CN215918563U - Solar panel and heliostat cleaning robot working environment cleaning structure - Google Patents
Solar panel and heliostat cleaning robot working environment cleaning structure Download PDFInfo
- Publication number
- CN215918563U CN215918563U CN202023103647.7U CN202023103647U CN215918563U CN 215918563 U CN215918563 U CN 215918563U CN 202023103647 U CN202023103647 U CN 202023103647U CN 215918563 U CN215918563 U CN 215918563U
- Authority
- CN
- China
- Prior art keywords
- sand
- gravel
- conveyor belt
- solar panel
- recovery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a solar panel and heliostat cleaning robot working environment cleaning structure which comprises a driving unit, a detection unit, an execution unit and a processing unit, wherein the driving unit can drive a robot to move, the detection unit and the execution unit are both arranged on the robot, and the processing unit is respectively connected with the driving unit, the detection unit and the execution unit through signals.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a solar panel and heliostat cleaning robot working environment cleaning structure.
Background
In recent years, solar power generation technology is developed on a large scale, wherein solar panels are widely used for power generation and are installed in various environments such as green buildings, photovoltaic power stations and building roofs, solar energy is increasingly used as a clean renewable energy source, meanwhile, most of installation environments are installed outdoors, dust often exists on the surfaces of the solar panels due to sedimentation in air and other reasons, the dust enables the solar panels to absorb sunlight, the efficiency of the solar panels is further influenced, the dust on the surfaces of the solar panels is timely cleaned, and the improvement of the power generation efficiency of the solar panels is facilitated.
Meanwhile, the photo-thermal power generation technology is a new solar energy utilization technology following the photovoltaic power generation technology, and comprises a tower type solar thermal power generation technology, a groove type solar thermal power generation technology, a disc type solar thermal power generation technology and a linear Fresnel type solar thermal power generation technology. The tower type solar thermal power generation adopts a large number of heliostats to gather sunlight on a heat absorber on the top of a heat absorbing tower, heat working media, generate steam and push a steam turbine to drive a generator to generate power. The function that the heliostat realized is to gather the sunlight on the heat absorber, and the cleanliness of heliostat mirror surface will influence the reflectivity of mirror surface, and then influences the incident energy of heat absorber, consequently, the higher cleanliness is kept to the heliostat mirror surface, will improve light and heat conversion efficiency, so, will regularly clean the heliostat.
With the progress of science and technology, in view of the fact that solar panels are more and more widely used and tens of thousands of heliostats in a mirror field are used, the manual cleaning mode cannot meet the requirements, the cleaning of the solar panels and the heliostats is gradually replaced by a robot, the operation efficiency can be greatly improved and the manual labor intensity is reduced by cleaning the solar panels and the heliostats in a robot operation mode, but the robot often influences the operation efficiency and the operation precision due to various bulges or tunnels in the operation environment in the operation process, and even can not well complete the cleaning operation.
Patent document CN205725619U discloses a photovoltaic panel cleaning robot, which includes a traveling device, a frame, a cleaning roller, etc., and the robot can automatically clean the photovoltaic panels arranged in order, but the design still cannot solve the influence of the rugged working environment on the movement of the robot.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model aims to provide a solar panel and a heliostat cleaning robot working environment cleaning structure.
According to the utility model, the solar panel and heliostat cleaning robot work environment cleaning structure comprises:
the driving unit can drive the robot to move;
a detection unit mounted on the robot;
the execution unit is arranged on the robot and can realize the removal of the raised sand and stone and the filling of the pits;
and the processing unit is respectively in signal connection with the driving unit, the detection unit and the execution unit.
Preferably, the detection unit includes a sand detection radar, an ultrasonic sensor, and a distance sensor;
the sand detection radar, the ultrasonic sensor and the distance sensor are respectively in signal connection with the processing unit.
Preferably, the execution unit comprises a sand and stone recovery mechanism, a conveying mechanism and a leveling mechanism;
the gravel and sand recovery mechanism, the conveying mechanism and the filling mechanism are respectively in signal connection with the processing unit.
