CN206187099U - Mobile device and photovoltaic module cleaning robot - Google Patents
Mobile device and photovoltaic module cleaning robot Download PDFInfo
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- CN206187099U CN206187099U CN201621246504.2U CN201621246504U CN206187099U CN 206187099 U CN206187099 U CN 206187099U CN 201621246504 U CN201621246504 U CN 201621246504U CN 206187099 U CN206187099 U CN 206187099U
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Abstract
The utility model discloses a mobile device, including the frame and installing the navigational positioning part on the frame, drive wheel and directive wheel are installed to the bottom of frame, install the driver part on the drive wheel, install on the directive wheel and turn to the part, still install the current positional information of the frame that is used for arriving according to navigational positioning component part testing on the frame, contrast target positional information confirms the target travel direction to rotate to the target travel direction through turning to the unit control directive wheel, drive the drive wheel through the driver part simultaneously and remove to the controller of target location. The utility model provides a mobile device has autonomic moving ability, has realized the operation of no humanization, has reduced the human input, has realized the ability of the all -weather work of this type of equipment, has lengthened operating time, can help cleaning robot to realize cleaning capacity at night, has improved the generating efficiency of photovoltaic board. The utility model also discloses a photovoltaic module cleaning robot of including above -mentioned mobile device.
Description
Technical field
The utility model is related to photovoltaic module cleaning machine field of mobile equipment, more particularly to a kind of mobile device.Additionally,
The utility model further relates to a kind of photovoltaic module cleaning robot including above-mentioned mobile device.
Background technology
With the requirement and the lifting to sustainable energy demand of environmental protection, the proportion of clean energy resource account for the ratio of total energy by
Year lifting, the cleaning demand of photovoltaic module progressively heats up.
Photovoltaic array cleaning has two reasons：First, dirt can cause photovoltaic plate surface to produce heat conduction difference, ultimately cause
" hot spot ", damages photovoltaic module；2nd, dirt causes the reduction of photovoltaic panel surface transmission rate, so as to influence photovoltaic panel assembly array
Photothermal conversion rate, that is, reduce generating efficiency.Therefore in order to ensure that generating efficiency does not decline, it is to avoid photovoltaic module is damaged, photovoltaic panel
Cleaning is necessary.
In the prior art, it is general to be cleaned using semi-automatic, mainly include cleaning machine on ground washing car and plate.Wherein,
The chassis of ground washing car is identical with mini-excavator, and arm of the mechanical arm configuration also to digging machine is similar, and two track drives are advanced；
Clean and completed by the round brush of mechanical arm tail end, can be sprayed water in cleaning process.For ground washing car, have the disadvantages that：
(1) travel speed is slower；(2) cleaning operation is complicated, higher to operating personnel's requirement, is needed while traveling between photovoltaic plate array
The situation that cleaning round brush is contacted with photovoltaic plate face is paid close attention to, cleaning Vehicle will keep constant with the distance of photovoltaic module, otherwise, cleaning
Brush cannot cover whole photovoltaic plate face highly, cause omit cleaning surface；(3) road pavement requirement is higher, when there is hole on road surface
During the section of depression, when particularly crawler belt corresponding ground in both sides has difference in height, car body can be caused to sidewinder, now originally keep flat with minute surface
Angle of arrival deviation between capable round brush and photovoltaic panel；(4) ground washing car is furnished with driver's cabin, and carrying out cleaning by pilot steering appoints
Business, it is desirable to have the personnel of excavator driving experience, and, chassis is driven, it is necessary to hand oiling, cleaning way water by internal combustion engine
Amount is larger, and water tank volume is limited, needs manually repeatedly to add water in cleaning process, and less, the time that back and forth adds water is long, clearly for chassis speed
Wash efficiency reduces again.
Therefore, the automatization level of mobile device how is improved, human input is reduced, is that those skilled in the art need at present
The technical problem to be solved.
