CN116131746A - Photovoltaic panel cleaning robot and control method - Google Patents
Photovoltaic panel cleaning robot and control method Download PDFInfo
- Publication number
- CN116131746A CN116131746A CN202211738601.3A CN202211738601A CN116131746A CN 116131746 A CN116131746 A CN 116131746A CN 202211738601 A CN202211738601 A CN 202211738601A CN 116131746 A CN116131746 A CN 116131746A
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- Prior art keywords
- cleaning
- photovoltaic panel
- assembly
- height
- piece
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- 238000004140 cleaning Methods 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract description 3
- 238000001514 detection method Methods 0.000 description 8
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 241000521257 Hydrops Species 0.000 description 1
- 206010030113 Oedema Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000004836 empirical method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- 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
-
- 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
-
- 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
-
- 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
Abstract
The invention discloses a photovoltaic panel cleaning robot and a control method, and relates to the technical field of robots. Including the fuselage, still include: a cleaning assembly for cleaning the surface of the photovoltaic panel; the height adjusting component is used for controlling the height of the cleaning component; the quick-release connecting piece is used for fixing the cleaning assembly and realizing quick disassembly and installation of the cleaning assembly. The cleaning assembly comprises a connecting plate, the connecting plate is fixed on a cleaning piece support, a rotating shaft is fixed inside the cleaning piece support, a cleaning brush is paved on the outer surface of the rotating shaft, and the rotating shaft is driven by a servo motor. Through setting up two preceding clean subassemblies to the cooperation of a plurality of back clean subassemblies is used, can face the work demand under the different environment. The quick-release connecting assembly is matched with the use of the quick-release connecting assembly, so that the quick-release connecting assembly is very convenient to replace, and is time-saving and labor-saving.
Description
Technical Field
The invention relates to the field of robots, in particular to a photovoltaic panel cleaning robot and a control method.
Background
The photovoltaic panel is equipment capable of converting sunlight irradiation into electric energy, and dust is easy to accumulate under the condition that the surface of the photovoltaic panel is used for a long time, so that the power generation efficiency is affected. There is therefore a need for cleaning the photovoltaic panels of a photovoltaic power plant at regular intervals. The manual cleaning method is time-consuming and labor-consuming, and is easy to damage the photovoltaic panel. Robots are therefore emerging on the market to replace manual cleaning of photovoltaic panels.
The traditional cleaning robot generally adopts a fixed cleaning assembly to work when in use, and the working mode of the robot is single, so that the robot cannot adapt to cleaning work in various non-communication environments.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the photovoltaic panel cleaning robot which can provide different cleaning assemblies, is suitable for cleaning work of the photovoltaic panel under different environments, and is convenient to disassemble and assemble and improves the replacement efficiency.
In order to achieve the above purpose, the invention is realized by the following technical scheme: a photovoltaic panel cleaning robot comprising a body, further comprising:
a cleaning assembly for cleaning the surface of the photovoltaic panel;
the height adjusting component is used for controlling the height of the cleaning component;
the quick-release connecting piece is used for fixing the cleaning assembly and realizing quick disassembly and installation of the cleaning assembly.
Preferably, the cleaning assembly comprises a connecting plate, the connecting plate is fixed on a cleaning piece support, a rotating shaft is fixed inside the cleaning piece support, a cleaning brush is paved on the outer surface of the rotating shaft, and the rotating shaft is driven by a servo motor.
Preferably, the cleaning assembly comprises a connecting plate, the connecting plate is fixed on a support, a plurality of cleaning units are fixed on the support, each cleaning unit is a disc brush, and the disc brush is controlled to rotate by a servo motor.
Preferably, the machine body comprises a frame, a cleaning piece mounting frame is fixed on the frame, an elastic quick-release head and a positioning head are arranged on the cleaning piece mounting frame, and an arc-shaped clamping groove and a positioning groove are formed in the position of the connecting plate, corresponding to the elastic quick-release head and the positioning head.
