CN117584155A - Intelligent carrying mechanism of wall-climbing type photovoltaic cleaning robot - Google Patents
Intelligent carrying mechanism of wall-climbing type photovoltaic cleaning robot Download PDFInfo
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- CN117584155A CN117584155A CN202410073944.5A CN202410073944A CN117584155A CN 117584155 A CN117584155 A CN 117584155A CN 202410073944 A CN202410073944 A CN 202410073944A CN 117584155 A CN117584155 A CN 117584155A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 95
- 230000009194 climbing Effects 0.000 claims description 12
- 238000010801 machine learning Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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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
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent carrying mechanism of a wall-climbing type photovoltaic cleaning robot, which belongs to the technical field of photovoltaic cleaning robots and comprises a motion flight module, an identification grabbing module, an intelligent scheduling module and the wall-climbing type photovoltaic cleaning robot; the motion flight module is arranged above the identification grabbing module; the identification grabbing module is arranged above the wall-climbing type photovoltaic cleaning robot; the intelligent scheduling module comprises an intelligent scheduling module I and an intelligent scheduling module II, and the intelligent scheduling module I and the intelligent scheduling module II are respectively integrated in the control system of the motion flight module and the wall-climbing type photovoltaic cleaning robot. The intelligent carrying mechanism of the wall-climbing type photovoltaic cleaning robot provided by the invention realizes the crossing operation of the wall-climbing type photovoltaic cleaning robot between photovoltaic panel groups, embeds an intelligent control system into the mechanism and the wall-climbing type photovoltaic cleaning robot, and realizes the unmanned and intelligent photovoltaic cleaning operation.
Description
Technical Field
The invention belongs to the technical field of photovoltaic cleaning robots, and particularly relates to an intelligent carrying mechanism of a wall-climbing type photovoltaic cleaning robot.
Background
Solar energy is a strategic development goal of the energy industry in China due to the characteristics of green and sustainability, and photovoltaic power stations such as bamboo shoots in spring after rain are continuously distributed in all regions of the country under the background. The installation amount of the photovoltaic panel is rapidly increased at the present stage, and the problems of the industry are increasingly prominent. Due to the lighting characteristic of the photovoltaic panel, the photovoltaic panel needs to be installed in an exposed environment, and the photovoltaic panel is seriously stained due to dust accumulation and accumulation, so that the power generation efficiency of the photovoltaic panel is greatly reduced. At present, the cleaning of photovoltaic panels mainly relies on manual operation, has the problems of low cleaning efficiency, incomplete cleaning, high labor cost and the like, and traditional intelligent cleaning robot cleaning equipment on the market is limited by the ground, cannot move flexibly, and is difficult to adapt to complex photovoltaic panel layout. Therefore, a mobile device capable of helping the cleaning robot overcome complex terrains is needed to ensure that the operation and maintenance operations of the photovoltaic cleaning robot are smoothly performed, and meanwhile, the device can be combined to enable the operation and maintenance operations of the photovoltaic cleaning robot to be unmanned and intelligent.
Disclosure of Invention
The invention aims to provide an intelligent carrying mechanism of a wall-climbing type photovoltaic cleaning robot, which solves the technical problem that the wall-climbing type photovoltaic cleaning robot is difficult to adapt to a complex photovoltaic panel layout in the technology.
In order to achieve the aim, the invention provides an intelligent carrying mechanism of a wall-climbing type photovoltaic cleaning robot, which comprises a motion flight module, an identification grabbing module, an intelligent scheduling module and the wall-climbing type photovoltaic cleaning robot; the motion flight module is arranged above the identification grabbing module; the identification grabbing module is arranged above the wall-climbing type photovoltaic cleaning robot; the intelligent scheduling module comprises an intelligent scheduling module I and an intelligent scheduling module II, and the intelligent scheduling module I and the intelligent scheduling module II are respectively integrated in the control system of the motion flight module and the wall-climbing type photovoltaic cleaning robot.
Preferably, the motion flight module is provided with the wide-angle camera for the motion flight module is in the real-time supervision of flight engineering, and utilizes the machine learning technique, can realize unmanned intelligent flight, and the bottom surface both sides of motion flight module are all installed mechanical telescopic leg, make motion flight module can climb the wall type photovoltaic cleaning robot and carry out the standby rest on the ground when wasing the operation, increase the duration of aircraft work.
