CN205253699U - Solar panel cleaning robot - Google Patents
Solar panel cleaning robot Download PDFInfo
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- CN205253699U CN205253699U CN201521115346.2U CN201521115346U CN205253699U CN 205253699 U CN205253699 U CN 205253699U CN 201521115346 U CN201521115346 U CN 201521115346U CN 205253699 U CN205253699 U CN 205253699U
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Abstract
The utility model discloses a solar panel cleaning robot, including the walking car, be provided with the hydraulic stretching arm on the walking car, the front end of hydraulic stretching arm is provided with the roller brush device through the control of brush yoke rotating electrical machines, is provided with the control system of control walking car, hydraulic stretching arm and rotating electrical machines in the walking car, control system includes: the engine control unit, through CAN bus and controller communication, the automatic control to the engine oil door is accomplished in reception control unit's instruction, still controls the air conditioning system of whole robot, data acquisition facility distributes on the solar panel cleaning robot body for gather solar panel cleaning robot's environmental data, erupting simultaneously, it is analytic to deliver to the controller, the controller for receive the data that data acquisition facility gathered, and carry out integrated analysis to the data of gathering and handle, control robot operation, the display is through CAN bus and controller communication. The utility model discloses reduce manual operation, practiced thrift the water resource, improved abluent effect.
Description
Technical field
The utility model relates to a kind of robot, especially a kind of solar panels cleaning robot.
Background technology
Because photovoltaic plant is generally all arranged in comparatively severe natural environment, natural dust is a lot, is nearly all positioned at famineUnconcerned area, periphery vegetation is very rare. Secondly, these desert power stations are also faced with very serious water shortage problem---not onlyAway from water head site, rainwater is less, and underground water is not abundant yet. Moreover, the installation scale of photovoltaic plant easily tens of megawatts and evenHundreds of megawatts, solar panels quantity is especially up to up to ten thousand and even hundreds thousand of, even if having sufficient water source, equipment and manpower,Complete once comprehensive manual cleaning, workload is big, also exceeds common people's the imagination. Therefore a kind of intelligent cleaning of exploitation establishedStandby, substitute to greatest extent manually, improve generating efficiency, socio-economic development and national security are had to important function. ExistingSome solar panels cleaning equipments mostly are manual operation, and the out-of-flatness of working environment ground, and manual operation is difficult to meet operating modeDemand. The use of solar panels cleaning robot will reduce cleaning cost greatly, improve workman's work situation, improve work lifeProductive rate, has suitable society, economic implications and wide application prospect. The research of the current robot for this type of cleaning alsoRipe, reliable scheme without comparison.
Utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, and a kind of solar panels cleaning robot is providedPeople, the problems such as workload is large, water scarcity that it has solved, the autonomous intelligence cruise that can realize cleaning robot is capableWalk, complete solar panels cleaning, cleaning task, not only can reduce artificial quantity and labour intensity, also avoid complicated manual behaviourDo, enhance productivity.
For achieving the above object, the utility model adopts following technical proposals:
A kind of solar panels cleaning robot, comprises moving trolley, is provided with hydraulic telescopic arm, hydraulic telescopic arm on moving trolleyFront end be provided with by the roller brush device of brush holder electric rotating machine control, in moving trolley, be provided with and control moving trolley, hydraulically extensibleThe control system of arm and electric rotating machine;
Described control system comprises:
Control unit of engine, by CAN bus and controller communication, receives the instruction of controller, complete coupled enginesThe automatic control of throttle, is independent of controller, meanwhile, and also control engine separately of control unit of engine, engine controlThe air-conditioning system of whole robot is also controlled in unit processed;
Data acquisition equipment, is distributed in solar panels cleaning robot human body upper, for gathering solar panels cleaning robotPeople's environmental data, and be sent to controller parsing;
Controller, the data that gather for receiving data acquisition equipment, and gathered data are carried out to comprehensive analysis placeReason, generates rational motion planning path; And the outlet by controller is controlled electric-controlled hydraulic proportioning valve and motor, controlRobot manipulating task processed;
Display, by CAN bus and controller communication, for showing the state of whole control system, and is operationThe interface that personnel and control system are mutual.
