CN208758175U - A kind of Clean- intelligent robot of solar panel - Google Patents

Abstract

The utility model discloses a kind of Clean- intelligent robots of solar panel, including ontology, the middle position of the ontology is equipped with master control borad, display screen, battery and brushless duct motor, stepper motor is mounted at left and right sides of ontology, the two sides of ontology upper end are mounted on information acquisition module, it is mounted on crawler belt between the stepper motor and master control borad of two sides, cleaning component is installed between two information acquisition modules, body interior is equipped with wireless communication module, gyroscope and bluetooth module.This product is small in size, light weight, weight will not be caused to damage solar panel, there are many operation modes, manipulation is easy, high degree of automation can effectively improve cleaning efficiency, while also avoid the spoilage of robot, the information such as the position of itself, state can be uploaded to console, on wechat small routine by this product, and the functions such as real-time monitoring, human-computer interaction may be implemented.

Description

A kind of Clean- intelligent robot of solar panel

Technical field

The utility model relates to a kind of robot, specifically a kind of Clean- intelligent robot of solar panel.

Background technique

Currently, being driven by the pressure of carbon emission reduction and air pollution treatment, solar energy is as main renewable and clean energy resource One of by various circles of society pay high attention to, this allows photovoltaic power generation to have very wide application prospect.During " 12th Five-Year Plan ", China Photovoltaic installation scale and the equal rapid growth of generated energy, until the end of the year 2017, China's photovoltaic power generation quantity reaches 112,800,000,000 kilowatts, increases on year-on-year basis Long by 72%, photovoltaic power generation quantity, which accounts for the ratio all to generate electricity and re-synchronizes, increases 0.7 percentage point, and photovoltaic annual electricity generating capacity head surpasses 100,000,000,000 Kilowatt hour.

China's photovoltaic power generation industry development in recent years is very rapid, following with the development of photovoltaic power generation industry The problem of bringing is that the utilization rate of solar energy cannot be significantly improved, and photovoltaic plant solar panel generally uses crystal silicon material Material, however during the operation of power station, the problem of generating efficiency is affected by many factors, and wherein solar panel is blocked by dust It is the severeest, it can lead to the power generation loss of 35%-40%, while can also cause hot spot effect and acid and alkali corrosion, greatly shorten the sun The service life of energy panel, or even cause fire.

Solar panel, which needs regularly to clean, just can guarantee maximum solar energy utilization ratio, the solar panel of large area Cleaning relies primarily on the modes such as expensive self-cleaning material, manpower cleaning, the cleaning vehicle of large volume and cleaning robot, The price of self-cleaning material be it is sufficiently expensive, not only need to regularly replace material, but also self-cleaning material makes solar panel With more demanding, manpower cleaning may can only guarantee the cleaning effect of short time, once the cleaning frequency is long, area is big, cleaning people Member, which is easy to produce, to be weary of and fatigue, can be greatly reduced so as to cause cleaning efficiency, cleaning effect cannot also obtain sufficient guarantor Card, the maintenance cost specific gravity of cleaning vehicle is excessive, requires relatively high, existing cleaning robot, expensive, Er Qiexiao to landform Rate is low, is no longer satisfied the existing requirement in market.

Utility model content

The purpose of this utility model is to provide a kind of Clean- intelligent robots of solar panel, to solve above-mentioned background The problem of being proposed in technology.

To achieve the above object, the utility model provides the following technical solutions:

A kind of Clean- intelligent robot of solar panel, including ontology, the middle position of the ontology are equipped with master control Plate, display screen, battery and brushless duct motor, the ontology left and right sides are mounted on stepper motor, and the two sides of ontology upper end are pacified Equipped with information acquisition module, it is mounted on crawler belt between the stepper motor and master control borad of two sides and crawler belt is driven using stepper motor It is dynamic, cleaning component is installed, body interior is equipped with wireless communication module, gyroscope and bluetooth between two information acquisition modules Module, module or bluetooth module are connected ontology with mobile phone or computer by wireless communication, battery, display screen, brushless duct Motor, stepper motor, information acquisition module, cleaning component, wireless communication module, gyroscope and bluetooth module with master control borad phase Even.