Preferably, the recognition grabbing module comprises an active grabbing sub-module and a passive grabbing sub-module, wherein the active grabbing sub-module is installed below the moving flight module and used for actively grabbing work, and the passive grabbing sub-module is connected above the wall-climbing type photovoltaic cleaning robot.
Preferably, the active grabbing sub-module consists of an upper base, a power hinge and a mechanical grabbing disc; one end of the upper base is connected with the motion flight module, the other end of the upper base is connected with the power hinge, and one end of the power hinge away from the upper base is connected with the mechanical grabbing disc to realize flexible grabbing angles.
Preferably, the passive grabbing sub-module consists of a passive grabbing sub-module fixing plate, a hanging straight line and a lower base; the passive sub-module fixed disk that snatchs sets up hang the top of straight line, hang the straight line keep away from passive one end of snatching the sub-module fixed disk with the lower base is connected, the lower base sets up climb wall type photovoltaic cleaning robot's top, hang the straight line and be used for moving the flight module and provide cushioning effect when will climbing wall type photovoltaic cleaning robot and put on the photovoltaic board, be provided with biax inclination sensor on the lower base, detect and climb the wall type photovoltaic cleaning robot this inclination.
Preferably, the mechanical grabbing disc comprises an active grabbing sub-module fixing disc, a linear electric cylinder and a mechanical grabbing hook, wherein the active grabbing sub-module fixing disc is arranged at the top of the mechanical grabbing disc, the linear electric cylinder is fixed on the active grabbing sub-module fixing disc, and the mechanical grabbing hook is arranged at the tail end of the linear electric cylinder.
Preferably, the center of initiative snatch sub-module fixed disk is provided with the camera, through machine learning technique, discerns passive snatch sub-module, just both ends all are provided with distance sensor about the camera, the upper and lower both ends of camera all are provided with first correlation sensor.
Preferably, the upper end and the lower end of the passive grabbing sub-module fixing plate are respectively provided with a second correlation sensor, and the second correlation sensors are arranged opposite to the first correlation sensors and used for calibrating positions during butt joint and ensuring the accuracy of the active grabbing sub-module and the passive grabbing sub-module during butt joint.
Preferably, the intelligent scheduling module I and the intelligent scheduling module II are connected through wireless communication.
Therefore, the intelligent carrying mechanism of the wall-climbing type photovoltaic cleaning robot with the structure has the following beneficial effects:
(1) The intelligent flight carrying mechanism provided by the invention can solve the technical problem that the wall-climbing type photovoltaic cleaning robot is difficult to adapt to complex photovoltaic panel layout, and realizes the crossing operation of the wall-climbing type photovoltaic cleaning robot between photovoltaic panel groups;
(2) The flying mechanism can identify the information of the photovoltaic panel and the information of stains on the photovoltaic panel by using a machine learning technology, so that unmanned automatic inspection is realized;
(3) The intelligent flying mechanism disclosed by the invention can automatically stop and rest when the photovoltaic cleaning robot is used for cleaning, so that the working endurance of the intelligent flying mechanism serving as a recognition and carrying tool is greatly increased;
(4) The flying mechanism and the intelligent cleaning robot integrally form an intelligent operation and maintenance system, and the machine learning technology and the intelligent scheduling control system are used for truly realizing unmanned and intelligent photovoltaic cleaning operation and maintenance work, improving the efficiency of the operation and maintenance work and reducing the operation and maintenance cost.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a schematic diagram of the whole structure of an intelligent carrying mechanism of a wall-climbing type photovoltaic cleaning robot;
FIG. 2 is a schematic diagram of the overall structure of the sports flight module of the present invention;
FIG. 3 is a schematic view of the structure of the photovoltaic cleaning robot of the present invention;
FIG. 4 is a schematic view of the active gripping sub-module mounting plate of the present invention from the bottom view;
FIG. 5 is a schematic top view of a passive gripping sub-module retention tray of the present invention;
fig. 6 is a schematic structural diagram of the active grabbing sub-module fixing plate according to the present invention.
1, a sport flight module; 101. a wide angle camera; 102. a mechanical telescoping leg; 2. identifying a grabbing module; 21. actively grabbing the sub-module; 211. a power hinge; 212. mechanical grabbing disc; 2121. a mechanical grapple; 2122. a linear electric cylinder; 2123. actively grabbing a submodule fixing disc; 213. an upper base; 22. a passive grabbing sub-module; 221. passively grabbing a sub-module fixing plate; 222. hanging a straight line; 223. a lower base; 3. wall climbing type photovoltaic cleaning robot; 4. a dual-axis tilt sensor; 5. a first correlation sensor; 6. a distance sensor; 7. a second correlation sensor; 8. a camera is provided.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1-6, an intelligent carrying mechanism of a wall-climbing type photovoltaic cleaning robot comprises a motion flight module 1, an identification grabbing module 2, an intelligent scheduling module and a wall-climbing type photovoltaic cleaning robot 3; the movement flight module 1 is arranged above the recognition grabbing module 2; the recognition grabbing module 2 is arranged above the wall-climbing type photovoltaic cleaning robot 3; the intelligent scheduling module comprises an intelligent scheduling module I and an intelligent scheduling module II, wherein the intelligent scheduling module I and the intelligent scheduling module II are respectively integrated inside a control system of the motion flight module 1 and the wall-climbing type photovoltaic cleaning robot 3, and the intelligent scheduling module I and the intelligent scheduling module II are connected through wireless communication. The motion flight module 1 is provided with the wide-angle camera 101 for the motion flight module 1 is monitored in real time in flight engineering, and the unmanned intelligent flight can be realized by applying a machine learning technology, and mechanical telescopic legs 102 are arranged on two sides of the bottom surface of the motion flight module 1, so that the motion flight module 1 can stand by for rest on the ground when the wall-climbing type photovoltaic cleaning robot 3 performs cleaning operation, and the cruising intensity of the operation of the aircraft is increased. The recognition grabbing module 2 comprises an active grabbing sub-module 21 and a passive grabbing sub-module 22, wherein the active grabbing sub-module 21 is arranged below the moving flight module 1 and used for actively grabbing work, and the passive grabbing sub-module 22 is connected above the wall-climbing type photovoltaic cleaning robot 3. The active grabbing sub-module 21 consists of an upper base 213, a power hinge 211 and a mechanical grabbing disc; one end of the upper base 213 is connected with the sports flight module 1, the other end of the upper base 213 is connected with the power hinge 211, and one end of the power hinge 211 far away from the upper base 213 is connected with the mechanical grabbing disc 212, so that a flexible grabbing angle is realized. The mechanical grabbing disc 212 comprises an active grabbing sub-module fixed disc 2123, a linear electric cylinder 2122 and a mechanical grabbing hook 2121, wherein the active grabbing sub-module fixed disc 2123 is arranged at the top of the mechanical grabbing disc 212, the linear electric cylinder 2122 is fixed on the active grabbing sub-module fixed disc 2123, the mechanical grabbing hook 2121 is arranged at the tail end of the linear electric cylinder 2122, the linear electric cylinder 2122 is in an extending state when the active grabbing sub-module 21 is in a loose state, and the linear electric cylinder 2122 is in a contracted state when the active grabbing sub-module 21 is in a grabbing state. The center of initiative snatch submodule piece fixed disk 2123 is provided with camera 8, through the machine learning technique, discerns passive snatch submodule piece 22, and the both ends all are provided with distance sensor 6 about camera 8, and the upper and lower both ends of camera 8 all are provided with first correlation sensor 5. The passive grabbing sub-module 22 consists of a passive grabbing sub-module fixing plate 221, a hanging straight line 222 and a lower base 223; the passive grasping submodule fixed disc 221 is arranged above the hanging straight line 222, one end of the hanging straight line 222, which is far away from the passive grasping submodule fixed disc 221, is connected with the lower base 223, the lower base 223 is arranged above the wall climbing type photovoltaic cleaning robot 3, the hanging straight line 222 is used for providing a buffer function when the moving flight module 1 places the wall climbing type photovoltaic cleaning robot 3 on a photovoltaic panel, and the lower base 223 is provided with the double-shaft inclination sensor 4 for detecting the inclination of the wall climbing type photovoltaic cleaning robot 3. The upper and lower both ends of passive grabbing sub-module fixed disk 221 all are provided with second correlation sensor 7, and second correlation sensor 7 and first correlation sensor 5 set up relatively for calibration position when docking guarantees the accuracy when initiative grabbing sub-module 21 and passive grabbing sub-module 22 dock.
Examples
The photovoltaic cleaning robot can be any wall-climbing type photovoltaic cleaning robot 3 reaching the weight standard on the market, the movement flight module 1 is connected above the identification grabbing module 2, the identification grabbing module 2 is connected above the wall-climbing type photovoltaic cleaning robot 3, the movement flight module 1 is in a contracted state at other times except when the photovoltaic cleaning robot lands and rests during the cleaning work, the mechanical telescopic legs 102 are in a state shown in fig. 1 before being started, and the mechanical grippers 2121 are in a clamping state.
After the intelligent scheduling module I starts up, the intelligent scheduling module I controls the movement flight module 1 to fly to the photovoltaic panel, the intelligent flight mechanism can carry the wall-climbing type photovoltaic cleaning robot 3 to the photovoltaic panel, and when the intelligent scheduling module I stops on the photovoltaic panel, the hanging straight line 222 provides a buffer function, so that the damage probability of the photovoltaic panel in the process is reduced. When the photovoltaic cleaning robot successfully stops on the photovoltaic panel, the intelligent scheduling module controls the mechanical grapple 2121 to be in a loose state, the active grabbing sub-module 21 is separated from the passive grabbing sub-module 22, the moving flight module 1 flies to the upper air of the group of photovoltaic panels, the image acquisition of the photovoltaic panels is carried out through the installed cameras 8, the image information of the photovoltaic panels and the position information of the photovoltaic panels where the wall climbing type photovoltaic cleaning robot 3 is located are processed by using a machine learning technology, and the cleaning operation and maintenance route of the group of photovoltaic panels is automatically planned. When the photovoltaic panel cleaning route of the group where the wall-climbing type photovoltaic cleaning robot 3 is located is planned, the intelligent scheduling module I can send route information to the wall-climbing type photovoltaic cleaning robot 3, at the moment, the wall-climbing type photovoltaic cleaning robot 3 is started to carry out cleaning operation according to the planned route, and the intelligent flying mechanism can automatically identify, judge and stop at a flatter region for stopping and resting through a machine learning technology, so that the cruising performance of the identifying and carrying work is improved. When the cleaning of one group of photovoltaic panels is completed, the wall-climbing type photovoltaic cleaning robot 3 sends information to the intelligent flying mechanism through the intelligent scheduling module II, the intelligent flying mechanism is started at the moment, the wall-climbing type photovoltaic cleaning robot 3 is conveyed to the next group of photovoltaic panels, and the working flow is repeated. The inspection task can be implemented on the photovoltaic power station under the condition of no load, the photovoltaic panel and stains on the panel are identified by using a machine learning technology, the position information and the stain information of the photovoltaic panel are stored, a route is planned for the following cleaning task, and the intelligent unmanned photovoltaic cleaning task is realized.
Specifically, when the intelligent flying mechanism performs grabbing operation on the wall-climbing type photovoltaic cleaning robot 3, the intelligent dispatching module I controls the moving flying module 1 to approach the wall-climbing type photovoltaic cleaning robot 3, when the intelligent flying mechanism is positioned above and nearby the wall-climbing type photovoltaic cleaning robot 3, the camera 8 at the center of the mechanical grabbing disc is started, the passive grabbing sub-module fixing disc 221 is identified by image comparison, the distance sensor 6 and the correlation sensor on the active grabbing sub-module fixing disc 2123 are opened, the distance sensor 6 can control the balance of the axes of the active grabbing sub-module fixing disc 2123 and the passive grabbing sub-module fixing disc 221, the other axis is controlled by the correlation sensors installed on the two discs, the disc surfaces of the two discs are parallel, and the two discs are positioned by the correlation sensors, so that the two discs are in accurate butt joint, and the active grabbing sub-module 21 can accurately grab the passive grabbing sub-module 22. Install biax inclination sensor 4 on climbing wall formula photovoltaic cleaning robot 3, can detect climbing wall formula photovoltaic cleaning robot 3 inclination this moment, because passive grasping submodule piece fixed disk 221 is the same with photovoltaic cleaning robot's inclination, so intelligent scheduling module II just can give motion flight module 1 with inclination information, motion flight module 1 can be according to the inclination information of the passive grasping submodule piece fixed disk 221 that receives this moment, adjust power hinge 211 in advance for grasping work more efficiency and accuracy.
Therefore, the intelligent carrying mechanism of the wall-climbing type photovoltaic cleaning robot is used for solving the technical problem that the wall-climbing type photovoltaic cleaning robot is difficult to adapt to complex photovoltaic panel layout, realizing the crossing operation of the wall-climbing type photovoltaic cleaning robot between photovoltaic panel groups, and embedding an intelligent control system into the mechanism and the robot, thereby realizing unmanned and intelligent photovoltaic cleaning.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (9)
1. Intelligent carrying mechanism of wall-climbing type photovoltaic cleaning robot, its characterized in that: the intelligent control system comprises a motion flight module (1), an identification grabbing module (2), an intelligent scheduling module and a wall-climbing type photovoltaic cleaning robot (3); the motion flight module (1) is arranged above the identification grabbing module (2); the identification grabbing module (2) is arranged above the wall-climbing type photovoltaic cleaning robot (3); the intelligent scheduling module comprises an intelligent scheduling module I and an intelligent scheduling module II, wherein the intelligent scheduling module I and the intelligent scheduling module II are respectively integrated in the control system of the motion flight module (1) and the wall-climbing type photovoltaic cleaning robot (3).
2. An intelligent carrying mechanism of a wall climbing type photovoltaic cleaning robot according to claim 1, wherein: the wide-angle camera (101) is installed on the movement flight module (1), and mechanical telescopic legs (102) are installed on two sides of the bottom surface of the movement flight module (1).
3. An intelligent carrying mechanism of a wall climbing type photovoltaic cleaning robot according to claim 1, wherein: the recognition grabbing module (2) comprises an active grabbing sub-module (21) and a passive grabbing sub-module (22), the active grabbing sub-module (21) is installed below the moving flight module (1), and the passive grabbing sub-module (22) is connected above the wall-climbing type photovoltaic cleaning robot (3).
4. An intelligent carrying mechanism for a wall-climbing photovoltaic cleaning robot according to claim 3, wherein: the active grabbing sub-module (21) consists of an upper base (213), a power hinge (211) and a mechanical grabbing disc (212); one end of the upper base (213) is connected with the motion flight module (1), the other end of the upper base (213) is connected with the power hinge (211), and one end of the power hinge (211) away from the upper base (213) is connected with the mechanical grabbing disc (212).
5. An intelligent carrying mechanism for a wall-climbing photovoltaic cleaning robot according to claim 4, wherein: the passive grabbing sub-module (22) consists of a passive grabbing sub-module fixing plate (221), a hanging straight line (222) and a lower base (223); the passive grabbing sub-module fixing plate (221) is arranged above the hanging straight line (222), one end, away from the passive grabbing sub-module fixing plate (221), of the hanging straight line (222) is connected with the lower base (223), the lower base (223) is arranged above the wall-climbing type photovoltaic cleaning robot (3), and the lower base (223) is provided with a double-shaft inclination sensor (4).
6. The intelligent carrying mechanism of a wall-climbing photovoltaic cleaning robot according to claim 5, wherein: the mechanical grabbing disc (212) comprises an active grabbing sub-module fixing disc (2123), a linear electric cylinder (2122) and a mechanical grabbing hook (2121), wherein the active grabbing sub-module fixing disc (2123) is arranged at the top of the mechanical grabbing disc (212), the linear electric cylinder (2122) is fixed on the active grabbing sub-module fixing disc (2123), and the mechanical grabbing hook (2121) is arranged at the tail end of the linear electric cylinder (2122).
7. The intelligent carrying mechanism of a wall-climbing photovoltaic cleaning robot according to claim 6, wherein: the center of initiative snatch submodule piece fixed disk (2123) is provided with camera (8), through the machine learning technique, discerns passive snatch submodule piece (22), just both ends all are provided with distance sensor (6) about camera (8), the upper and lower both ends of camera (8) all are provided with first correlation sensor (5).
8. The intelligent carrying mechanism of a wall climbing type photovoltaic cleaning robot according to claim 7, wherein: the upper end and the lower end of the passive grabbing sub-module fixing plate (221) are respectively provided with a second correlation sensor (7), and the second correlation sensors (7) and the first correlation sensors (5) are oppositely arranged.
9. The intelligent carrying mechanism of a wall climbing type photovoltaic cleaning robot according to claim 8, wherein: the intelligent scheduling module I and the intelligent scheduling module II are connected through wireless communication.
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| CN202410073944.5A CN117584155A (en) | 2024-01-18 | 2024-01-18 | Intelligent carrying mechanism of wall-climbing type photovoltaic cleaning robot |
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| CN116749185A (en) * | 2023-06-19 | 2023-09-15 | 国家电投集团江西电力有限公司 | Intelligent cleaning device and method with cooperation of multiple unmanned aerial vehicles and multiple robots |
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