Preferably, the sand and stone recovery mechanism comprises a first sand and stone recovery motor, a second sand and stone recovery motor, a sand and stone recovery sweeping board and a sand and stone recovery shovel wheel;
first gravel and sand is retrieved the motor and can order about gravel and sand to retrieve and sweep the board and rotate and realize gravel and sand recovery and can carry the gravel and sand of retrieving extremely gravel and sand recovery shovel wheel, second gravel and sand is retrieved the motor and can order about gravel and sand recovery shovel wheel and rotate and will gravel and sand carry extremely transport mechanism.
Preferably, the conveying mechanism comprises a front conveying belt, a rear conveying belt, a left conveying belt and a right conveying belt;
one end of the front conveyor belt and one end of the rear conveyor belt are respectively connected with the gravel recovery shovel wheel, and the other ends of the front conveyor belt and the rear conveyor belt are respectively connected with the left conveyor belt and the right conveyor belt.
Preferably, the conveying mechanism further comprises a push plate motor and one or more push plates;
the push plate motor can drive the push plate to move along the surface of the left conveying belt and/or the right conveying belt so as to push the sand and stones stored on the left conveying belt and the right conveying belt.
Preferably, the conveyor belt in the conveying mechanism is driven by a roller motor, and the roller motor is in signal connection with the processing unit.
Preferably, the leveling mechanism comprises a scraper and a scraper motor;
the scraper motor can drive the scraper to move so as to scrape off the sand filled in the pit.
Preferably, the bottom of the robot is provided with a rotating wheel, the driving unit is in driving connection with the rotating wheel, and the driving unit can drive the rotating wheel to rotate.
Preferably, the runner is provided with wear-resistant rubber and anti-skid lines along the circumferential direction.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the utility model, different mechanical treatment modes are adopted for the sand and stone bulges or pits in the robot working environment through the matching of all the units, so that the defects of low working efficiency and poor working precision caused by unevenness in the movement environment in the movement process of the robot can be eliminated, and the working efficiency of the robot is greatly improved.
2. According to the sand and stone storage and transportation device, the plurality of conveying belts are arranged to realize sand and stone storage and transportation, the sand and stone storage and transportation device can be flexibly arranged along the circumferential direction, sand and stone input and output arrangement in different directions is formed, and the practicability of the device is greatly improved.
3. Through further improvement, the utility model is beneficial to realizing that pits or bulges with larger volume in front of the robot can be flexibly avoided, and greatly improves the practicability and flexibility of the equipment.
Drawings
Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic diagram of the working principle of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the utility model. All falling within the scope of the present invention.
The utility model provides a solar panel and heliostat cleaning robot working environment cleaning structure, which comprises a driving unit 1, a detection unit 2, an execution unit and a processing unit 3, wherein the driving unit 1 can drive a robot to move and drive the robot to move to a preset position, the detection unit 2 is installed on the robot and is used for detecting a ground environment and detecting an abnormity, environment model information and position information are formed for the abnormity, the abnormity comprises protrusion information and pit information, the environment model information comprises protrusion model information and pit model information, when protrusion information is obtained, namely the robot moves to the preset position, gravel and protrusion appears in front, the execution unit is installed on the robot and carries out recovery operation, the execution unit removes the protrusion part through a gravel recovery sweeping plate which the execution unit has per se and collects the removed gravel and sand, the processing unit 3 is respectively connected with the driving unit 1, the detecting unit 2 and the executing unit through signals.
Further, when pit information is obtained, namely when the robot moves to the preset position, sand and stone pits appear in the front, the execution unit carries out output operation, fills sand and stone stored on the conveying belt of the execution unit into the pits, and drives the scraping plate to scrape the sand and stone filled into the pits through the sand and stone scraping motor. The processing unit 3 comprises a processor, the robot is further provided with a speed detector, the speed detector is used for receiving the environment model information and the position information and outputting a first control command according to the movement speed of the robot, and the execution unit executes the first control command.
Specifically, detecting element 2 includes gravel and sand detection radar, ultrasonic sensor and distance sensor, gravel and sand detection radar, ultrasonic sensor, distance sensor respectively with 3 signal connection of processing unit can detect the shape and the distance information of the arch in the place ahead or pit through gravel and sand detection radar, ultrasonic sensor, distance sensor, and then 3 control execution unit actions of processing unit. The sand and stone detection radar is used for acquiring abnormal information, and the ultrasonic sensor and the distance sensor are used for acquiring the position of the abnormal information.