Preferably, the circle center of the arc-shaped track line of the arc-shaped clamping groove is the circle center of the positioning groove.
Preferably, the height adjusting component comprises a height adjusting motor, an output unit of the height adjusting motor is fixed with the height adjusting connecting piece, and the other end of the height adjusting connecting piece is fixed with the cleaning component.
The invention also provides a control method of the photovoltaic panel cleaning robot, wherein the height control of the cleaning assembly by the height adjusting assembly comprises the following specific control modes:
a. when the machine enters a station, the height of the cleaning component is increased by the heightening component;
b. during operation of the machine, the height adjustment assembly lowers the cleaning assembly height.
Preferably, in the step b, the load current of the motor is controlled to be higher than the rated current during the process that the height of the cleaning assembly is reduced by the height adjusting assembly.
The invention provides a photovoltaic panel cleaning robot. The beneficial effects are as follows:
this photovoltaic board cleaning robot is through setting up two preceding clean subassemblies to cooperation use of a plurality of back clean subassemblies can face the work demand under the different environment. The quick-release connecting assembly is matched with the use of the quick-release connecting assembly, so that the quick-release connecting assembly is very convenient to replace, and is time-saving and labor-saving. The setting of heightening subassembly also can guarantee that the robot is in the course of the work, abluent dynamics, can heighten when charging, avoids causing the damage to the charging plate.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the fuselage of the present invention;
FIG. 3 is a schematic view of a front cleaning assembly according to the present invention;
FIG. 4 is a schematic view of a front cleaning assembly according to the present invention;
FIG. 5 is a schematic view of the bottom structure of the fuselage of the present invention;
FIG. 6 is a schematic view of a rear cleaning assembly according to one embodiment of the present invention;
FIG. 7 is a schematic view of a rear cleaning assembly according to one embodiment of the present invention;
FIG. 8 is a cross-sectional view of one of the rear cleaning assemblies of the present invention;
FIG. 9 is a cross-sectional view of one of the rear cleaning assemblies of the present invention;
FIG. 10 is a schematic view of a charging pad according to the present invention;
FIG. 11 is a schematic illustration of the operation of the machine of the present invention;
in the figure: 1 fuselage, 101 frame, 102 detection piece mounting bracket, 103 detection piece mount pad, 104 cleaning piece mounting bracket, 105 detection piece mounting platform, 106 first detection piece mount portion, 2 preceding cleaning component, 3 back cleaning component, 4 first detection piece, 5 second detection piece, 501 mounting bracket, 502 swinging piece, 503 universal wheel, 504 detection switch, 6 quick detach coupling assembly, 601 connecting plate, 602 elasticity quick detach head, 603 positioning head, 604 arc draw-in groove, 605 positioning groove, 7 cleaning piece support, 8 protection casing, 9 height-adjusting motor, 10 rotation axis, 11 cleaning brush, 12 support, 13 disc brush, 14 electrode, 15 charge plate, 16 flannelette brush, 17 hydrops box, 18 extrusion part, 19 overflow mouth, 20 solenoid valve.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Embodiment one:
referring to fig. 1-10, the present invention provides a technical solution: a photovoltaic panel cleaning robot mainly comprises a machine body 1, a front cleaning assembly 2 and a rear cleaning assembly 3.
The fuselage 1 comprises: the frame 101, the frame 101 is gone up to collocation has crawler-type running gear, carries on drive module, power, master control etc. on the frame 101, still carries on control module, positioning module on the frame 101, and positioning module is the RTK module specifically, and wherein includes two RTK antennas. The front end and the rear end of the frame 101 are respectively fixed with the front cleaning assembly 2 and the rear cleaning assembly 3 through the quick-release connecting assembly 6. The two sides of the front end and the rear end of the frame 101 are also provided with a first detecting piece 4 and a second detecting piece 5, and the first detecting piece 4 and the second detecting piece 5 are used for edge detection.
