning robot further comprises a horizontal inclination sensor in data connection with the main control board, the length direction of the photovoltaic cleaning robot is an X axis, the horizontal inclination sensor is used for monitoring the angle of the photovoltaic cleaning robot when the photovoltaic cleaning robot overturns along the X axis and sending monitored information to the main control board, when the photovoltaic cleaning robot walks in a gradient section and inclines, the inclination value monitored by the horizontal inclination sensor can be changed, and the main control board can control the two driving mechanisms to reduce speed and increase torsion.
Preferably, the horizontal inclination sensor is installed at the middle position of the photovoltaic cleaning robot.
Preferably, the driving mechanism comprises a driving motor and two driving wheels, the driving motor synchronously drives the two driving wheels to rotate, and the two driving wheels roll on the upper surface of the power generation photovoltaic panel.
Preferably, the main control board is an STM32 main control board.
Preferably, the monitoring time of each ultrasonic detector is 0.8 seconds.
Compared with the prior art, the invention has the beneficial effects that:
1. The distance values between the corresponding guide wheels and the side surfaces of the power generation photovoltaic panel are measured by utilizing the two ultrasonic detectors respectively, the main control panel calculates the difference between the two distance values, and whether the photovoltaic cleaning robot is inclined and the inclination direction are judged, so that the corresponding running motor can be operated to adjust, the effect of automatically adjusting the inclination is achieved, the photovoltaic cleaning robot can normally operate, and compared with the traditional device, the photovoltaic cleaning robot is more intelligent, and damage to the power generation photovoltaic panel can be avoided;
2. The horizontal inclination sensor is used for monitoring the X-axis level of the photovoltaic cleaning robot, if a slope is encountered, the main control board can control the two running motors to reduce the speed and the torque, so that the descending speed of the photovoltaic cleaning robot is reduced, the descending speed of the photovoltaic cleaning robot is more stable, and the situation that the photovoltaic cleaning robot sideslips or slips is placed;
3. Whether the photovoltaic cleaning robot passes through the gap between the power generation photovoltaic plates can be judged, whether the photovoltaic cleaning robot is in a passing boundary gap state or in an inclined state can be distinguished, and erroneous judgment is prevented.
Drawings
Fig. 1 is a schematic view of a structure in which a photovoltaic cleaning robot is mounted to a power generation photovoltaic panel;
FIG. 2 is a schematic view of the structure of FIG. 1 with the housing removed;
FIG. 3 is an enlarged schematic view of the structure of FIG. 2A;
FIG. 4 is a schematic view of a partial structure of a photovoltaic cleaning robot;
FIG. 5 is a schematic structural view of a cleaning mechanism of a photovoltaic cleaning robot;
FIG. 6 is a schematic view of a first photovoltaic cleaning robot tilted horizontally along a Z-axis;
fig. 7 is a schematic view of a structure of a second type of photovoltaic cleaning robot tilted horizontally along a Z-axis.
The figures represent the numbers:
1-generating a photovoltaic panel; 2-guiding wheels; 3-an ultrasonic detector; 4-a running motor; 5-running wheels; 6-a cleaning mechanism; 61-cleaning the motor; 62-a drive gear set; 63-a brush roller; 7-a main control board; 8-side plates; 9-connecting rods; 10-sprocket drive; 11-a power supply photovoltaic panel; 12-a housing; 13-horizontal tilt sensor.
Detailed Description
The above and further technical features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1 and 2, the photovoltaic cleaning robot in the invention comprises two symmetrically arranged side plates 8, the two side plates 8 are fixed through two connecting rods 9, mounting plates are mounted on the two connecting rods 9, an STM32 main control board 7 is mounted on the mounting plates, driving mechanisms are arranged on the two side plates 8, the main control board 7 controls the driving mechanisms to operate, a cleaning mechanism 6 is jointly arranged between the two side plates 8, and when in use, the two driving mechanisms are operated to further drive the whole photovoltaic cleaning robot to move along the power generation photovoltaic panel 1, meanwhile, the cleaning mechanism 6 is operated to clean the upper surface of the power generation photovoltaic panel 1, and a power supply photovoltaic panel 11 is arranged on a shell 12 of the photovoltaic cleaning robot and is used for providing power for the photovoltaic cleaning robot.
When the power generation photovoltaic panel 1 is installed, in order to better receive sunlight, the photovoltaic cleaning robot is obliquely arranged, is arranged on the upper side of the power generation photovoltaic panel 1 and is parallel to the power generation photovoltaic panel 1, and when the power generation photovoltaic panel 1 is referenced to the ground, the photovoltaic cleaning robot is obliquely arranged, so that the photovoltaic cleaning robot forms a top end and a bottom end; the length and height of the photovoltaic cleaning robot are defined as the X-axis and Z-axis, respectively.