Described moving trolley comprises vehicle body, and body bottom is controlled respectively two wheels by two running motors, body bottom withBetween wheel supporting axle, be connected with vehicle attitude control hydraulic cylinder, body bottom is also provided with the principal arm revolution liquid of controlling hydraulic telescopic armCylinder pressure.
Described hydraulic telescopic arm is by multistage hydraulic cylinder control.
Described roller brush device comprises the brush holder electric rotating machine that is installed on hydraulic telescopic arm front end, brush holder electric rotating machine drive brushFrame, is provided with roller brush in brush holder, roller brush is by the roller brush rotation motor action of control system control.
On described moving trolley, be also provided with dust-absorbing motor and high-pressure fog motor by control system control.
Data acquisition equipment comprises that ultrasonic sensor, distance measuring sensor, proximity transducer, pressure sensor, rotating speed passSensor, temperature sensor and obliquity sensor; Wherein,
Speed probe car is arranged on the wheel hub of wheel, controls the speed of running motor according to speed feedback, reachesRobot at the uniform velocity walks according to straight line;
Distance measuring sensor detects the distance of cleaning between end and solar panels, by adjusting the action of arms at different levels, makes clearlyWash the parastate of end maintenance and solar panels.
Obliquity sensor is measured the angle of inclination of vehicle body, and controller is controlled respectively two vehicle bodies according to real-time measurement result and adjustedFlat hydraulic cylinder, carries out balance adjustment, keeps vehicle body within a permissible angle of heel degree scope.
Ultrasonic sensor is measured the distance of carrying out between end and clean surface, regulates execution by command range valueThe action of end.
On described vehicle body, there are two operating grips, on each operating grip, have four buttons, the input by handle and pressingEach action of whole robot is controlled in the operation of key.
Described controller is antidetonation, anti-interference equipment, comprises the collection of switching value, analog quantity and controls function, has PWM controlFunction processed, have PWM control feedback function, can with display communication;
Motion planning path, at a key walking process, according to the Distance Judgment of carrying out between end and cleaning surfaceRegulate the action of each arm;
PWM controls, and exports to control electric-controlled hydraulic proportioning valve by controller by PWM, realizes each hydraulic cylinder and motorProportion control, PWM controls feedback function can realize closed-loop adjustment.
The executive component of control system comprises brush holder electric rotating machine, dust-absorbing motor, spraying motor, roller brush rotation motor, a left sideThe hydraulic cylinder of right running motor, arms at different levels, vehicle attitude control hydraulic cylinder.
Whole control system is divided into manual operation and two kinds of patterns of key walking.
Manual operation, has two operating grips on the vehicle body of solar panels cleaning robot, on each operating grip, have fourIndividual button, controls each action of whole robot by the input of handle and the operation of button.
One key walking mode, when the attitude of robot is adjusted to the right place, while starting cleaning solar plate, will open a keyWalking mode, does not now need personnel to operate, and cleaning robot is in full-automatic situation. Under this pattern, robot can completeConstant speed walking, the adjustment of cleaning end, vehicle attitude control, spraying cleaning and dust suction action.
Wherein constant speed walking, install speed probe on each wheel hub, controls running motor according to speed feedbackSpeed, reaches robot and at the uniform velocity walks according to straight line.
Wherein clean end adjustment, detected the distance of cleaning between end and solar panels by distance measuring sensor, by adjustingThe action of whole arms at different levels, makes to clean end and keeps and the parastate of solar panels.
Wherein vehicle attitude control, measures angle of inclination by obliquity sensor, and controller is controlled respectively according to real-time measurement resultMake two hydraulic cylinders, carry out balance adjustment, keep vehicle body within a permissible angle of heel degree scope.
Wherein spraying is cleaned and dust suction, and controller control hydraulic motor completes.