It should be noted that, the signal connection in the present invention may adopt a wired connection manner or a wireless connection manner, and specifically, should be flexibly selected according to the actual application scenario to meet the actual requirements.
Specifically, the execution unit includes gravel and sand recovery mechanism, transport mechanism and fills and level up the mechanism, gravel and sand recovery mechanism, transport mechanism, fill and level up the mechanism respectively with processing unit 3 signal connection, gravel and sand recovery mechanism includes that first gravel and sand retrieves motor, second gravel and sand recovery motor, gravel and sand retrieve and sweep board and gravel and sand recovery shovel wheel, first gravel and sand recovery motor can order about gravel and sand to retrieve and sweep the board and rotate and realize gravel and sand recovery and can carry the gravel and sand of retrieving extremely gravel and sand recovery shovel wheel, second gravel and sand recovery motor can order about gravel and sand recovery shovel wheel and rotate and will gravel and sand carry extremely transport to transport mechanism.
Specifically, as shown in fig. 1, the conveying mechanism includes a front conveying belt 4, a rear conveying belt 5, a left conveying belt 6 and a right conveying belt 7, one end of the front conveying belt 4 and one end of the rear conveying belt 5 are respectively connected to the gravel and sand recovery shovel wheel, the other end of the front conveying belt 4 and the other end of the rear conveying belt 5 are respectively connected to the left conveying belt 6 and the right conveying belt 7, the left conveying belt 6 and the right conveying belt 7 are used for storing gravel and sand, and when the gravel and sand on the left conveying belt 6 and the right conveying belt 7 reach a certain weight, the processing unit 3 can control the front conveying belt 4 and the rear conveying belt 5 to place part of gravel and sand according to the obtained information, so as to increase the total storage capacity.
Specifically, transport mechanism still includes push pedal motor and one or more push pedal, the push pedal motor can drive the push pedal is followed the surface motion of left conveyer belt 6 and/or right conveyer belt 7 and then is promoted and is stored the gravel and sand on left conveyer belt 6, right conveyer belt 7.
Specifically, the conveyor belt in the conveying mechanism is preferably driven by a roller motor, the roller motor is in signal connection with the processing unit 3, and the processing unit 3 can control the roller motor to move as required.
Specifically, the leveling mechanism comprises a scraper and a scraper motor, wherein the scraper motor can drive the scraper to move so as to level sand and stones filled in the pit.
Specifically, the bottom of the robot is provided with a rotating wheel 8, the driving unit 1 is in driving connection with the rotating wheel 8, the driving unit 1 can drive the rotating wheel 8 to turn, the rotating wheel 8 in the present invention can adopt a wheel disclosed in patent document CN107600149A (a wheel with a turning function and a speed regulation function), the wheel has a turning function and a speed regulation function, in a preferred embodiment, the rotating wheel 8 is provided with wear-resistant rubber and anti-skid lines along the circumferential direction, which can improve the anti-skid and wear-resistant capabilities, prolong the service life, and increase the stability in the movement process.
It should be noted that, when the environment model information obtained by the processing unit 3 exceeds a preset threshold, that is, the internal storage sand is not enough to fill the detected pit or the detected raised sand exceeds the internal storage space of the execution unit after being recovered, at this time, the processing unit 3 outputs a second control command, the driving unit 1 executes the second control command, that is, the processing unit 3 controls the driving unit 1 to bypass the detected abnormality, that is, to go around, and meanwhile, the present invention is further provided with a control center, when the environment model information obtained by the processing unit 3 exceeds the preset threshold, the processing unit 3 transmits the environment model information to the control center, the control center notifies the responsible person of the received abnormality information in the form of a screen alarm or through a separately designed alarm, and the responsible person performs positioning selection manual to field processing according to the monitoring picture on the field, the working environment of the site is optimized to ensure the working efficiency of the robot, wherein the preset threshold is set according to the maximum bearing capacity of the sand and the stone on the execution unit, for example, the maximum bearing capacity of the sand and the stone on the execution unit is 0.25m3The preset threshold may be set to 0.22m3Meanwhile, after obtaining the environment model information, the processing unit 3 also takes the sand and stones stored inside into account through a set program to ensure the normal operation of the equipment.