As shown in fig. 3 and 4, the driving mechanism comprises a running motor 4 which is mounted on a side plate 8 and two running wheels 5 which are rotatably mounted on the side plate 8, the running motor 4 synchronously drives the two running wheels 5 to rotate through a sprocket transmission member 10, the running direction of the photovoltaic cleaning robot is controlled by the steering of the running motor 4, and the running speed of the photovoltaic cleaning robot is controlled by the rotating speed of the running motor 4; the sprocket driving part 10 comprises gears respectively fixed on the running motor 4 and the two running wheels 5, and the three gears are meshed and driven by chains (not shown in the figure), so that when the running motor 4 is operated, the two running wheels 5 can be synchronously driven to rotate, and the photovoltaic cleaning robot can be further moved; to adjust the tightness of the chain, an adjuster is added to the side plates 8.
As shown in fig. 5, the cleaning mechanism 6 includes a brush roller 63 rotatably mounted between two side plates 8, and the brush roller 63 contacts with the upper surface of the power generation photovoltaic panel 1, wherein one side plate 8 is mounted with a cleaning motor 61, and the cleaning motor 61 is in transmission connection with the brush roller 63 by using a transmission gear set 62, so that when the cleaning motor 61 operates, the brush roller 63 is driven to rotate by using the transmission gear set 62, and the brush roller 63 cleans the upper surface of the power generation photovoltaic panel 1.
Example two
The embodiment provides a double-shaft posture correcting device of a photovoltaic cleaning robot, as shown in fig. 3 and 4, two guide wheels 2 are installed on two sides of the photovoltaic cleaning robot in the embodiment, the guide wheels 2 contact with the side edges of a power generation photovoltaic panel 1 and roll, the distance between the guide wheels 2 on the upper side and the lower side is slightly larger than the length of the power generation photovoltaic panel 1, two ultrasonic detectors 3 are installed at the bottom end of the photovoltaic cleaning robot, a main control panel 7, the guide wheels 2, the ultrasonic detectors 3 and a driving motor 4 are combined to form a Z-shaft posture correcting mechanism, the two ultrasonic detectors 3 respectively monitor the distance value between the two guide wheels 2 at the bottom end and the side edges of the power generation photovoltaic panel 1, the ultrasonic detectors 3 send the monitored distance value to the main control panel 7, and the difference value between the distance value between the two guide wheels 2 measured by the two groups of ultrasonic detectors 3 and the boundary distance value of the photovoltaic panel under the normal state is within 10 mm; when the photovoltaic cleaning robot is inclined along the Z-axis and horizontally rotates, the distance value between the two guide wheels 2 and the boundary of the photovoltaic panel can be changed, and the main control board 7 can judge the inclination state of the Z-axis of the photovoltaic cleaning robot according to the difference value between the two guide wheels 2 and the boundary of the photovoltaic panel; by combining the driving direction of the photovoltaic cleaning robot, the corresponding driving mechanism can work, and the posture of the photovoltaic cleaning robot can be corrected.
As shown in fig. 6, when the photovoltaic cleaning robot performs cleaning operation from left to right, if the guiding wheel 2 or the driving wheel 5 at the top end of the photovoltaic cleaning robot encounters the raised power generation photovoltaic panel 1 during driving, the photovoltaic cleaning robot can incline, and the distance value between the guiding wheel 2 at the left side of the bottom end and the boundary of the power generation photovoltaic panel 1 is greater than the distance value between the guiding wheel 2 at the right side and the boundary of the power generation photovoltaic panel 1. When the main control board 7 detects that the boundary distance between the left guide wheel 2 side and the photovoltaic panel is greater than the right guide wheel 2 and greater than the normal error by 10mm, the photovoltaic cleaning robot is judged to incline leftwards, the lower stepping motor is controlled to stop working, the upper stepping motor is controlled to work rightwards, the upper driving wheel 5 is driven rightwards, and the state of Z-axis left inclination is restored to be normal, so that the photovoltaic cleaning robot can smoothly pass through the raised barrier.
As shown in fig. 7, when the photovoltaic cleaning robot performs cleaning operation from right to left, if the guiding wheel 2 or the driving wheel 5 at the top end of the photovoltaic cleaning robot encounters the raised power generation photovoltaic panel 1 during driving, the photovoltaic cleaning robot can incline, and the distance value between the guiding wheel 2 at the left side of the bottom end and the boundary of the power generation photovoltaic panel 1 is smaller than the distance value between the guiding wheel 2 at the right side and the boundary of the power generation photovoltaic panel 1. When the main control board 7 detects that the boundary distance between the left guide wheel 2 side and the photovoltaic panel is greater than the right guide wheel 2 and greater than the normal error by 10mm, the right inclination of the photovoltaic cleaning robot is judged, the lower stepping motor is controlled to stop working, the upper stepping motor works leftwards, the upper driving wheel 5 runs leftwards, and the state of the right inclination of the Z axis is recovered to be normal, so that the photovoltaic cleaning robot can smoothly pass through the raised obstacle.