Control system of the present utility model, based on CAN bus design, has been saved a lot of cables. The engine control of robotSent instructions and carried out indirect regulation to engine controller by CAN bus by controller, controller can be according to robot notSelect different generator gears with operating mode, realize the object of saving oil consumption. Display passes through CAN bus and controller communication,Display has multiple interfaces, shows respectively signal or the data of the state of engine, the state of robot, each sensor,And operating personnel can send instruction to controller by button, realize man-machine interaction.
The utility model has been broken away from complete manually operated drawback, has reduced that human cost increases and production efficiency is low etc.Problem. Solar panels cleaning robot has two kinds of operator schemes: manual operation and key walking. When manual operation, operating personnelControl the action of each executive component by two handle input signals; When one key walking, operating personnel only need be sitting in machineIn people's operating room, robot can regulate robot left and right running motor according to linear rows according to the feedback of speed probeWalk, also can regulate car body balance according to the obliquity sensor of installing in robot simultaneously. When in a key walking mode, clearWash robot and can measure the distance of carrying out between end and clean surface according to robot end's ultrasonic sensor, by controlDistance value processed regulates the action of carrying out end. Robot brushes three grades of cleanings, motor dust suction, high-pressure fog by roller and completes tooThe cleaning of sun energy plate, the surface dirt of cleaning solar plate thoroughly.
This solar panels cleaning robot is simplified the whole course of work, has reduced manual operation, has saved water resource,Improve the effect of cleaning, be specially adapted to large-area solar panels and clean.
Brief description of the drawings
Fig. 1 is the utility model cleaning robot mechanical part structural representation;
Fig. 2 is the utility model composition of the control system schematic diagram;
Wherein, 1-roller brush; 2-brush holder electric rotating machine; 3-amplitude modulated hydraulic cylinder; 4-three grades of telescopic hydraulic cylinders; 5-secondaryHydraulic cylinder; 6-one-level hydraulic cylinder; 7-principal arm rotating hydraulic cylinder; 8-vehicle attitude control hydraulic cylinder; The 9-the first running motor; 10-The second running motor; 11-brush holder.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further illustrated.
As shown in Figure 1 and Figure 2, solar panels cleaning robot, comprises moving trolley, is provided with hydraulic telescopic arm on moving trolley,The front end of hydraulic telescopic arm is provided with the roller brush device of controlling by brush holder electric rotating machine 2, is provided with and controls walking in moving trolleyThe control system of car, hydraulic telescopic arm and brush holder electric rotating machine 2;
Control system comprises:
Control unit of engine, by CAN bus and controller communication, receives the instruction of controller, complete coupled enginesThe automatic control of throttle, is independent of controller, meanwhile, and also control engine separately of control unit of engine, engine controlThe air-conditioning system of whole robot is also controlled in unit processed;
Data acquisition equipment, is distributed in solar panels cleaning robot human body upper, for gathering solar panels cleaning robotPeople's environmental data, and be sent to controller parsing;
Controller, the data that gather for receiving data acquisition equipment, and gathered data are carried out to comprehensive analysis placeReason, generates rational motion planning path; And the outlet by controller is controlled electric-controlled hydraulic proportioning valve and motor, controlRobot manipulating task processed;
Display, by CAN bus and controller communication, for showing the state of whole control system, and is operationThe interface that personnel and control system are mutual.
Moving trolley comprises vehicle body, and body bottom is controlled respectively by two running motors (being first, second running motor 9,10)Make two wheels, between body bottom and wheel supporting axle, be connected with vehicle attitude control hydraulic cylinder 8, body bottom is also provided with controlThe principal arm rotating hydraulic cylinder 7 of hydraulic telescopic arm.
Hydraulic telescopic arm (is one-level hydraulic cylinder 6, two-stage hydraulic cylinder 5, three grades of telescopic hydraulic cylinders 4 and adjusts by multistage hydraulic cylinderWidth hydraulic cylinder 3) control.