The working principle of the utility model is as follows:
in the process of driving the cleaning robot to go to the preset position under the driving of the driving unit 1, the detection unit 2 on the driving unit 1 detects the ground state in front, including sand bumps, pits and the like. When the sand and stone are detected to be convex, the sand and stone detection radar scans the convex appearance of the sand and stone and obtains the convex appearance and the volume of the sand and stone, the ultrasonic sensor and the distance sensor detect the positions of the sand and stone protrusions or pits, signals are transmitted to the processor, the processor starts the first sand and stone recovery motor and the second sand and stone recovery motor according to the advancing speed of the driving unit 1, the first sand and stone recovery motor drives the sand and stone recovery sweeping plate to rotate, the convex sand and stone is pushed into the sand and stone recovery shovel wheel, the second sand and stone recovery motor drives the sand and stone recovery shovel wheel to rotate, the recovered sand and stone are poured into the sand and stone front conveyor belt 4 and the rear conveyor belt 5, and the sand and stone are conveyed to the sand and stone left conveyor belt 6 and the right conveyor belt 7 through the sand and stone front conveyor belt 4 and the rear conveyor belt 5 to store the sand and stone. When a sand and stone detection radar, an ultrasonic sensor and a distance sensor detect sand and stone pits, the radar scans the shapes of the sand and stone pits and confirms the volume of sand and stone needed for filling, the ultrasonic sensor and the distance sensor detect the positions of the sand and stone and transmit signals to a processor, the processor starts a left sand and stone conveyor belt 6 and a right sand and stone conveyor belt 7 according to the advancing speed of a driving unit 1, the stored sand and stone are conveyed to the positions of the pits, the matched sand and stone volume is output according to the volume of the pits, the stored sand and stone are pushed to the pits by one or more push plates, a sand and stone leveling motor is started, the sand and stone leveling motor drives a scraper to rotate to the pushed sand and stone, the driving unit 1 advances, the pushed sand and stone are leveled by the scraper, and the sand and stone leveling motor reversely rotates to drive the scraper to return. When the detection radar, the ultrasonic sensor and the distance sensor detect that the sand and stone bulge or pit is larger than the range where the cleaning robot can be recovered or leveled, the driving unit 1 drives the cleaning robot to bypass the bulge or pit, and meanwhile, the cleaning robot transmits the wireless data to the control center.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a clean structure of solar panel, heliostat cleaning robot operation environment which characterized in that includes:
the driving unit (1) can drive the robot to move;
a detection unit (2) mounted on the robot;
the execution unit is arranged on the robot and can realize the removal of the raised sand and stone and the filling of the pits;
and the processing unit (3) is respectively in signal connection with the driving unit (1), the detection unit (2) and the execution unit.
2. Solar panel, heliostat cleaning robot working environment cleaning structure according to claim 1, characterized in that the detection unit (2) comprises a sand detection radar, an ultrasonic sensor and a distance sensor;
the sand and stone detection radar, the ultrasonic sensor and the distance sensor are respectively in signal connection with the processing unit (3).
3. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 1, wherein the execution unit comprises a gravel recovery mechanism, a transport mechanism, and a leveling mechanism;
the gravel and sand recovery mechanism, the conveying mechanism and the filling mechanism are respectively in signal connection with the processing unit (3).
4. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 3, wherein the gravel recovery mechanism comprises a first gravel recovery motor, a second gravel recovery motor, a gravel recovery sweep plate, and a gravel recovery shovel wheel;
first gravel and sand is retrieved the motor and can order about gravel and sand to retrieve and sweep the board and rotate and realize gravel and sand recovery and can carry the gravel and sand of retrieving extremely gravel and sand recovery shovel wheel, second gravel and sand is retrieved the motor and can order about gravel and sand recovery shovel wheel and rotate and will gravel and sand carry extremely transport mechanism.
5. Solar panel, heliostat cleaning robot working environment cleaning structure according to claim 3, characterized in that the transport mechanism comprises a front conveyor belt (4), a rear conveyor belt (5), a left conveyor belt (6) and a right conveyor belt (7);
one end of the front conveyor belt (4) and one end of the rear conveyor belt (5) are respectively connected with the gravel recovery shovel wheel, and the other end of the front conveyor belt (4) and the other end of the rear conveyor belt (5) are respectively connected with the left conveyor belt (6) and the right conveyor belt (7).