Utility model content
The purpose of this utility model is to provide a kind of mobile device, and the mobile device can exempt artificial operation, break through operation
Environment is limited, and realizes all weather operations, can also realize autonomous supply.Another object of the present utility model is to provide one kind to be included
The photovoltaic module cleaning robot of above-mentioned mobile device.
To achieve the above object, the utility model provides following technical scheme：
A kind of mobile device, including vehicle frame and the navigator fix part on the vehicle frame, the bottom of the vehicle frame
Portion is provided with driving wheel and deflecting roller, and driver part is provided with the driving wheel, and turning member is provided with the deflecting roller；
Present bit confidence for the vehicle frame detected according to the navigator fix part is also installed on the vehicle frame
Breath, contrasts target position information, determines target travel direction, and control the steered wheel rotation to institute by the turning member
Target travel direction is stated, while driving the driving wheel to be moved to the controller of target location by the driver part.
Preferably, the driver part is specially motor, is also equipped with the motor described for detecting
The encoder of motor rotating speed, the controller is additionally operable to calculate the driving wheel according to the testing result of the encoder
Operating range.
Preferably, the angular transducer of the steering angle for detecting the deflecting roller is also equipped with the deflecting roller,
The controller is additionally operable to judge whether the deflecting roller turns to the target according to the testing result of the angular transducer
Traveling angle, if it is not, then being adjusted to the target travel angle rotational angle of the rotating wheel by the turning member
Degree.
Preferably, the front end of the vehicle frame is also equipped with for detecting whether barrier enters the anticollision sensing of induction range
Device；The controller is additionally operable to, when the barrier enters the induction range of the obstacle avoidance sensor, control the driving electricity
Machine stops the driving to the driving wheel.
Preferably, the front end of the vehicle frame is circumferentially additionally provided with for the elastic baffle of mechanical anticollision and is kept off with the elasticity
The mechanical crash sensor of plate connection.
Preferably, the battery for being powered to cleaning machine on plate is also equipped with the vehicle frame；
Whether the controller is additionally operable to judge the electricity of the battery less than warning electricity, if it is, control movement
Equipment is moved to target supply position, and controls charging pile to open, and is that the battery charges；
The controller is additionally operable to judge whether the battery is full of, if it is, controlling the mobile device to return just
Beginning position.
Preferably, the battery electric quantity monitoring part for detecting the battery electric quantity is also equipped with the battery, it is described
Testing result can be sent to the controller by battery electric quantity monitoring part.
Preferably, the water tank for being supplied water to cleaning machine on plate is also equipped with the vehicle frame；
Whether the controller is additionally operable to judge the water level of the water tank less than warning line, if it is, control movement
Equipment is moved to target supply position, and controls delivery port to open, and is the water tank moisturizing；
The controller is additionally operable to judge whether the water tank is filled it up with, if it is, controlling the mobile device to return just
Beginning position.
Preferably, the monitoring water level part for detecting the cistern water level, the water level are also equipped with the water tank
Testing result can be sent to the controller by monitoring part.
The utility model also provides a kind of photovoltaic module cleaning robot, including movement described in above-mentioned any one sets
It is standby.
Mobile device provided by the utility model, wherein mobile device include vehicle frame and on the vehicle frame
Controller and navigator fix part, the bottom of the vehicle frame are provided with driving wheel and deflecting roller, and drive is provided with the driving wheel
Dynamic component, turning member is provided with the deflecting roller；The controller is used for what is detected according to the navigator fix part
The current location information of the vehicle frame, contrasts target position information, determines target travel direction, and by the turning member control
The steered wheel rotation to the target travel direction is made, while driving the driving wheel to be moved to mesh by the driver part
Cursor position.Described turning is realized in the mobile device, the control by the controller to the driver part and the turning member
To the steering and the movement of the driving wheel of wheel, the mobile device is moved to target location automatically, and then realize to photovoltaic panel
The movement of cleaning machine, the mobile device has autonomous ability, realizes Unmanned operation, reduces human input, saves
Cleaning cost, meanwhile, the operation difficulty of mobile device is reduced, realize the kind equipment all weather operations after Unmanned operation
Ability, the working time of this kind equipment and the cleaning robot being made from it is extended, while may also aid in cleaning robot
People realizes night purge ability, further increases the generating efficiency of photovoltaic panel.