The executive component of control system comprises brush holder electric rotating machine 2, dust-absorbing motor, spraying motor, roller brush rotation motor, a left sideRight running motor 9,10, the hydraulic cylinder of arms at different levels, vehicle attitude control hydraulic cylinder 8.
Roller brush device comprises the brush holder electric rotating machine 2 that is installed on hydraulic telescopic arm front end, and brush holder electric rotating machine 2 drives brush holder11, roller brush 1 is installed, 1 brush of the roller by the control system control rotation motor action of roller brush in brush holder 11.
On moving trolley, be also provided with dust-absorbing motor and high-pressure fog motor by control system control, spraying is cleaned and dust suction,Controller control hydraulic motor completes.
Data acquisition equipment comprises that ultrasonic sensor, distance measuring sensor, proximity transducer, pressure sensor, rotating speed passSensor, temperature sensor and obliquity sensor; Wherein,
Speed probe car is arranged on the wheel hub of wheel, controls the speed of running motor according to speed feedback, reachesRobot at the uniform velocity walks according to straight line, realizes constant speed walking.
Distance measuring sensor detects the distance of cleaning between end and solar panels, by adjusting the action of arms at different levels, makes clearlyWash the parastate of end maintenance and solar panels, realize and clean end adjustment.
Obliquity sensor is measured the angle of inclination of vehicle body, and controller is controlled respectively two vehicle bodies according to real-time measurement result and adjustedFlat hydraulic cylinder, carries out balance adjustment, keeps vehicle body within a permissible angle of heel degree scope, realizes vehicle attitude control.
Ultrasonic sensor is measured the distance of carrying out between end and clean surface, regulates execution by command range valueThe action of end.
Controller is antidetonation, anti-interference equipment, comprises the collection of switching value, analog quantity and controls function, has PWM to control meritCan, have PWM control feedback function, can with display communication;
Motion planning path, at a key walking process, according to the Distance Judgment of carrying out between end and cleaning surfaceRegulate the action of each arm;
PWM controls, and exports to control electric-controlled hydraulic proportioning valve by controller by PWM, realizes each hydraulic cylinder and motorProportion control, PWM controls feedback function can realize closed-loop adjustment.
Control system of the present utility model, based on CAN bus design, has been saved a lot of cables. The engine control of robotSent instructions and carried out indirect regulation to engine controller by CAN bus by controller, controller can be according to robot notSelect different generator gears with operating mode, realize the object of saving oil consumption. Display passes through CAN bus and controller communication,Display has multiple interfaces, shows respectively signal or the data of the state of engine, the state of robot, each sensor,And operating personnel can send instruction to controller by button, realize man-machine interaction.
The utility model has been broken away from complete manually operated drawback, has reduced that human cost increases and production efficiency is low etc.Problem. Solar panels cleaning robot has two kinds of operator schemes: manual operation and key walking.
Manual operation, has two operating grips on the vehicle body of solar panels cleaning robot, on each operating grip, have fourIndividual button, controls each action of whole robot by the input of handle and the operation of button. When manual operation, operatorMember controls the action of each executive component by two handle input signals.
When one key walking, operating personnel only need be sitting in the operating room of robot, and robot can be according to speed probeFeedback regulates robot left and right running motor according to straight line moving, simultaneously also can be according to the obliquity sensor of installing in robotRegulate car body balance. When in a key walking mode, cleaning robot can be according to robot end's ultrasonic sensorMeasure the distance of carrying out between end and clean surface, regulate the action of carrying out end by command range value. Work as robotAttitude adjust to the right place, while starting cleaning solar plate, will open a key walking mode, now do not need personnel to operate,Cleaning robot is in full-automatic situation. Robot brushes three grades of cleanings, motor dust suction, high-pressure fog by roller and completes solar energyThe cleaning of plate, the thoroughly surface dirt of cleaning solar plate. Under this pattern, robot can complete constant speed walking, cleanEnd adjustment, vehicle attitude control, spraying cleaning and dust suction action.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned, not new to this practicalityThe restriction of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, abilityField technique personnel do not need to pay various amendments that creative work can make or distortion still at protection model of the present utility modelIn enclosing.
Claims (7)
1. a solar panels cleaning robot, is characterized in that, comprises moving trolley, is provided with hydraulic telescopic arm, liquid on moving trolleyPress the front end of telescopic arm to be provided with by the roller brush device of brush holder electric rotating machine control, in moving trolley, be provided with control moving trolley,The control system of hydraulic telescopic arm and electric rotating machine;
Described control system comprises:
Control unit of engine, by CAN bus and controller communication, receives the instruction of controller, completes engine throttleAutomatic control, be independent of controller, meanwhile, also control engine separately of control unit of engine, engine control listUnit also controls the air-conditioning system of whole robot;
Data acquisition equipment, be distributed in solar panels cleaning robot human body upper, for gathering solar panels cleaning robotEnvironmental data, and be sent to controller parsing;
Controller, the data that gather for receiving data acquisition equipment, and gathered data are carried out to comprehensive analysis processing, andOutlet by controller is controlled electric-controlled hydraulic proportioning valve and motor, control operation;
Display, by CAN bus and controller communication, for showing the state of whole control system, and is operating personnelWith the mutual interface of control system.
2. solar panels cleaning robot as claimed in claim 1, is characterized in that, described moving trolley comprises vehicle body, at the bottom of vehicle bodyPortion controls respectively two wheels by two running motors, between body bottom and wheel supporting axle, is connected with vehicle attitude control hydraulic pressureCylinder, body bottom is also provided with the principal arm rotating hydraulic cylinder of controlling hydraulic telescopic arm.
3. solar panels cleaning robot as claimed in claim 2, is characterized in that, described hydraulic telescopic arm is by multistage hydraulic cylinderControl.
4. solar panels cleaning robot as claimed in claim 1, is characterized in that, described roller brush device comprises and is installed on hydraulic pressureThe brush holder electric rotating machine of telescopic arm front end, brush holder electric rotating machine drives brush holder, and roller brush is installed in brush holder, and roller brush by control isThe roller brush rotation motor action that system is controlled.
5. solar panels cleaning robot as claimed in claim 1, is characterized in that, is also provided with by controlling system on described moving trolleyDust-absorbing motor and high-pressure fog motor that system is controlled.
6. solar panels cleaning robot as claimed in claim 1, is characterized in that, data acquisition equipment comprises supersonic sensingDevice, distance measuring sensor, proximity transducer, pressure sensor, speed probe, temperature sensor and obliquity sensor; Wherein,
Speed probe car is arranged on the wheel hub of wheel, controls the speed of running motor according to speed feedback, reaches machinePeople at the uniform velocity walks according to straight line;
Distance measuring sensor detects the distance of cleaning between end and solar panels, by adjusting the action of hydraulic telescopic arms at different levels,Make to clean the parastate of end maintenance and solar panels;
Obliquity sensor is measured the angle of inclination of vehicle body, and controller is controlled respectively two vehicle attitude control liquid according to real-time measurement resultCylinder pressure, carrys out balance adjustment, keeps vehicle body within a permissible angle of heel degree scope
Ultrasonic sensor is measured the distance of carrying out between end and clean surface, regulates execution end by command range valueAction.
7. solar panels cleaning robot as claimed in claim 2, is characterized in that, has two operating grips on described vehicle body,On each operating grip, there are four buttons, control each of whole robot by the input of handle and the operation of button movingDo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521115346.2U CN205253699U (en) | 2015-12-30 | 2015-12-30 | Solar panel cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521115346.2U CN205253699U (en) | 2015-12-30 | 2015-12-30 | Solar panel cleaning robot |
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| CN205253699U true CN205253699U (en) | 2016-05-25 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904472A (en) * | 2016-07-01 | 2016-08-31 | 北京旭海睿能源科技有限公司 | Control method and device of mechanical arm for quickly approaching to solar panel |
| CN105921474A (en) * | 2016-07-01 | 2016-09-07 | 北京旭海睿能源科技有限公司 | Intelligent operation maintenance vehicle and cleaning method for solar cell panels |
| CN105964573A (en) * | 2016-07-12 | 2016-09-28 | 河南森源重工有限公司 | Cantilever crane structure and solar cell panel cleaning vehicle |
| CN105965510A (en) * | 2016-06-12 | 2016-09-28 | 合肥中科智翔自动化技术有限公司 | Control method for photovoltaic panel cleaning robot |
| CN106040625A (en) * | 2016-07-28 | 2016-10-26 | 兰州理工大学 | Solar photovoltaic panel cleaning equipment with cleaning brushes capable of being adjusted in self-adaptation mode |
| CN106808998A (en) * | 2017-04-14 | 2017-06-09 | 云南电网有限责任公司电力科学研究院 | A kind of robot driving device |
| CN107891025A (en) * | 2017-12-18 | 2018-04-10 | 国网山东省电力公司龙口市供电公司 | A kind of automatic photovoltaic panel cleaning device |
| CN108435612A (en) * | 2018-05-17 | 2018-08-24 | 土山土水生态农业江苏有限公司 | A kind of greenhouse ceiling clearing apparatus |
| CN110238140A (en) * | 2019-05-21 | 2019-09-17 | 西安交通大学 | A kind of scouring working distal tip |
| CN113510121A (en) * | 2020-04-10 | 2021-10-19 | 重庆市畜牧科学院 | Wall surface cleaning machine and application thereof |
| WO2023226135A1 (en) * | 2022-05-24 | 2023-11-30 | 国机传感科技有限公司 | Intelligent heliostat cleaning and sensing measurement system |
-
2015
- 2015-12-30 CN CN201521115346.2U patent/CN205253699U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965510A (en) * | 2016-06-12 | 2016-09-28 | 合肥中科智翔自动化技术有限公司 | Control method for photovoltaic panel cleaning robot |
| CN105904472A (en) * | 2016-07-01 | 2016-08-31 | 北京旭海睿能源科技有限公司 | Control method and device of mechanical arm for quickly approaching to solar panel |
| CN105921474A (en) * | 2016-07-01 | 2016-09-07 | 北京旭海睿能源科技有限公司 | Intelligent operation maintenance vehicle and cleaning method for solar cell panels |
| CN105904472B (en) * | 2016-07-01 | 2023-11-17 | 北京旭海睿能源科技有限公司 | Control method and device for quickly attaching mechanical arm to solar cell panel |
| CN105964573A (en) * | 2016-07-12 | 2016-09-28 | 河南森源重工有限公司 | Cantilever crane structure and solar cell panel cleaning vehicle |
| CN106040625A (en) * | 2016-07-28 | 2016-10-26 | 兰州理工大学 | Solar photovoltaic panel cleaning equipment with cleaning brushes capable of being adjusted in self-adaptation mode |
| CN106808998A (en) * | 2017-04-14 | 2017-06-09 | 云南电网有限责任公司电力科学研究院 | A kind of robot driving device |
| CN107891025A (en) * | 2017-12-18 | 2018-04-10 | 国网山东省电力公司龙口市供电公司 | A kind of automatic photovoltaic panel cleaning device |
| CN108435612A (en) * | 2018-05-17 | 2018-08-24 | 土山土水生态农业江苏有限公司 | A kind of greenhouse ceiling clearing apparatus |
| CN110238140A (en) * | 2019-05-21 | 2019-09-17 | 西安交通大学 | A kind of scouring working distal tip |
| CN113510121A (en) * | 2020-04-10 | 2021-10-19 | 重庆市畜牧科学院 | Wall surface cleaning machine and application thereof |
| WO2023226135A1 (en) * | 2022-05-24 | 2023-11-30 | 国机传感科技有限公司 | Intelligent heliostat cleaning and sensing measurement system |
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