6. A solar panel, heliostat cleaning robot working environment cleaning construction of claim 5, wherein the transport mechanism further comprises a pusher motor and one or more pushers;
the push plate motor can drive the push plate to move along the surface of the left conveying belt (6) and/or the right conveying belt (7) so as to push sands and stones stored on the left conveying belt (6) and the right conveying belt (7).
7. Solar panel, heliostat cleaning robot working environment cleaning structure according to claim 5, characterized in that the conveyor belt in the conveyor mechanism is driven by a drum motor, which is in signal connection with the processing unit (3).
8. The solar panel, heliostat cleaning robot working environment cleaning structure of claim 3, wherein the leveling mechanism comprises a squeegee and a squeegee motor;
the scraper motor can drive the scraper to move so as to scrape off the sand filled in the pit.
9. Solar panel, heliostat cleaning robot working environment cleaning structure according to claim 1, characterized in that the bottom of the robot is provided with wheels (8), the driving unit (1) is in driving connection with the wheels (8), the driving unit (1) can drive the wheels (8) to turn.
10. Solar panel, heliostat cleaning robot working environment cleaning structure according to claim 9, characterized in that the wheels (8) are circumferentially provided with wear-resistant rubber and anti-slip lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023103647.7U CN215918563U (en) | 2020-12-21 | 2020-12-21 | Solar panel and heliostat cleaning robot working environment cleaning structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023103647.7U CN215918563U (en) | 2020-12-21 | 2020-12-21 | Solar panel and heliostat cleaning robot working environment cleaning structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215918563U true CN215918563U (en) | 2022-03-01 |
Family
ID=80409236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023103647.7U Active CN215918563U (en) | 2020-12-21 | 2020-12-21 | Solar panel and heliostat cleaning robot working environment cleaning structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215918563U (en) |
-
2020
- 2020-12-21 CN CN202023103647.7U patent/CN215918563U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206122218U (en) | Clean fortune dimension automatic machine people who detects of photovoltaic module | |
| AU2013282893B2 (en) | Solar panel cleaning system and method | |
| CN105680789B (en) | A kind of solar panel automatic sweeping system | |
| KR100836269B1 (en) | Street lamp | |
| US20180212559A1 (en) | Waterless cleaning system and method for solar trackers using an autonomous robot | |
| CN110061681B (en) | Desert photovoltaic power station system | |
| EP2898962A1 (en) | Autonomous-travel cleaning robot | |
| CN106894378B (en) | A kind of small-sized shovel device for expelling ice and snow | |
| CN102280498B (en) | Intelligent cleaning system for solar photovoltaic photo-thermal panel | |
| CN203900061U (en) | Adjusting device used for photovoltaic panel cleaning | |
| KR101030144B1 (en) | Street lamp for controlling state of city having cleaning device of solar cell panel power, and management system of the same | |
| KR20140044157A (en) | Cleaning system of solar power receiver | |
| CN109746209A (en) | A kind of heliostat cleaning equipment and its cleaning method | |
| CN208424557U (en) | A kind of active visual external force damage prevention source of early warning | |
| CN109981042A (en) | A kind of clean intelligent robot of solar panel based on more rotors | |
| US11201583B2 (en) | Waterless cleaning system and method for solar trackers using an autonomous robot | |
| CN215918563U (en) | Solar panel and heliostat cleaning robot working environment cleaning structure | |
| KR102156916B1 (en) | Automatic Cleaning Robot for Solar Panel | |
| CN112684798B (en) | Solar panel and heliostat cleaning robot operation environment cleaning structure | |
| CN105526720A (en) | Auto-cleaning high-heat-production type flat plate solar collector | |
| CN211321272U (en) | Rotor and crawler composite angle self-adjusting distributed photovoltaic cleaning operation and maintenance device | |
| CN208712270U (en) | A kind of solar panels intelligence snow removing dedusting robot | |
| CN203076278U (en) | Crawler-type dust removing vehicle | |
| CN106788205A (en) | A kind of solar energy photovoltaic panel cleaning robot and solar energy photovoltaic panel purging system | |
| CN203872125U (en) | Combination rotation disc type cleaning device for photovoltaic assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |