CN209448698U - A kind of automatic robot photovoltaic module cleaning and detected - Google Patents
A kind of automatic robot photovoltaic module cleaning and detected Download PDFInfo
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- CN209448698U CN209448698U CN201920012491.XU CN201920012491U CN209448698U CN 209448698 U CN209448698 U CN 209448698U CN 201920012491 U CN201920012491 U CN 201920012491U CN 209448698 U CN209448698 U CN 209448698U
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- cleaning
- photovoltaic module
- vacuum
- frame body
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
The utility model relates to photovoltaic module cleaning technology fields, in particular disclose a kind of automatic robot photovoltaic module cleaning and detected, including frame body, are set to cleaning assemblies, detection components and the driving assembly of frame body；Cleaning assemblies includes the clear water tanks for being set to frame body, filter, water pump, vacuum pump and vacuum (-tight) housing, and vacuum (-tight) housing, which is equipped with, accommodates blind chamber；It further include being set to vacuum (-tight) housing and being located to accommodate blind intracavitary cleaning brush, sparge pipe, dirt sucking tube, vacuum (-tight) housing is for contradicting photovoltaic module；In actual use, the cleaning solution that water pump extracts in clear water tanks is ejected on photovoltaic module via sparge pipe, cleaning brush cleans the photovoltaic module for being injected with cleaning solution, soiling solution after vacuum pump cleans cleaning brush via dirt sucking tube is pumped into filter, it is recycled into clear water tanks via the filtered cleaning solution of filter, high degree of automation reduces artificial use cost, improves the cleaning efficiency of photovoltaic module；Automatic robot's simple structure, it is easy to use.
Description
Technical field
The utility model relates to photovoltaic module cleaning technology field, a kind of photovoltaic module cleaning and detection are in particular disclosed
Automatic robot.
Background technique
Photovoltaic module is the basic important document of solar power station electric energy production, and the transfer efficiency of photovoltaic module directly decides too
The generating efficiency in positive energy power station, in the use process of photovoltaic module, photovoltaic module can lead to light under the influence ofs dust, birds droppings etc.
20% or more the generated energy loss of overhead utility, thus keep the cleaning of photovoltaic module to become and keep photovoltaic plant maximum generation effect
One of key factor of rate.
Mainly there are artificial cleaning, large-scale cleaning equipment cleaning and robot cleaning, artificial cleaning main currently on the market
It is to be carried out by way of being aided with after giant rinses and manually scrubbing, not only operating efficiency is low and wastes water for which, and
Operating personnel is easy to trample on photovoltaic module.
Large-scale cleaning equipment mainly uses vehicle-mounted or drum-type, and which is very high to flushing channel requirement, simultaneously because
The working environment of reasons in structure and photovoltaic module influences, and type cleaning equipment adaptation range is greatly limited.
Although existing robot cleaning the degree of automation is higher, it is limited to domestic cleaning robot construction at present and does not conform to
Reason, the cleaning effect of robot is bad, and use is extremely inconvenient.
Summary of the invention
In order to overcome shortcoming and defect existing in the prior art, the purpose of this utility model is to provide a kind of photovoltaic groups
The automatic robot of part cleaning and detection, high degree of automation reduce artificial use cost, improve the cleaning effect of photovoltaic module
Rate；Automatic robot's simple structure, it is easy to use.
To achieve the above object, a kind of photovoltaic module cleaning of the utility model and the automatic robot of detection, including frame
Body is set to cleaning assemblies, detection components and the driving assembly of frame body, the photovoltaic that driving assembly is used to drive frame body relatively extraneous
Component is mobile, and cleaning assemblies is used to clean extraneous photovoltaic module, and detection components are for detecting photovoltaic module；The cleaning assemblies
Clear water tanks, filter, water pump, vacuum pump and vacuum (-tight) housing including being set to frame body, vacuum (-tight) housing, which is equipped with, accommodates blind chamber, accommodates blind chamber
It is formed from the outer surface of vacuum (-tight) housing is recessed；It further include being set to vacuum (-tight) housing and being located to accommodate blind intracavitary cleaning brush, sparge pipe, suction
Dirt pipe, photovoltaic module extract the cleaning solution in clear water tanks and by cleaning solution via spray for covering the opening for accommodating blind chamber, water pump
Water pipe is ejected on photovoltaic module, and cleaning brush is used to clean the photovoltaic module for being injected with cleaning solution, and vacuum pump will via dirt sucking tube
Soiling solution after cleaning brush cleaning is pumped into filter, is recycled into clear water tanks via the filtered cleaning solution of filter.
Wherein, the cleaning brush includes the hairbrush of the axis body being rotatably dispose in vacuum (-tight) housing, spiral winding on the outside of axis body,
Vacuum (-tight) housing is provided with the first motor for driving axis body to rotate.
Wherein, the vacuum (-tight) housing is equipped with sealing joint strip, and sealing joint strip is contradicted around blind chamber setting, sealing joint strip is accommodated in light
It lies prostrate on component, sealing joint strip is used to seal the gap between vacuum (-tight) housing and photovoltaic module.
Wherein, the frame body is installed with the second motor, and vacuum (-tight) housing is rotatably dispose in frame body, and the second motor is for driving vacuum
It covers and is rotated relative to frame body and then adjust the press force size between vacuum (-tight) housing and photovoltaic module.
Wherein, the driving component includes the third motor for being set to frame body, is rotatably dispose in the two of frame body two sides respectively
A driving wheel group, two rubber belt tracks being sheathed on the outside of two driving wheel groups respectively, two rubber belt tracks are contradicted respectively in light
It lies prostrate on component, third motor is for driving two driving wheel group rotations.
Wherein, the driving wheel group includes the idler wheel and two gears for being rotatably dispose in frame body respectively, and idler wheel is located at two
Between gear, idler wheel is collinearly arranged with two gears, and idler wheel is equipped with annular blind slot, and annular blind slot is set around the central axis of idler wheel
It sets, rubber belt track is equipped with annular teeth portion and conducting bar portion, and annular teeth portion and conducting bar portion prolong along the length direction of rubber belt track
Setting is stretched, annular teeth portion is engaged with gear, and conducting bar portion protrudes into annular blind slot.
Wherein, the frame body is equipped with control module, and control module is electric with cleaning assemblies, detection components and driving assembly respectively
Property connection, control module have wireless transmission unit, extraneous mobile controlling terminal via wireless transmission unit regulate and control cleaning group
Part, detection components, the operating parameter of driving assembly and the walking path for planning automatic robot.
Wherein, the detection components include infra-red thermal imaging camera, and infra-red thermal imaging camera is used for cleaning
Photovoltaic module after unit clean shoots image, and control module is according to the shooting spectral discrimination photovoltaic of infra-red thermal imaging camera
Whether component damages.
Wherein, the detection components include ultrasonic distance-measuring sensor, gyroscope, obliquity sensor, control module via
Ultrasonic distance-measuring sensor detects the walking position of frame body or/and vacuum (-tight) housing, and control module is via gyroscope and obliquity sensor
Control direction, angle and the position of the frame body of automatic robot.
Wherein, the cleaning brush is made of nylon or rubber, and frame body is installed with lithium battery, and lithium battery is used to be cleaning group
Part, detection components and driving assembly power supply.
The utility model has the advantages that in actual use, driving assembly is used to drive frame body mobile relative to extraneous photovoltaic module, and water pump is taken out
The cleaning solution in clear water tanks is taken to be ejected on photovoltaic module via sparge pipe, cleaning brush cleans the photovoltaic group for being injected with cleaning solution
Part, the soiling solution after vacuum pump cleans cleaning brush via dirt sucking tube is pumped into filter, via the filtered cleaning solution of filter
It is recycled into clear water tanks, high degree of automation, reduces artificial use cost, improve the cleaning efficiency of photovoltaic module；Automatic machine
Device people's simple structure, it is easy to use.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the decomposition texture schematic diagram of the utility model；
Fig. 3 is the partial enlargement structural representation of part A in Fig. 2；
Fig. 4 is the structural principle block diagram of the utility model.
Appended drawing reference includes:
1-frame body 2-cleaning assemblies, 3-detection components
4-driving assembly 5-clear water tanks, 6-filters
7-water pump 8-vacuum pump, 9-vacuum (-tight) housings
11-cleaning brush 12-sparge pipe, 13-dirt sucking tubes
14-accommodating 16-sealing joint strips of blind 15-hairbrush of chamber
17-the second motor 18-third, 19-rubber belt track of motor
21-22-gear of idler wheel, 23-annular blind slots
24-conducting bar portion 25-control module, 26-infra-red thermal imaging cameras
27-ultrasonic distance-measuring sensor 28-lithium battery, 29-gyroscopes
31-obliquity sensors.
Specific embodiment
For the ease of the understanding of those skilled in the art, the content that embodiment refers to not is the limit to the utility model
It is fixed.
Shown in please referring to Fig.1 to Fig.4, a kind of photovoltaic module cleaning of the utility model and the automatic robot of detection, packet
Frame body 1 is included, cleaning assemblies 2, detection components 3 and driving assembly 4 on frame body 1 are set, and driving assembly 4 is for driving frame body 1
Mobile relative to extraneous photovoltaic module, cleaning assemblies 2 is used to clean extraneous photovoltaic module, and detection components 3 are for detecting photovoltaic
Whether cleaning effect, the photovoltaic module of component damage, the shift position of frame body 1；The cleaning assemblies 2 includes being arranged in frame body 1
On clear water tanks 5, filter 6, water pump 7, vacuum pump 8 and vacuum (-tight) housing 9, vacuum (-tight) housing 9, which is equipped with, accommodates blind chamber 14, accommodate blind chamber 14 from
The lower surface of vacuum (-tight) housing 9 is recessed to be formed；It further include being arranged on vacuum (-tight) housing 9 and being located at the cleaning brush 11 accommodated in blind chamber 14, spray
Water pipe 12, dirt sucking tube 13, photovoltaic module extract the cleaning solution in clear water tanks 5 simultaneously for covering the opening for accommodating blind chamber 14, water pump 7
Cleaning solution is ejected on photovoltaic module via sparge pipe 12, mobile frame body 1 is cleaned via the related cleaning brush 11 of vacuum (-tight) housing 9 to be sprayed
The photovoltaic module of cleaning solution is penetrated, the soiling solution after vacuum pump 8 cleans cleaning brush via dirt sucking tube 13 is pumped into filter 6, warp
It is recycled into clear water tanks 5 by the filtered cleaning solution of filter 6, realizes that cleaning solution recycles.
In actual use, driving assembly 4 is used to drive frame body 1 mobile relative to extraneous photovoltaic module, and water pump 7 extracts water purification
Cleaning solution in case 5 is ejected on photovoltaic module via sparge pipe 12, and cleaning brush 11 cleans the photovoltaic module for being injected with cleaning solution,
Soiling solution after vacuum pump 8 cleans cleaning brush via dirt sucking tube 13 is pumped into filter 6, via the filtered cleaning of filter 6
Liquid is recycled into clear water tanks 5, and detection components 3 can detect the cleaning effect of photovoltaic module automatically；The photovoltaic of the utility model
Unit clean and automatic robot's high degree of automation of detection, reduce artificial use cost, improve the cleaning effect of photovoltaic module
Rate；Automatic robot's simple structure, it is easy to use.
The cleaning brush 11 includes the hairbrush 15 that the axis body that is rotatably arranged in vacuum (-tight) housing 9, spiral are wound around on the outside of axis body,
According to actual needs, axis body can be provided on vacuum (-tight) housing 9 for driving axis body to rotate via bearing hinge connection on vacuum (-tight) housing 9
First motor.In actual use, during the related vacuum (-tight) housing 9 of frame body 1 and mobile cleaning brush 11, first motor drive shaft
The related hairbrush 15 of body rotates, and promotes the cleaning effect and cleaning efficiency of photovoltaic module.It is arranged on axis body via 15 spiral of hairbrush,
During hairbrush 15 is clean to photovoltaic module, hairbrush 15 clean after it is dirty in the spiral grooves of hairbrush 15 by dirt sucking tube
13 take away, the dirty photovoltaic module secondary pollution to after cleaning for avoiding hairbrush 15 from cleaning.
The vacuum (-tight) housing 9 is equipped with sealing joint strip 16, and sealing joint strip 16 is arranged around blind chamber 14 is accommodated, and sealing joint strip 16 is arranged
At the aperture position for accommodating blind chamber 14, sealing joint strip 16 is contradicted on photovoltaic module, and sealing joint strip 16 is for sealing vacuum (-tight) housing 9
Gap between photovoltaic module.Via sealing joint strip 16 is added, when sparge pipe 12 is sprayed to the photovoltaic module accommodated in blind chamber 14
When cleaning solution, cleaning solution is reduced via the spillway discharge in the gap between vacuum (-tight) housing 9 and photovoltaic module, saves cleaning solution；It keeps away simultaneously
Exempt from the gap air leak between vacuum (-tight) housing 9 and photovoltaic module and influences dirt sucking tube 13 and draw the dirty suction after cleaning assemblies 2 cleans
Take effect.When the abrasion of sealing joint strip 16 is not available, the sealing joint strip 16 that more renews.
The frame body 1 is installed with the second motor 17, and vacuum (-tight) housing 9 is rotatably arranged on frame body 1, and the second motor 17 is for driving
Vacuum (-tight) housing 9 rotates relative to frame body 1 and then adjusts the press force size between vacuum (-tight) housing 9 and photovoltaic module, according to different photovoltaic groups
The requirement for cleaning of part, the second motor 17 drive the rotation of the related cleaning assemblies 2 of vacuum (-tight) housing 9, and then adjust cleaning assemblies 2 to photovoltaic group
The cleaning strength of part, it is ensured that the automatic robot that the photovoltaic module of the utility model is cleaned and detected can be adapted for a variety of
The photovoltaic module of specification.
The driving component 4 includes the third motor 18 being arranged on frame body 1, is rotatably arranged on frame body 1 or so two respectively
Two driving wheel groups on side, two rubber belt tracks 19 being respectively sleeved on the outside of two driving wheel groups, vacuum (-tight) housing 9 are connected to frame
The rear end of body 1, two rubber belt tracks 19 contradict on photovoltaic module respectively, and third motor 18 is for driving two driving wheel groups to turn
It is dynamic.In actual use, third motor 18 drives related two rubber belt tracks 19 rotation of two driving wheel groups, due to rubber belt track 19
It contradicts on photovoltaic module, frame body 1 can be driven along photovoltaic module using the frictional force between rubber belt track 19 and photovoltaic module
It is mobile, and then complete the cleaning operation to photovoltaic module different parts.
The driving wheel group includes the idler wheel 21 and two gears 22 for being rotatably arranged on frame body 1 respectively, and idler wheel 21 is located at two
Between a gear 22, idler wheel 21 and two gears 22 are collinearly arranged, and idler wheel 21 is equipped with annular blind slot 23, and annular blind slot 23 is located at rolling
The middle part of wheel 21, annular blind slot 23 are arranged around the central axis of idler wheel 21, and rubber belt track 19 is equipped with annular teeth portion and conducting bar
Portion 24, annular teeth portion and conducting bar portion 24 are extended along the length direction of rubber belt track 19, conducting bar portion 24 and annular teeth
In a ring, annular teeth portion is engaged with gear 22 in portion, and conducting bar portion 24 protrudes into annular blind slot 23.In actual use, annular
Teeth portion drives rubber belt track 19 to rotate, and the rotation for rubber belt track 19 provides driving force；The side wall block of annular blind slot 23 is led
Item portion 24 prevents rubber belt track 19 from falling off from driving wheel group.
The frame body 1 be equipped with control module 25, control module 25 respectively with cleaning assemblies 2, detection components 3 and driving assembly
4 are electrically connected, and control module 25 is for adjusting the actual operation parameters of cleaning assemblies 2, detection components 3 and driving assembly 4
Control setting, control module 25 have wireless transmission unit (wireless wifi or bluetooth etc.), and extraneous mobile controlling terminal is (such as intelligence
Mobile phone, tablet computer, laptop etc.) via wireless transmission unit regulation cleaning assemblies 2, detection components 3, driving assembly 4
Operating parameter and plan the walking path of automatic robot, and then adjust the automatic robot of photovoltaic module cleaning and detection
Actual operation parameters.
The detection components 3 include infra-red thermal imaging camera 26, and infra-red thermal imaging camera 26 is used for cleaning
Photovoltaic module after component 2 cleans shoots video image, and control module 25 is regarded according to the shooting of infra-red thermal imaging camera 26
Whether frequency spectral discrimination photovoltaic module damages.For example, infra-red thermal imaging camera 26 by the photovoltaic module after cleaning into
Row thermal imaging detection, it can be found that the situations such as the hot spot of photovoltaic module, crack, facilitate the subsequent photovoltaic that can be quickly found out damage
Component repairs operation.
The detection components 3 include ultrasonic distance-measuring sensor 27, gyroscope 29 and obliquity sensor 31, control module 25
The walking position of frame body 1 or/and vacuum (-tight) housing 9 is detected via ultrasonic distance-measuring sensor 27.Via ultrasonic distance-measuring sensor 27,
Route mobile operation of the automatic robot that the photovoltaic module of the utility model can be made to clean and detect in setting, it is ensured that robot
It will not walk out except the boundary of photovoltaic module.Control module 25 controls automatic robot via gyroscope 29 and obliquity sensor 31
Frame body direction, angle and position, it is ensured that automatic robot is shifted exactly to scheduled place, prevents automatic robot from existing
Rollover is toppled in moving process.Preferably, the surrounding of frame body 1 is provided with ultrasonic distance-measuring sensor 27.
The cleaning brush 11 is made of nylon or rubber, reduces the manufacturing cost of cleaning brush 11, and frame body 1 is installed with lithium electricity
Pond 28, lithium battery 28 are used to power for cleaning assemblies 2, detection components 3 and driving assembly 4, it is preferable that lithium battery 28 is chargeable
Lithium battery 28, it is ensured that the photovoltaic module of the utility model cleans and the automatic robot of detection is not necessarily to via power supply line and the external world
Power supply connection, promotes the convenience that photovoltaic module cleans and the automatic robot of detection uses.
The above content is only the preferred embodiment of the utility model, and the content of the present specification should not be construed as to the utility model
Limitation.
Claims (10)
1. the automatic robot of a kind of photovoltaic module cleaning and detection, including frame body, are set to cleaning assemblies, the detection group of frame body
Part and driving assembly, driving assembly are used to drive frame body mobile relative to extraneous photovoltaic module, and cleaning assemblies is for cleaning the external world
Photovoltaic module, detection components are for detecting photovoltaic module；It is characterized by: the cleaning assemblies includes be set to frame body net
Water tank, filter, water pump, vacuum pump and vacuum (-tight) housing, vacuum (-tight) housing, which is equipped with, accommodates blind chamber, and the outer surface for accommodating blind chamber from vacuum (-tight) housing is recessed
If forming；It further include being set to vacuum (-tight) housing and being located to accommodate blind intracavitary cleaning brush, sparge pipe, dirt sucking tube, photovoltaic module is used for
The opening for accommodating blind chamber is covered, water pump extracts the cleaning solution in clear water tanks and cleaning solution is ejected into photovoltaic module via sparge pipe
On, cleaning brush for cleaning the photovoltaic module for being injected with cleaning solution, vacuum pump cleaning brush is cleaned via dirt sucking tube after soiling solution
It is pumped into filter, is recycled into clear water tanks via the filtered cleaning solution of filter.
2. the automatic robot of photovoltaic module cleaning according to claim 1 and detection, it is characterised in that: the cleaning brush
Axis body, spiral winding including being rotatably dispose in vacuum (-tight) housing are set to the hairbrush on the outside of axis body, and vacuum (-tight) housing is provided with for drive shaft
The first motor of body rotation.
3. the automatic robot of photovoltaic module cleaning according to claim 1 and detection, it is characterised in that: the vacuum (-tight) housing
Equipped with sealing joint strip, sealing joint strip contradicts on photovoltaic module around blind chamber setting, sealing joint strip is accommodated, and sealing joint strip is for close
Seal the gap between vacuum (-tight) housing and photovoltaic module.
4. the automatic robot of photovoltaic module cleaning according to claim 1 and detection, it is characterised in that: the frame body dress
Equipped with the second motor, vacuum (-tight) housing is rotatably dispose in frame body, and the second motor is for driving vacuum (-tight) housing to rotate and then adjust relative to frame body
Press force size between vacuum (-tight) housing and photovoltaic module.
5. the automatic robot of photovoltaic module cleaning according to claim 1 and detection, it is characterised in that: the driving group
Part includes the third motor for being set to frame body, two driving wheel groups for being rotatably dispose in frame body two sides respectively, is sheathed on two respectively
Two rubber belt tracks on the outside of a driving wheel group, two rubber belt tracks contradict on photovoltaic module respectively, and third motor is for driving
Dynamic two driving wheel groups rotation.
6. the automatic robot of photovoltaic module cleaning according to claim 5 and detection, it is characterised in that: the driving wheel
Group includes the idler wheel and two gears for being rotatably dispose in frame body respectively, and idler wheel is located between two gears, idler wheel and two gears
Conllinear setting, idler wheel are equipped with annular blind slot, and annular blind slot is arranged around the central axis of idler wheel, and rubber belt track is equipped with annular teeth
Portion and conducting bar portion, annular teeth portion and conducting bar portion are extended along the length direction of rubber belt track, annular teeth portion and gear
Engagement, conducting bar portion protrudes into annular blind slot.
7. the automatic robot of photovoltaic module cleaning according to claim 1 and detection, it is characterised in that: the frame body is set
There is control module, control module is electrically connected with cleaning assemblies, detection components and driving assembly respectively, and control module has wireless
Transmission unit, extraneous mobile controlling terminal regulate and control cleaning assemblies, detection components, the fortune of driving assembly via wireless transmission unit
Row parameter and the walking path for planning automatic robot.
8. the automatic robot of photovoltaic module cleaning according to claim 7 and detection, it is characterised in that: the detection group
Part includes infra-red thermal imaging camera, and infra-red thermal imaging camera is used to shoot the photovoltaic module after cleaning assemblies cleaning
Whether image, control module are damaged according to the shooting spectral discrimination photovoltaic module of infra-red thermal imaging camera.
9. the automatic robot of photovoltaic module cleaning according to claim 7 and detection, it is characterised in that: the detection group
Part includes ultrasonic distance-measuring sensor, gyroscope, obliquity sensor, and control module detects frame body via ultrasonic distance-measuring sensor
Or the walking position with vacuum (-tight) housing, control module control the side of the frame body of automatic robot via gyroscope and obliquity sensor
To, angle and position.
10. the automatic robot of photovoltaic module cleaning according to claim 1 and detection, it is characterised in that: the cleaning
Brush is made of nylon or rubber, and frame body is installed with lithium battery, and lithium battery is used to be cleaning assemblies, detection components and driving assembly
Power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920012491.XU CN209448698U (en) | 2019-01-04 | 2019-01-04 | A kind of automatic robot photovoltaic module cleaning and detected |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920012491.XU CN209448698U (en) | 2019-01-04 | 2019-01-04 | A kind of automatic robot photovoltaic module cleaning and detected |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209448698U true CN209448698U (en) | 2019-09-27 |
Family
ID=68017101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920012491.XU Expired - Fee Related CN209448698U (en) | 2019-01-04 | 2019-01-04 | A kind of automatic robot photovoltaic module cleaning and detected |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209448698U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109510583A (en) * | 2019-01-04 | 2019-03-22 | 东莞市旗胜光电有限公司 | A kind of automatic robot photovoltaic module cleaning and detected |
| CN113414157A (en) * | 2021-06-20 | 2021-09-21 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot based on vision SLAM |
-
2019
- 2019-01-04 CN CN201920012491.XU patent/CN209448698U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109510583A (en) * | 2019-01-04 | 2019-03-22 | 东莞市旗胜光电有限公司 | A kind of automatic robot photovoltaic module cleaning and detected |
| CN113414157A (en) * | 2021-06-20 | 2021-09-21 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot based on vision SLAM |
| WO2022267336A1 (en) * | 2021-06-20 | 2022-12-29 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot based on visual slam |
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Granted publication date: 20190927 Termination date: 20220104 |