Example III
The embodiment provides a biax posture correction device of photovoltaic cleaning robot, as shown in fig. 2, the middle position of photovoltaic cleaning robot in this embodiment is installed with horizontal inclination sensor, and horizontal inclination sensor is used for monitoring the horizontal state of photovoltaic cleaning robot X axle, and main control board 7, ultrasonic detector 3 and motor 4 that traveles make up form X axle posture correction mechanism. The horizontal inclination sensor of main control board 7 data connection, the information transmission that horizontal inclination sensor will monitor to main control board 7, and photovoltaic cleaning robot walks and take place the slope at the slope section when, photovoltaic cleaning robot overturn along X axle axis promptly, and the inclination value of horizontal inclination sensor monitoring can change, and main control board 7 can control the motor 4 that traveles of two actuating mechanism and reduce speed and increase and turn round, prevents that it from skidding and leading to the slope.
When the inclination angle value measured by the horizontal inclination angle sensor is 0 degree under the normal state of the photovoltaic cleaning robot, and when the photovoltaic cleaning robot is in an ascending or descending state, the inclination angle value measured by the horizontal inclination angle sensor can be changed, the main control board 7 judges the X-axis inclination state of the photovoltaic cleaning robot through the inclination angle value measured by the horizontal inclination angle sensor, and can judge whether the photovoltaic cleaning robot is in the ascending or descending state at the moment according to the inclination angle value measured by the horizontal inclination angle sensor of the photovoltaic cleaning robot, and meanwhile, the two running motors 4 are controlled to reduce speed and increase torsion, so that the ascending and descending of the photovoltaic cleaning robot are more stable, and the slipping is prevented.
For example, the photovoltaic cleaning robot runs in a downhill state of 30 degrees, the inclination angle value measured by the horizontal inclination angle sensor is-30 degrees, and at the moment, the main control board 7 can control the two running motors 4 to reduce the speed and the torque, so that the downhill speed of the photovoltaic cleaning robot is reduced, and the downhill is more stable.
Example IV
The present embodiment provides a posture correction and judgment method of a photovoltaic cleaning robot, as shown in fig. 3 and 4, according to a dual-axis posture correction device as in the second embodiment, performing a tilt judgment operation of the photovoltaic cleaning robot, the method includes: when the photovoltaic cleaning robot runs, the two ultrasonic detectors 3 monitor the distance values of the two guide wheels 2 and the side face of the power generation photovoltaic panel 1 in real time respectively, the monitored distance values are sent to the main control panel 7, and the main control panel 7 judges the state of the photovoltaic cleaning robot through the difference value of the distance values of the two guide wheels 2 and the power generation photovoltaic panel 1.
The state judgment mode of the photovoltaic cleaning robot is as follows:
if the difference value of the two groups of distance values is within the error set by the program, the photovoltaic cleaning robot is in a normal state, and can stably operate by utilizing the two groups of driving mechanisms;
If the difference value of the two groups of distance values exceeds the error set by the program and is within the preset difference value, the photovoltaic cleaning robot is in an inclined state;
If the difference value of the two groups of distance values exceeds the error set by the program and exceeds the preset difference value, re-checking is needed, the data state is judged by dividing the re-checking into two monitoring periods, the monitoring period of each time of the ultrasonic detector is 0.8 seconds, and if the re-checked difference value is recovered to a normal value, abnormal data are proved to be the data of the photovoltaic cleaning robot passing through the gap boundary; if the rechecked data do not recover the normal value, the abnormal data are proved to be the data of the photovoltaic cleaning robot in an inclined state, and the main control board 7 starts to correct the posture.
Specifically, when the distance value between the left guide wheel 2 and the right guide wheel 2 measured by the two groups of ultrasonic detectors 3 and the boundary of the photovoltaic panel is too large, and when a certain group of distance values are too large or the errors of the two groups of distance values are too large, the main control board 7 monitors the abnormal data twice, the monitoring time length is 0.8s each time, and when the abnormal data is recovered to a normal value after the monitoring time length twice, the abnormal data is proved to be the data of the photovoltaic cleaning robot passing through the boundary of the gap, and the abnormal data belongs to a normal range. If the abnormal data does not recover the normal value after the two monitoring periods, the abnormal data is proved to be the data of the photovoltaic cleaning robot in an inclined state, and the main control board 7 starts to correct the posture.