As a further solution of the present invention: stepper motor is all made of four phase step motor and uses unipolarity straight Power supply power supply is flowed, as long as each phase winding to stepper motor is powered by suitable timing, stepper motor stepping can be made to rotate, step It is provided with train of reduction gears on into motor, enough torques is capable of providing and guarantees that machine operates normally, the model of stepper motor 28BYJ-48, the model D2627-4300KV-4S of brushless duct motor, display screen are made of OLED material, and master control borad is adopted With STM32F103C8T6 single-chip microcontroller, ontology is made of acrylic or carbon fibre materials.

As a further solution of the present invention: cleaning component includes steering engine, cleaning brush, relay switch, water pump and water Slot, water pump are connected with sink, and cleaning brush uses servo driving, and relay switch is connected with water pump by signal, and cleaning mode is water Wash down clean, the effect of this cleaning mode is more preferable, and when cleaning is similar to automobile wiper, drives cleaning brush or so pendulum by steering engine Dynamic, water pump draws water from sink, is uniformly sprayed on solar panel, and swinging on solar panel by cleaning brush Floating dust and stain cleaned.

As a further solution of the present invention: the model SG90 of steering engine, 385 water pump of model of water pump.

As a further solution of the present invention: information acquisition module includes photoelectric tube and camera, pass through photoelectricity Whether ontology, which drives to the boundary of solar panel, is judged to pipe, prevents from inadvertently falling off when work, camera acquires the sun Energy faceplate formation, judges whether solar panel cleans, and analyzes the clear of solar panel by algorithm design or wechat small routine Clean state, feedback regulation cleaning frequency, cleaning dynamics, wash number etc. improve whole clean-up performance, and camera can also help The automatic programme path of Intelligent cleaning robot identifies more apparent foreign matter, convenient for cleaning.

As a further solution of the present invention: photoelectric tube uses infrared electro to pipe, infrared electro is to pipe to ring Border light adaptation ability is strong, has a pair of of infrared transmitting tube and infrared receiving tube, and infrared transmitting tube emits the red of certain frequency Outside line, changes will occur for the light that infrared reflection is returned when detection direction encounters barrier or is detached from reflecting surface, simultaneously Signal output can export corresponding digital signal, can adjust detecting distance effective range 2-30cm, operating voltage by potentiometer It can directly be connect with the I/O port of master control borad for 3.3-5V, sensor output mouth out；The model OV7725 of camera, OV7725 is the high-performance sensors of a integrated 1/4 inch of single-chip VGA camera and image processor, is 640 × 480 Photosensitive array, be able to achieve the video of most fast 60fps VGA resolution per second, and differentiate, output data format, picture characteristics Deng configurable.

As a further solution of the present invention: GPS positioning system and navigation module are also equipped in ontology, it can be right Ontology is positioned and is navigated, and ontology is avoided to go to the wrong way.

Compared with prior art, the utility model has the beneficial effects that this product is small in size, light weight, it will not be to the sun Energy panel causes weight to damage, and cost performance is high, and the market competitiveness is good, and there are many operation mode, manipulation is easy, the degree of automation Height can effectively improve cleaning efficiency, while also avoid the spoilage of robot, can be with camera detection after this product cleaning It is no to contain large area dust, it is ensured that reach specified cleannes；The information such as the position of itself, state can be uploaded to control by this product On platform, wechat small routine, the functions such as real-time monitoring, human-computer interaction may be implemented；This product can also determine acording to the requirement of user Different functions is made, more scene modes are adapted to.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the Clean- intelligent robot of solar panel.

Fig. 2 is the working drawing of single cpu mode in the Clean- intelligent robot of solar panel.

Fig. 3 is the working drawing of multi-machine collaborative mode in the Clean- intelligent robot of solar panel.

Fig. 4 is the control principle drawing of hardware in the Clean- intelligent robot of solar panel.

Fig. 5 is the control principle drawing of data exchange in the Clean- intelligent robot of solar panel.

Fig. 6 is the work flow diagram of the Clean- intelligent robot of solar panel.

Fig. 7 is the circuit diagram of power supply pressure stabilizing in the Clean- intelligent robot of solar panel.

Fig. 8 is the circuit diagram of relay switch in the Clean- intelligent robot of solar panel.

Fig. 9 is the circuit diagram of stepper motor in the Clean- intelligent robot of solar panel.

Figure 10 is the circuit diagram of photoelectric tube in the Clean- intelligent robot of solar panel.

Figure 11 is the circuit diagram of control system in the Clean- intelligent robot of solar panel.

Wherein: 1- photoelectric tube, 2- ontology, 3- stepper motor, 4- crawler belt, 5- battery, 6- display screen, 7- is brushless, and duct is electric Machine, 8- master control borad, 9- steering engine.

Specific embodiment

The technical solution of the patent is explained in further detail With reference to embodiment.

Embodiment 1

A kind of Clean- intelligent robot of solar panel, including ontology 2, the middle position of the ontology 2 are equipped with master Plate 8, display screen 6, battery 5 and brushless duct motor 7 are controlled, is mounted on stepper motor 3 at left and right sides of ontology 2,2 upper end of ontology Two sides are mounted on information acquisition module, are mounted on crawler belt 4 between the stepper motor 3 and master control borad 8 of two sides and crawler belt 4 is adopted It is driven with stepper motor 3, cleaning component is installed between two information acquisition modules, radio communication mold is installed inside ontology 2 Block, gyroscope and bluetooth module, module or bluetooth module are connected ontology 2 with mobile phone or computer by wireless communication, battery 5, display screen 6, brushless duct motor 7, stepper motor 3, information acquisition module, cleaning component, wireless communication module, gyroscope and Bluetooth module is connected with master control borad 8.Stepper motor 3 is all made of four phase step motor and is supplied using unipolarity DC power supply Electricity can be such that 3 stepping of stepper motor rotates, stepper motor as long as each phase winding to stepper motor 3 is powered by suitable timing It is provided with train of reduction gears on 3, is capable of providing enough torques and guarantees that machine operates normally, the model of stepper motor 3 28BYJ-48, the model D2627-4300KV-4S of brushless duct motor 7, display screen 6 are made of OLED material, master control borad 8 Using STM32F103C8T6 single-chip microcontroller, ontology 2 is made of acrylic or carbon fibre materials.Cleaning component include steering engine 9, Cleaning brush, relay switch, water pump and sink, water pump are connected with sink, and cleaning brush is driven using steering engine 9, steering engine 9 and master control borad 8 Electrical connection, relay switch are connected with water pump by signal, and cleaning mode is washing cleaning, and the effect of this cleaning mode is more preferable, It is similar to automobile wiper when cleaning, drives cleaning brush to swing by steering engine 9, water pump draws water from sink, is uniformly sprayed at too It is positive can on panel, and by cleaning brush swing on solar panel floating dust and stain clean.The type of steering engine 9 Number be SG90,385 water pump of model of water pump.

Embodiment 2

A kind of Clean- intelligent robot of solar panel, including ontology 2, the middle position of the ontology 2 are equipped with master Plate 8, display screen 6, battery 5 and brushless duct motor 7 are controlled, is mounted on stepper motor 3 at left and right sides of ontology 2,2 upper end of ontology Two sides are mounted on information acquisition module, are mounted on crawler belt 4 between the stepper motor 3 and master control borad 8 of two sides and crawler belt 4 is adopted It is driven with stepper motor 3, cleaning component is installed between two information acquisition modules, radio communication mold is installed inside ontology 2 Block, gyroscope and bluetooth module, module or bluetooth module are connected ontology 2 with mobile phone or computer by wireless communication, battery 5, display screen 6, brushless duct motor 7, stepper motor 3, information acquisition module, cleaning component, wireless communication module, gyroscope and Bluetooth module is connected with master control borad 8.Information acquisition module includes photoelectric tube 1 and camera, judges this by photoelectric tube 1 Whether body 2 drives to the boundary of solar panel, prevents from inadvertently falling off when work, and camera acquires solar panel letter Breath, judges whether solar panel cleans, and the clean conditions of solar panel is analyzed by algorithm design or wechat small routine, instead Feedback adjusts cleaning frequency, cleaning dynamics, wash number etc., improves whole clean-up performance, camera can also help intelligent cleaning The automatic programme path of robot identifies more apparent foreign matter, convenient for cleaning.Photoelectric tube 1 uses infrared electro to pipe, infrared Photoelectric tube is adaptable to ambient light, has a pair of of infrared transmitting tube and infrared receiving tube, infrared transmitting tube transmitting The infrared ray of certain frequency, the light that infrared reflection is returned when detection direction encounters barrier or is detached from reflecting surface can all be sent out Changing, synchronous signal delivery outlet can export corresponding digital signal, can adjust detecting distance effective range 2- by potentiometer 30cm, operating voltage 3.3-5V, sensor output mouth out can directly be connect with the I/O port of master control borad；The model of camera It is the high-performance sensors of a integrated 1/4 inch of single-chip VGA camera and image processor for OV7725, OV7725, For 640 × 480 photosensitive array, it is able to achieve the video of most fast 60fps VGA resolution per second, and is differentiated, output data lattice Formula, picture characteristics etc. are configurable.It is also equipped with GPS positioning system and navigation module in ontology 2, ontology 2 can be positioned And navigation, avoid ontology 2 from going to the wrong way.

The working principle of the utility model is: 3 driving method of stepper motor of this product is easy to use, stepper motor 3 Stepping angle is 5.625 °/64, compared to travel distance and the walking that traditional DC MOTOR CONTROL can be accurately controlled machine State realizes the walking, retroversion, turning function of robot.

Bluetooth module can be connect with computer, facilitate the adjusting of robot parameter.

Wireless communication module can transmit and receive the status data of robot, and carry out data friendship with other robots It changes, realizes multimachine interconnecting function.

9 operation torque of steering engine is 1.6Kg/cm, and reaction revolving speed is 0.12-0.13 seconds/60 °, and rotation angle is 180 °.Steering engine 9 control signal modulates chip by the channel entering signal of receiver, obtains DC offset voltage, has a base inside steering engine 9 Quasi- circuit, generation period are 20ms, and width is the reference signal of 1.5ms, by the electricity of the DC offset voltage of acquisition and potentiometer Pressure ratio is compared with acquisition voltage difference output.Finally, the positive and negative positive and negative rotation for being output to motor drive ic and determining motor of voltage difference.When One timing of motor speed drives potentiometer rotation by cascade reduction gearing, so that voltage difference is 0, motor stalls.

Pressure between brushless 7 adjustable body 2 of duct motor and solar panel, to adapt to the sun at more inclination angles Energy panel, enables ontology 2 is stable to run on solar panel.The drive module of brushless duct motor 7 is SkyWalker(skywalker) the brushless electricity tune of the empty mould of series, enough power sources can be provided for brushless duct motor 7, held Continuous electric current 40A, short-time current 55A(are no less than 10 seconds).Brushless duct motor 7 is made of motor body and driver, is one The typical electromechanical integrated product of kind.Since brushless duct motor 7 is run with autocontrol, so will not be as under frequency control The synchronous motor of heavy load starting separately plus starts winding like that on rotor, and oscillation and step-out will not be generated in load sudden change. The permanent magnet of the brushless duct motor 7 of Small And Medium Capacity mostly uses rare-earth Nd-Fe-B (Nd-Fe-B) material of high magnetic energy grade now. Brushless duct motor 7 has high revolving speed, sufficient power is capable of providing, so that ontology 2 can adapt to greater angle The solar panel of variation.

Data transmission in this product is carried out by NRF24L01 wireless communication module, it is 2.4GHz global open ISM band, maximum 0dBm transmission power exempt from licensing using the data receiver for supporting LIULUTONG road, and operating voltage is only 1.9- 3.6V, transmission rate are up to 2Mbps, since the air transmission time is very short, greatly reduce the collision phenomenon in wireless transmission. NRF24L01 wireless communication module realizes the transmission and reception of data between all robots, and control robot carries out different clear Mold cleaning formula.NRF24L01 is low in energy consumption, and when with the power emission of -6 dBm, operating current also only has 9 mA；When reception, work electricity Stream only has 12.3 mA, and a variety of low-power working modes, work electric current in 100mw is 160mA, realizes in data transmission Opposite WiFi is apart from farther.NRF24L01 is integrated with all igh-speed wire-rod production line relevant to RF agreement parts, such as: automatic weight It sends out lost data packets and automatically generates answer signal etc., the SPI interface of NRF24L01 can use SPI mouthfuls of companies of hardware of single-chip microcontroller Connect or simulated with single-chip processor i/o mouth, inside have FIFO can with various high low speed microprocessor interfaces, be easy to use it is low at This single-chip microcontroller.

OLED display screen 6 can show the status information of robot, and OLED is not required to backlight due to being provided simultaneously with self-luminous Source, the advantage that contrast is high, thickness is thin, visual angle is wide, reaction speed is fast, use temperature range is wide.Compare in the market other Display screen, it have incomparable advantage.

The kernel of master control borad 8 is ARM 32 Cortex-M3 CPU, highest 72MHz working frequency, memory etc. Up to 1.25DMips/MHz (Dhrystone 2.1) when cycle access.The FLASH program storage of byte from 64K to 128K Device has the SRAM of up to 20K byte.Low-power consumption, 2 12 analog-digital converters, (up to 16 inputs are logical for 1 μ s conversion time Road).It include the I/O mouth of 37 multi-function double-ways, all I/O mouthfuls can be with image to 16 external interrupts, nearly all port Equal tolerable 5V signal and up to 9 communication interfaces.Moreover, STM32F103C8T6 small volume is still powerful, and And it is relatively high relative to other chip sexual valences.

This product has single cpu mode and multi-machine collaborative mode.

Single cpu mode is with following function: first, cleaning dynamics are adjusted: and start brushless duct motor and larger pressure are provided, By the control to PWM, the revolving speed of brushless duct motor is adjusted, the downward pressure of crossmachine people can be provided, is adjusted Cleaning dynamics, while also changing the frictional force between crawler belt and solar panel；Second, automatic programme path: Ke Yiyou Change robot in the path of solar panel Intelligent cleaning robot；By the attitude algorithm of gyroscope, then pass through infrared tube Boundary is judged in advance, to turn to, prevents from falling；A variety of cleaning ways: third for different situations, can select difference Cleaning way, this product devises automatic control cleaning, manually controls cleaning, fixed time cleaning, rough cleaning, fine cleaning. Cleaning is automatically controlled to realize by the automatic programme path of robot；The behaviour to wechat small routine or console can be passed through manually Control is cleaned；Fixed time cleaning mode is to set the time cleaning frequency on the basis of automatically controlling cleaning；Rough cleaning is logical The revolving speed of quickening stepper motor is crossed to realize the function；Fine cleaning then goes to realize by reducing the revolving speed of stepper motor；4th, Data communication: it is wirelessly communicated by NRF24L01 and carries out data transmission and receive with console, can show the work of robot Make state and mode, while can also realize the control to robot by the control to console；5th, detection cleaning shape State: cleaning can specify test point by host after completing, and by slave fixed point not timing detection, and will test data summarization to host It is cleaned next time being judged whether by host, and clean data and cleaning progress is uploaded into console, console is by data It is handled, result is sent on wechat small routine or on other APP.

Multi-machine collaborative mode may be implemented robotary interconnection, multi-machine collaborative form into columns by a host and it is multiple from Machine composition, principal and subordinate's sensing node most of the time works in suspend mode, and aggregation node (console) not want by low-power consumption It asks.Communication between aggregation node and host node, host node and subordinate computer node selects NRF24L01+ chip to realize.More Assisting in identifying by camera image under machine mode, path is planned and is distributed by host, and this mode is not only avoided clear It collides during washing, and significantly improves the cleaning efficiency of robot.

The workflow of this product: robot carries out function initialization, and whether the posture for detecting robot is correct, from And ensures robot security and run；Do not stop to carry out data transmission to other robot or console in timer interruption or connect By, while the data of gyroscope are also read in interruption, attitude algorithm is then carried out, and by different postures, to output PWM wave is adjusted accordingly, to generate different suction, cleaning vehicle is not only allowed stable can to transport on solar panel Row, moreover it is possible to efficiently utilize battery resource, if posture is normal, this product carries out the operation of main program below, if posture is wrong Accidentally, false alarm can be sent to console；Robot is cleaned and is walked according to the path of planning, using the detection of photoelectric tube, It can carry out detecting the low and high level variation of the input port with master control borad, to judge whether that front has obstacle or front to have side Boundary executes the order of steering, is turned to when photoelectric tube detects boundary, until cleaning is completed.Console passes through wireless Communication module receives data, is shown by OLED display screen, if be not received by data or do not operated, display Be the time；Module sends data to server by wireless communication, data processing platform (DPP) is established in server end, to transmission Data automatically write database after carrying out induction-arrangement and support real-time update, pass through invoking server end Thinkphp frame Function and show that data on foreground, user Android and ios client real time monitoring product working condition, and to data Comprehensive analysis is carried out, it being capable of the adjustment region cleaning frequency.

This product reduces the center of gravity of robot as far as possible, to reach high stability when steering, makes robot in inclined-plane work Component when making along inclined-plane is bonded solar panel as far as possible, to increase stability；Keep the gravity centre distribution of robot uniform, Robot can be made to ensure to occur when inclined-plane works to break away to fall in this way, the resistance that robot can be made to be subject to Uniformly, to reduce energy consumption；Reduce robot chassis at a distance from solar panel, makes the sky between chassis and solar panel Air volume reduces, so that the deboost that brushless duct motor generates is lost and reduces, it is tight when inclined-plane works to be conducive to robot It is close to close solar panel；The contact area for increasing crawler belt and solar panel, prevents crawler belt from skidding.

There are two types of cleaning solutions for the product: the first cleaning solution: the side for cleaning round brush is equipped with direct current generator to band The rotation of dynamic cleaning round brush, the other side are equipped with bearing and steering engine 9, and cleaning roughly and essence may be implemented by the revolving speed of direct current generator Thin cleaning.Steering engine 9 may be implemented whether cleaning round brush contacts with solar panel, when realizing cleaning solar panel, steering engine 9 Angle is rotated down, cleaning round brush is come into full contact with solar panel, improves cleaning effect.When robot is in suspend mode When, steering engine 9 is rotated up certain angle, contacts cleaning round brush not with solar panel, to protect cleaning round brush.

Second of cleaning solution: cloths for cleaning is housed in the chassis lower surface of this product, the thickness of cloths for cleaning is slightly above The height of chassis lower surface to solar panel causes machine by the opposition of robot gravity and brushless duct motor 7 The crawler belt 4 and solar panel of device people comes into full contact with and realizes walking.Connect cloths for cleaning sufficiently with solar panel simultaneously Touching, improves cleaning effect.

The walking mechanism of this product provides power by stepper motor 3, generates corresponding pulses by single-chip microcontroller to control its row Into direction, can accurately be walked during operation along fixed route by stepper motor 3, the region prevented is not cleared up, when When cleaning track and deviateing, can by the current robot pose of the tilt angle calculation of solar panel whether off-track, and root The path for returning former track is calculated according to deviation angle.

It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting Related claim.

In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiments being understood that.

Claims (6)

1. a kind of Clean- intelligent robot of solar panel, the middle position of the ontology (2) is equipped with master control borad (8), shows Display screen (6), battery (5) and brushless duct motor (7), ontology (2) left and right sides is mounted on stepper motor (3), on ontology (2) The two sides at end are mounted on information acquisition module, are mounted on crawler belt (4) between the stepper motor (3) and master control borad (8) of two sides And crawler belt (4) is driven using stepper motor (3), which is characterized in that cleaning component is installed between two information acquisition modules, Wireless communication module, gyroscope and bluetooth module be installed, ontology (2) module or indigo plant by wireless communication inside ontology (2) Tooth module is connected with mobile phone or computer, and battery (5), display screen (6), brushless duct motor (7), stepper motor (3), information are adopted Collection module, cleaning component, wireless communication module, gyroscope and bluetooth module are connected with master control borad (8).

2. the Clean- intelligent robot of solar panel according to claim 1, which is characterized in that the stepper motor (3) it is all made of on four phase step motor and stepper motor (3) and is provided with train of reduction gears, the model of stepper motor (3) 28BYJ-48, the model D2627-4300KV-4S of brushless duct motor (7), display screen (6) are made of OLED material, main It controls plate (8) and uses STM32F103C8T6 single-chip microcontroller, ontology (2) is made of acrylic or carbon fibre materials.

3. the Clean- intelligent robot of solar panel according to claim 1 or 2, which is characterized in that the cleaning part Part includes that steering engine (9), cleaning brush, relay switch, water pump and sink, water pump are connected with sink, and cleaning brush is driven using steering engine (9) Dynamic, relay switch is connected with water pump by signal.

4. the Clean- intelligent robot of solar panel according to claim 3, which is characterized in that the steering engine (9) Model SG90,385 water pump of model of water pump.

5. the Clean- intelligent robot of solar panel according to claim 1, which is characterized in that the information collection mould Block includes photoelectric tube (1) and camera.

6. the Clean- intelligent robot of solar panel according to claim 5, which is characterized in that the photoelectric tube (1) using infrared electro to pipe, the model OV7725 of camera.