Specific: a test piece mounting platform 105 is provided on the frame 101, and a first test piece mounting portion 106 for mounting an electronic test element is provided on the test piece mounting platform 105, while a protective cover 8 is provided outside thereof.
The front and rear sections of the frame 101 are provided with a detector mount 102 and a cleaner mount 104. The test element mounting bracket 102 is provided with a test element mounting seat 103. The cleaning member mounting frame 104 is provided with an elastic quick release head 602 and a positioning head 603. The front cleaning component 2 and the rear cleaning component 3 are respectively provided with a connecting plate 601, and the positions of the connecting plates 601 corresponding to the elastic quick-release heads 602 and the positioning heads 603 are provided with arc-shaped clamping grooves 604 and positioning grooves 605.
The center of the arc-shaped track line of the arc-shaped clamping groove 604 is the center of the positioning groove 605.
The front cleaning component 2 is also provided with a height-adjusting connecting piece 606, and the end part of the height-adjusting connecting piece 606 is connected with the output end of the height-adjusting motor 9 on the frame 101 through a bolt. The other end of the height-adjusting connecting piece 606 is fixedly connected to the front cleaning assembly 2, and the output end of the height-adjusting motor 9 extends and retracts to control the height change of the cleaning piece 5. The rear cleaning assembly 3 is connected to the frame 101 in the same manner as the front cleaning assembly 2.
In this embodiment, two configurations of front cleaning assemblies 2 are provided, the first front cleaning assembly configuration comprising: the connecting plate 601, the connecting plate 601 is fixed on support 12, be fixed with a plurality of cleaning unit on the support 12, every cleaning unit is a disc brush 13, and the disc brush 13 is rotated by servo motor control.
The second type of front cleaning assembly comprises a connecting plate 601, wherein the connecting plate 601 is fixed on a cleaning piece support 7, a rotating shaft 10 is fixed inside the cleaning piece support 7, a cleaning brush 11 is paved on the outer surface of the rotating shaft 10, and the rotating shaft 10 is controlled and driven by a servo motor.
In this embodiment, three different configurations of the rear cleaning assembly 3 are also provided.
First kind: the rear cleaning assembly 3 has a plate-like structure and is towed by the frame 101 for cleaning.
Second kind: the rear cleaning component 3 consists of a structure of a flannelette brush 16 driven by a motor and a effusion box 17, wherein an extrusion part 18 is fixed on the effusion box 17, and the extrusion part 18 extrudes the outer surface of the flannelette brush 16. The side wall of the effusion box 17 is provided with an overflow port 19. When the waste liquid reaches a certain level, it is discharged from the overflow port 19.
Third kind: on the second basis, an electromagnetic valve 20 is arranged in the effusion box 17, the electromagnetic valve 20 is controlled by a controller, a liquid level meter is arranged in the effusion box 17, the liquid level meter feeds back data to the controller in real time, and when the amount of waste liquid in the effusion box 17 reaches a certain amount, the controller controls the electromagnetic valve 20 to be opened. Normally, the solenoid valve 20 is closed.
The bottom of the frame 101 is provided with a charging electrode 14. The charging plate 15 is laid on the photovoltaic plate when in use. When the robot moves onto the charging plate 15, the purpose of charging the machine is achieved by the electrodes 14.
When the machine is in the walking process and needs to enter the charging plate, the motor is controlled to lift the cleaning piece 5, so that the cleaning piece is prevented from scraping the electrode to cause abrasion. When the machine is not in the range of the charging plate, the motor is powered off, and the cleaning piece falls on the photovoltaic plate under the action of gravity.
For the machine adopting the disc brush, a downward force can be applied to the cleaning piece by using the heightening motor in the running process of the machine, so that the disc brush has downward pressure, and the cleaning effect is improved. The specific control mode is that when the cleaning piece is controlled by the heightening component to descend, the load current of the heightening motor is detected, when the cleaning piece reaches the lowest height, the rolling brush/disc brush is contacted with the surface of the photovoltaic panel, the heightening motor continuously works but the cleaning piece cannot continuously descend, so that the heightening motor increases the load, the load current of the heightening motor is controlled to be larger than the rated current through detection, the state can be determined, when the load current of the heightening motor exceeds the rated current to reach a certain interval, the heightening motor can be controlled to stop, and at the moment, the cleaning piece can keep a downward pressing state, and the cleaning effect is improved. The suitable interval in which the load current exceeds the rated current can be selectively controlled according to different brushes. The numerical value of a specific interval can be obtained by a calculation method or an empirical method.
For the front cleaning piece and the rear cleaning piece of the scheme, the height adjusting device can be arranged to adjust the front cleaning piece or the rear cleaning piece of the machine.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. Photovoltaic panel cleaning robot, including fuselage (1), its characterized in that still includes:
a cleaning assembly for cleaning the surface of the photovoltaic panel;
the height adjusting component is used for controlling the height of the cleaning component;
the quick-release connecting piece is used for fixing the cleaning assembly and realizing quick disassembly and installation of the cleaning assembly.
2. A photovoltaic panel cleaning robot according to claim 1, characterized in that: the cleaning assembly comprises a connecting plate (601), the connecting plate (601) is fixed on a cleaning piece support (7), a rotating shaft (10) is fixed inside the cleaning piece support (7), a cleaning brush (11) is paved on the outer surface of the rotating shaft (10), and the rotating shaft (10) is driven by a servo motor.
3. A photovoltaic panel cleaning robot according to claim 1, characterized in that: the cleaning assembly comprises a connecting plate (601), the connecting plate (601) is fixed on a support (12), a plurality of cleaning units are fixed on the support (12), each cleaning unit is a disc brush (13), and the disc brush (13) is controlled to rotate by a servo motor.
4. A photovoltaic panel cleaning robot according to any one of claims 2 or 3, characterized in that: the machine body (1) comprises a frame (101), a cleaning piece mounting frame (104) is fixed on the frame (101), an elastic quick-release head (602) and a positioning head (603) are arranged on the cleaning piece mounting frame (104), and an arc-shaped clamping groove (604) and a positioning groove (605) are formed in the position of the connecting plate (601) corresponding to the elastic quick-release head (602) and the positioning head (603).
5. A photovoltaic panel cleaning robot as claimed in claim 4, wherein: the circle center of the arc-shaped track line of the arc-shaped clamping groove (604) is the circle center of the positioning groove (605).
6. A photovoltaic panel cleaning robot according to claim 1, characterized in that: the height adjusting assembly comprises a height adjusting motor (9), an output unit of the height adjusting motor (9) is fixed with a height adjusting connecting piece (606), and the other end of the height adjusting connecting piece (606) is fixed with the cleaning assembly.
7. A method for controlling a photovoltaic panel cleaning robot according to claim 6, wherein the height adjusting component performs height control on the cleaning component, and the specific control mode includes:
a. when the machine enters a station, the height of the cleaning component is increased by the heightening component;
b. during operation of the machine, the height adjustment assembly lowers the cleaning assembly height.
8. The method according to claim 7, wherein in the step b, the step b is performed to control the load current of the motor to be higher than the rated current during the step b in which the height of the cleaning assembly is lowered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211738601.3A CN116131746A (en) | 2022-12-31 | 2022-12-31 | Photovoltaic panel cleaning robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211738601.3A CN116131746A (en) | 2022-12-31 | 2022-12-31 | Photovoltaic panel cleaning robot and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116131746A true CN116131746A (en) | 2023-05-16 |
Family
ID=86296741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211738601.3A Pending CN116131746A (en) | 2022-12-31 | 2022-12-31 | Photovoltaic panel cleaning robot and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116131746A (en) |
-
2022
- 2022-12-31 CN CN202211738601.3A patent/CN116131746A/en active Pending
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