In a preferred embodiment, the battery for being powered to cleaning machine on plate is also equipped with the vehicle frame；Institute
State controller and whether be additionally operable to judge the electricity of the battery less than warning electricity, if it is, control mobile device is moved to
Target feeds position, and controls charging pile to open, and is that the battery charges；Whether the controller is additionally operable to judge the battery
It is full of, if it is, controlling the mobile device to return to initial position.Above-mentioned setting so that the mobile device possesses autonomous benefit
To ability, work cycle can be realized, and the work into line period, unmanned cleaning photovoltaic panel can be aided in.
Photovoltaic module cleaning robot provided by the utility model is provided with above-mentioned mobile device, due to the mobile device
With above-mentioned technique effect, therefore, the photovoltaic module cleaning robot for being provided with the mobile device should also be as with corresponding technology
Effect.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation of specific embodiment of mobile device provided by the utility model；
Wherein：(1) vehicle frame, (2) controller, (3) battery, (4) navigator fix part, (5) water tank, (6) obstacle avoidance sensor,
(7) elastic baffle, (8) deflecting roller, (9) driving wheel.
Specific embodiment
Core of the present utility model is to provide a kind of mobile device, the mobile device high degree of automation, can exempt artificial
Operation, breaks through operating environment limitation, realizes all weather operations.Another core of the present utility model is to provide a kind of including above-mentioned shifting
The photovoltaic module cleaning robot of dynamic equipment.
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Fig. 1 is refer to, Fig. 1 is a kind of structural representation of specific embodiment of mobile device provided by the utility model
Figure.
In this embodiment, mobile device includes vehicle frame 1, controller 2 and navigator fix part 4.
Wherein, controller 2 and navigator fix part 4 are installed on vehicle frame 1, and the bottom of vehicle frame 1 is provided with the He of driving wheel 9
Deflecting roller 8, is provided with driver part on driving wheel 9, be provided with turning member on deflecting roller 8, driver part, turning member and
Navigator fix part 4 is connected with controller 2 respectively；
Controller 2 is used for the current location information of the vehicle frame 1 detected according to navigator fix part 4, contrasts target location
Information, determines target travel direction, and controls deflecting roller 8 to turn to target travel direction by turning member, while by driving
Dynamic component drives driving wheel 9 to be moved to target location.
Controller 2 includes host controller 2 and the drive control device 2 for controlling driver part, and driver part specifically may be used
Think motor or hydraulic motor, corresponding, drive control device 2 can be electric machine controller 2 or hydraulic valve controller 2.
Further, driver part is specially motor, is also equipped with motor for detecting motor rotating speed
Encoder, controller 2 be additionally operable to according to the testing result of encoder calculate driving wheel 9 operating range, the setting of encoder,
Can cause that controller 2 accurately obtains the displacement of driving wheel 9, and then can more accurately judge the position of the mobile device
Confidence ceases.
In addition, being also equipped with the angular transducer of the steering angle for detecting deflecting roller 8 on deflecting roller 8, controller 2 is also
For judging whether deflecting roller 8 turns to target travel angle according to the testing result of angular transducer, if it is not, then by turning
The rotational angle of rotating wheel is adjusted to target travel angle to part.
Need exist for explanation, target travel angle be with target travel directional correlation, residing for current driving wheel
Differential seat angle between angle, and the angle of the driving wheel corresponding to target travel direction, i.e. target travel angle.