For example, the traveling speed of the photovoltaic cleaning robot is 15m/min, the sum of the two monitoring times is 1.6S, and the photovoltaic cleaning robot can travel a distance of 400mm in 1.6S according to the traveling speed of the photovoltaic cleaning robot of 250 mm/S. That is, as long as the photovoltaic cleaning robot passes through the gap boundary within 400mm, after the first ultrasonic detector 3 reaches the boundary gap and measures the abnormal distance value, the photovoltaic cleaning robot runs 400mm away from the gap boundary after the monitoring time of 1.6s, and the first ultrasonic detector 3 can go beyond the boundary gap to recover the normal distance value. And the abnormal distance value in the inclined state is also the abnormal distance value after the monitoring period of 1.6s elapses. By the method, the photovoltaic cleaning robot can be well distinguished whether the photovoltaic cleaning robot is in a state of passing through the boundary gap or in an inclined state.
The foregoing description of the preferred embodiment of the invention is merely illustrative of the invention and is not intended to be limiting. It will be appreciated by persons skilled in the art that many variations, modifications, and even equivalents may be made thereto without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. The utility model provides a biax gesture orthotic devices of photovoltaic cleaning robot which characterized in that: comprises four guide wheels, two ultrasonic detectors and a main control board; the photovoltaic cleaning robot comprises driving mechanisms arranged at two end parts of the photovoltaic cleaning robot; the two ultrasonic detectors and the driving mechanism are both in data connection with the main control board;
The four guide wheels are arranged on two sides of the photovoltaic cleaning robot in pairs, and roll along the side surface of the power generation photovoltaic panel; the two ultrasonic detectors are respectively used for monitoring the distance values between the two guide wheels on the same side and the side face of the power generation photovoltaic panel, and the ultrasonic detectors send the monitored distance values to the main control panel; the height direction of the photovoltaic cleaning robot is a Z axis, and when the photovoltaic cleaning robot is inclined horizontally along the Z axis, the main control board operates a corresponding driving mechanism to work according to the running direction and the inclination direction of the photovoltaic cleaning robot, so that the posture of the photovoltaic cleaning robot is corrected;
Utilize biax posture orthotic devices carries out photovoltaic cleaning robot's slope judgement work, and the slope judgement work process includes: when the photovoltaic cleaning robot runs, the two ultrasonic detectors respectively monitor the distance values of the two guide wheels and the side face of the power generation photovoltaic panel in real time, the monitored distance values are sent to the main control panel, and the main control panel judges the state of the photovoltaic cleaning robot according to the difference value of the distance values of the two guide wheels from the power generation photovoltaic panel;
The state judgment mode of the photovoltaic cleaning robot is as follows:
if the difference value of the two groups of distance values is within the error set by the program, the photovoltaic cleaning robot is in a normal state;
If the difference value of the two groups of distance values exceeds the error set by the program and is within the preset difference value, the photovoltaic cleaning robot is in an inclined state;
if the difference value of the two groups of distance values exceeds the error set by the program and exceeds the preset difference value, re-detection is needed, and if the re-detected difference value is recovered to a normal value, abnormal data are proved to be the data of the photovoltaic cleaning robot passing through the gap boundary; if the rechecked data do not recover the normal value, the abnormal data are proved to be the data of the photovoltaic cleaning robot in an inclined state, and the main control board starts to correct the posture.
2. The device for correcting the double-shaft posture of the photovoltaic cleaning robot according to claim 1, further comprising a horizontal inclination sensor in data connection with the main control board, wherein the length direction of the photovoltaic cleaning robot is an X axis, the horizontal inclination sensor is used for monitoring the angle of the photovoltaic cleaning robot when the photovoltaic cleaning robot turns over along the X axis and sending the monitored information to the main control board, when the photovoltaic cleaning robot walks in a gradient section to incline, the inclination value monitored by the horizontal inclination sensor is changed, and the main control board controls the two driving mechanisms to reduce speed and increase torsion.
3. The dual-axis attitude correction device of a photovoltaic cleaning robot according to claim 2, wherein the horizontal tilt sensor is installed at a central position of the photovoltaic cleaning robot.
4. The device for correcting the double-shaft posture of the photovoltaic cleaning robot according to claim 1, wherein the driving mechanism comprises a running motor and two running wheels, the running motor synchronously drives the two running wheels to rotate, and the two running wheels roll on the upper surface of the power generation photovoltaic panel.
5. The dual-axis attitude correction device of a photovoltaic cleaning robot of claim 1, wherein the master control board is an STM32 master control board.
6. The device for correcting the double-shaft posture of the photovoltaic cleaning robot according to claim 1, wherein the recheck is divided into two monitoring periods to judge the data state, and the monitoring period of each ultrasonic detector is 0.8 seconds.
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