Specifically, when angular transducer is for feeding back steering, turning member for example drives oil cylinder, acts on deflecting roller
The upper angle that deflecting roller is turned over, it is right that the data that this is detected can be carried out with the angle of turn in the order of the turning for performing
Than to feed back deflecting roller either with or without rotateing in place, this angle of turn can be determined by controller according to target travel direction.
Independently the operation principle on driving vehicle frame 1 chassis is：Using controllability is preferable, the obvious drive division of linear properties
Part, such as motor or hydraulic motor etc., chassis travel speed is steadily controlled by electric machine controller or hydraulic valve controller,
Needing the instruction for changing speed simultaneously can issue electric machine controller or hydraulic valve controller by host controller 2；Turn to
Take turns and angular transducer is installed at 8, the steering angle of energy Real-time Feedback deflecting roller 8 drives the device tool that deflecting roller 8 is turned to
Body can be hydraulic cylinder or electric cylinders, and the linearity is good, more can accurately drive deflecting roller 8 to turn over given angle on target i.e.
Can；Encoder is also equipped with motor, motor rotating speed can be fed back, being calculated by host controller 2 to be converted to
The mileage number of tire running；Travel speed, angle of turn, three indexs of operating range are to be in closed-loop control in system above
In system, the closed loop control process set in host controller 2 instead of the logic of artificial judgment, and this has just established movement
The basis of chassis autonomous.
The mobile device, the control by controller 2 to driver part and turning member, realize deflecting roller 8 steering and
The movement of driving wheel 9, is moved to target location by the mobile device automatically, and then realizes that photovoltaic module cleaning robot is moved,
The mobile device has autonomous ability, realizes Unmanned operation, reduces human input, saves cleaning cost, together
When, the operation difficulty of mobile device is reduced, the ability of the kind equipment all weather operations is realized after Unmanned operation, extend
The working time of this kind equipment and the cleaning robot being made from it, while may also aid in cleaning robot realizes night purge
Ability, further increases the generating efficiency of photovoltaic panel.
On the basis of above-mentioned any one specific embodiment, it is also equipped with vehicle frame 1 for being supplied to cleaning machine on plate
The battery 3 of electricity, the battery 3 is preferably the battery 3 of repeatable discharge and recharge；
Whether controller 2 is additionally operable to judge the electricity of battery 3 less than warning electricity, if it is, control mobile device is moved
Move to target and feed position, and control charging pile to open, be that battery 3 charges；Controller 2 is additionally operable to judge whether battery 3 is full of,
If it is, control mobile device returns to initial position.
Specifically, after the control mobile device of controller 2 is moved to target supply position, being arrived with charging pile communication acknowledgement
Position, and drive the charging contacts of battery 3 to be contacted with charging pile, start to charge up.
Above-mentioned setting so that the mobile device possesses autonomous supply capacity, can realize work cycle, and can carry out
The work of the cycle, unmanned cleaning photovoltaic panel.
Meanwhile, the battery electric quantity monitoring part for detecting the electricity of battery 3, battery electric quantity monitoring are also equipped with battery 3
Testing result can be sent to controller 2 by part.After charging has been expired, battery electric quantity monitoring part can feed back a signal to
Host controller 2, host controller 2 sends ON- and OFF- command, and driving wheel 9 still returns to work with the help of navigator fix part 4
Make post, battery electric quantity monitoring part, also can be to the sending signal of controller 2 when electricity is detected less than warning electricity.
Likewise, on the basis of above-mentioned any one specific embodiment, being also equipped with vehicle frame 1 for plate supernatant
The water tank 5 that washing machine supplies water；Whether controller 2 is additionally operable to judge the water level of water tank 5 less than warning line, if it is, control is moved
Dynamic equipment is moved to target supply position, and controls delivery port to open, and is the moisturizing of water tank 5；Controller 2 is additionally operable to judge water tank 5
Whether fill it up with, if it is, control driving wheel 9 returns to initial position.
Preferably, the monitoring water level part for detecting the water level of water tank 5 is also equipped with water tank 5, monitoring water level part can
Testing result is sent to controller 2.The water shortage of water tank 5 or liquid level monitoring part can be triggered after filling, it is same upper
Controller 2 can receive feedback signal, start or terminate moisturizing work, and mobile device sets out or returns.
In above-mentioned setting, by increasing the autonomous makeup function of mobile device, the supplying cell 3 of mobile device is referred mainly to
Recharging, applies in photovoltaic array cleaning robot, certainly, also includes the autonomous makeup function for adding water.Should
The function of autonomous supply is primarily rested on the basis of independent navigation, is marked on the path of navigation system by by supply point,
Mobile device just can receive supply order after, moved close to supply point along the commander of navigation system, when mobile device with
After supply point position is close enough, the alignment sensor on chassis, such as optoelectronic switch, travel switch etc. can just feed back bottom
The information in place of disk, when the time comes corresponding charging pile or delivery port receive and open after signal in place, thus start to charge up or
Moisturizing.
Specifically, water tank 5 and deflecting roller 8 may be mounted at the front end of vehicle frame 1, navigator fix part 4 may be mounted at car
On battery 3 in the middle of frame 1, driving wheel 9 installs the afterbody of vehicle frame 1, and controller 2 is arranged on battery 3 near the side of deflecting roller 8
On, certainly, above-mentioned arrangement is only one of example of autonomous vehicle frame 1, is not unique way of realization, is particularly driven
The front and rear arrangement form of driving wheel 9 and deflecting roller 8, the position of navigator fix part 4 and the design attitude of obstacle avoidance sensor 6
Deng can be adjusted as needed, it is not limited to the mode given by the present embodiment, for example, in order to improve to the shifting
The driving effect of dynamic equipment, driving wheel 9 can be arranged on the front end of vehicle frame 1.
On the basis of above-mentioned any one specific embodiment, the front end of vehicle frame 1 is also equipped with for detecting barrier
Whether the obstacle avoidance sensor 6 of induction range is entered, and controller 2 is additionally operable to enter in barrier the induction range of obstacle avoidance sensor 6
When, control motor stops the driving to driving wheel 9.
Specifically, obstacle avoidance sensor 6 is specifically as follows inductive pick-up, such as sonac, similar to falling for automobile
Car radar operation principle, can set, to the distance of reaction of ultrasound when mobile device periphery has barrier to appear in ultrasound
When in the induction range of sensor, sonac will give the sending signal of host controller 2, corresponding as obstruction warning,
Warning device should be also installed on vehicle frame 1；Signal generally as security protection is directly accessed slave computer, such as ultrasound
Ripple detects obstacle signal, can be fed directly to drive motor controller 2, motor is braked and mobile device stops,
Therefore avoid bumping against with preceding object thing.
Meanwhile, the front end of vehicle frame 1 be circumferentially also provided with for mechanical anticollision elastic baffle 7 and with elastic baffle 7
The mechanical crash sensor of connection.The function of Mechanical prevention design is same with the function phase of sensing sensing, main purpose be in order to
The situation that obstacle avoidance sensor 6 omits barrier is avoided the occurrence of, the elastic baffle 7 of mechanical protection can trigger mechanical collision sensing
Device, can also stop mobile device, certainly, supplemented by elastic baffle 7 to host controller 2 or the transmission signal of lower level controller 2
Help structure, it is also possible to do not use.
During above-mentioned anticollision is set, the protection Design of redundancy effectively increases photovoltaic cleaning robot human reriability and safety
Property.
Explanation is needed exist for, for the navigator fix part 4 in the mobile device, navigation mode has a lot
Kind, such as laser navigation, magnetic stripe navigation, GPS navigation etc., what the present embodiment was applied is GPS navigation, with reference to Inertial Measurement Unit
And the integrated navigation part of mileage coder integrated application.
GPS navigation has the characteristics that：1st, it is round-the-clock, it is difficult to be influenceed by any weather；2nd, Global coverage rate is up to
98%；3rd, three-dimensional fixed point constant speed timing high accuracy；4th, without intervisibility between survey station；5th, quick, time saving, high efficiency；6th, be widely used,
It is multi-functional；7th, may move positioning.
Certainly, the navigator fix part 4 provided in the present embodiment can also use the integrated navigation system of other forms,
Such as inertial navigation system and the combination of GPS navigation, the combination of inertial navigation system and mileage coder, or inertial navigation system
With the combination of Doppler etc., using such integrated navigation system, can effectively reduce the requirement to gyro, low cost, high precision.
The mobile device that the present embodiment is provided, automation mobile technology is applied and cleans field in solar energy photovoltaic panel,
A comprising modules of the mobile device for possess autonomous driving using, navigating as photovoltaic cleaning robot；Autonomous bottom
Disk realizes the function that the cleaning equipment of existing movable type does not possess：Unattended, driving, can assist to complete photovoltaic plate array
The work of cleaning, and independently feed；Meanwhile, using safety and Protection, the automatization level of equipment can be effectively improved, reduce
Human input, meanwhile, exempt artificial operation, operating environment limitation is broken through, all weather operations is realized, and, can realize autonomous
Supply, intelligence completes working cycles, and cost reduction, efficiency is improved.
In addition to above-mentioned mobile device, the utility model additionally provides a kind of photovoltaic module including above-mentioned mobile device
Cleaning robot, other Each parts of the photovoltaic module cleaning robot refer to prior art, repeat no more herein.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Mobile device provided by the utility model is described in detail above.Specific case pair used herein
Principle of the present utility model and implementation method are set forth, and the explanation of above example is only intended to help and understands that this practicality is new
The method and its core concept of type.It should be pointed out that for those skilled in the art, not departing from this practicality
On the premise of new principle, some improvement and modification can also be carried out to the utility model, these are improved and modification also falls into this
In the protection domain of utility model right requirement.
Claims (10)
1. a kind of mobile device, it is characterised in that the navigator fix portion including vehicle frame (1) and on the vehicle frame (1)
Part (4), the bottom of the vehicle frame (1) is provided with driving wheel (9) and deflecting roller (8), and drive division is provided with the driving wheel (9)
Part, turning member is provided with the deflecting roller (8)；
It is also equipped with the vehicle frame (1) for the current of the vehicle frame (1) that is detected according to the navigator fix part (4)
Positional information, contrasts target position information, determines target travel direction, and control the deflecting roller by the turning member
(8) the target travel direction is turned to, while driving the driving wheel (9) to be moved to target location by the driver part
Controller (2).
2. mobile device according to claim 1, it is characterised in that the driver part is specially motor, described
The encoder for detecting the motor rotating speed is also equipped with motor, the controller (2) is additionally operable to according to institute
The testing result for stating encoder calculates the operating range of the driving wheel (9).
3. mobile device according to claim 1, it is characterised in that be also equipped with for detecting on the deflecting roller (8)
The angular transducer of the steering angle of the deflecting roller (8), the controller (2) is additionally operable to the inspection according to the angular transducer
Survey result and judge whether the deflecting roller (8) turns to target travel angle, if it is not, then will be described by the turning member
The rotational angle of rotating wheel is adjusted to the target travel angle.
4. mobile device according to claim 1, it is characterised in that the front end of the vehicle frame (1) is also equipped with for examining
Survey the obstacle avoidance sensor (6) whether barrier enters induction range；The controller (2) is additionally operable to enter institute in the barrier
When stating the induction range of obstacle avoidance sensor (6), the motor is controlled to stop the driving to the driving wheel (9).
5. mobile device according to claim 4, it is characterised in that the front end of the vehicle frame (1) be circumferentially additionally provided with for
The elastic baffle (7) of mechanical anticollision and the mechanical crash sensor being connected with the elastic baffle (7).
6. the mobile device according to claim 1 to 5 any one, it is characterised in that be also equipped with the vehicle frame (1)
For the battery (3) powered to cleaning machine on plate；
Whether the controller (2) is additionally operable to judge the electricity of the battery (3) less than warning electricity, if it is, control is moved
Dynamic equipment is moved to target supply position, and controls charging pile to open, and is that the battery (3) charges；
The controller (2) is additionally operable to judge whether the battery (3) is full of, if it is, controlling the mobile device to return
Initial position.
7. mobile device according to claim 6, it is characterised in that be also equipped with for detecting on the battery (3)
The battery electric quantity monitoring part of battery (3) electricity is stated, testing result can be sent to the control by the battery electric quantity monitoring part
Device (2) processed.
8. the mobile device according to claim 1 to 5 any one, it is characterised in that be also equipped with the vehicle frame (1)
For the water tank (5) supplied water to cleaning machine on plate；
Whether the controller (2) is additionally operable to judge the water level of the water tank (5) less than warning line, if it is, control is moved
Dynamic equipment is moved to target supply position, and controls delivery port to open, and is the water tank (5) moisturizing；
The controller (2) is additionally operable to judge whether the water tank (5) is filled it up with, if it is, controlling the mobile device to return
Initial position.
9. mobile device according to claim 8, it is characterised in that be also equipped with for detecting on the water tank (5)
The monitoring water level part of water tank (5) water level is stated, testing result can be sent to the controller (2) by the monitoring water level part.
10. a kind of photovoltaic module cleaning robot, including cleaning machine on plate, for the carrier of cleaning machine on the plate of slinging,
And for driving the mobile device of the carrier movement, it is characterised in that the mobile device is that claim 1-9 is any
Mobile device described in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201621246504.2U CN206187099U (en) | 2016-11-17 | 2016-11-17 | Mobile device and photovoltaic module cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621246504.2U CN206187099U (en) | 2016-11-17 | 2016-11-17 | Mobile device and photovoltaic module cleaning robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379406A (en) * | 2016-11-17 | 2017-02-08 | 浙江国自机器人技术有限公司 | Mobile equipment and photovoltaic module cleaning robot |
| CN107487602A (en) * | 2017-07-18 | 2017-12-19 | 深圳市晓控通信科技有限公司 | It is a kind of that the intelligent robot that water is transported on Yushan Hill is applicable based on Internet of Things |
| CN107895981A (en) * | 2017-11-23 | 2018-04-10 | 浙江国自机器人技术有限公司 | A kind of cleaning machine applied to photovoltaic array is continued a journey method online |
| CN108354533A (en) * | 2018-01-12 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of intelligence floor-cleaning machine device people |
| US11234574B2 (en) | 2018-01-12 | 2022-02-01 | Zhejiang Guozi Robot Technology Co., Ltd. | Intelligent floor cleaning robot |
-
2016
- 2016-11-17 CN CN201621246504.2U patent/CN206187099U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379406A (en) * | 2016-11-17 | 2017-02-08 | 浙江国自机器人技术有限公司 | Mobile equipment and photovoltaic module cleaning robot |
| CN107487602A (en) * | 2017-07-18 | 2017-12-19 | 深圳市晓控通信科技有限公司 | It is a kind of that the intelligent robot that water is transported on Yushan Hill is applicable based on Internet of Things |
| CN107487602B (en) * | 2017-07-18 | 2019-04-19 | 深圳市晓控通信科技有限公司 | It is a kind of that intelligent robot that transporting water on Yushan Hill is applicable in based on Internet of Things |
| CN107895981A (en) * | 2017-11-23 | 2018-04-10 | 浙江国自机器人技术有限公司 | A kind of cleaning machine applied to photovoltaic array is continued a journey method online |
| CN108354533A (en) * | 2018-01-12 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of intelligence floor-cleaning machine device people |
| US11234574B2 (en) | 2018-01-12 | 2022-02-01 | Zhejiang Guozi Robot Technology Co., Ltd. | Intelligent floor cleaning robot |
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