CN219150863U - Photovoltaic cleans robot operation gesture and detects and controlling means - Google Patents
Photovoltaic cleans robot operation gesture and detects and controlling means Download PDFInfo
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- CN219150863U CN219150863U CN202223561503.5U CN202223561503U CN219150863U CN 219150863 U CN219150863 U CN 219150863U CN 202223561503 U CN202223561503 U CN 202223561503U CN 219150863 U CN219150863 U CN 219150863U
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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
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- 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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Abstract
The utility model provides a photovoltaic cleaning robot running gesture detection and control device, which comprises an upper end driving device and a lower end driving device which are positioned at the top and the bottom of a robot body, a control box positioned on the robot body, a controller, and travel switch assemblies positioned at the left side and the right side of the upper end driving device or positioned at the left side and the right side of the lower end driving device and connected with the controller, wherein the travel switch assemblies, the upper end driving device and the lower end driving device are all connected with the controller, the travel switch assemblies are used as a signal source for detecting the tilting direction of the robot body and transmitting signals of the signal source to the controller, and the controller controls the speed of the upper end driving device or the speed of the lower end driving device so that the robot is in a tilting deviation range of running. According to the utility model, a travel switch and double motor drive are adopted to obtain accurate robot gesture detection signals, and the controller is used for calculating acceleration and deceleration of the driving motors at the upper end and the lower end of the robot in different movement directions and different inclination states.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a device for detecting and controlling the operation posture of a photovoltaic cleaning robot.
Background
When the existing robot detects the inclination, 2 sensors are installed in the length direction of the robot to detect the frame of the photovoltaic panel assembly, the signal time difference of the aluminum alloy frames of the two sensors is utilized to judge whether the running gesture of the robot is inclined, and a control program adjusts the acceleration and deceleration of the driving motors at the two ends of the photovoltaic robot to enable the robot to walk within an allowable deviation range all the time. The conventional sensor has short detection distance to the aluminum alloy, needs a lower installation position and is easy to cause collision damage of the sensor. The use of optical sensors (diffuse laser reflection or infrared sensors) can be affected by the use environment, such as dust, water, and strong light, which can lead to false signals.
There are some ways of installing a course angle sensor on a photovoltaic robot to detect the running gesture of the robot, the collected course angle data is calculated through a control program, and when the course angle is larger or smaller than a value which is set to allow a large inclination angle, the control program adjusts the acceleration and deceleration of driving motors at two ends of the photovoltaic robot, so that the robot always walks within an allowed angle deviation range. The data drift and accumulated deviation of the heading angle sensor easily causes a larger error of the detected angle deviation value. If higher detection accuracy is required, a more expensive heading angle sensor is required, increasing cost.
Therefore, it is necessary to provide a device for detecting and controlling the operation posture of the photovoltaic cleaning robot, so as to solve the problems in the prior art.
Disclosure of Invention
In view of the above, the utility model provides a device for detecting and controlling the operation gesture of a photovoltaic cleaning robot, which precisely controls acceleration and deceleration of driving motors at the upper end and the lower end, so that the photovoltaic cleaning robot with the speed of more than 6 meters can stably operate within an allowable inclination angle range, and the problem that the photovoltaic cleaning robot with the speed of more than 6 meters is blocked and slipped due to the gesture inclination is solved.
In order to achieve the above purpose, the utility model provides a photovoltaic cleaning robot running gesture detection and control device, which adopts the following technical scheme:
the utility model provides a photovoltaic cleaning robot operation gesture detects and controlling means, including upper end drive arrangement and the lower extreme drive arrangement that is located robot body top and bottom, be located the control box on the robot body, be located the controller of control box, be located upper end drive arrangement left and right sides or be located lower end drive arrangement's left and right sides and the travel switch subassembly that is connected with the controller, travel switch subassembly, upper end drive arrangement and lower end drive arrangement all are connected with the controller, travel switch subassembly is as the incline direction signal source that detects the robot body and give the controller with its signal transmission, the speed of controller control upper end drive arrangement or lower end drive arrangement's speed in order to make the robot be in the slope deviation scope of operation.
Further, the travel switch assembly comprises a first travel switch Q1 and a second travel switch Q2 which are positioned at the left side and the right side of the upper end driving device, and a third travel switch Q3 and a fourth travel switch Q4 which are positioned at the left side and the right side of the lower end driving device, wherein the first travel switch Q1, the second travel switch Q2, the third travel switch Q3 and the fourth travel switch Q4 are all connected with the controller, the first travel switch Q1 and the third travel switch Q3 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body to the left side, and the second travel switch Q2 and the fourth travel switch Q4 are used for detecting the inclination of the photovoltaic cleaning robot to the right side.
Further, the travel switch assembly comprises a first travel switch Q1 located at the upper end driving device and a second travel switch Q2 located at the lower end driving device, the first travel switch Q1 and the second travel switch Q2 are located on the same side of the robot body, and the first travel switch Q1 and the second travel switch Q2 are connected with the controller.
Further, the first travel switch Q1 and the second travel switch Q2 are on the left side of the robot body, and the first travel switch Q1 and the second travel switch Q2 detect a signal source that the photovoltaic cleaning robot body is inclined to the right side or the left side.
Further, the first travel switch Q1 and the second travel switch Q2 are on the right side of the robot body, and the first travel switch Q1 and the second travel switch Q2 detect a signal source that the photovoltaic cleaning robot body is inclined to the right side or the left side.
Further, the travel switch assembly comprises a first travel switch Q1 and a second travel switch Q2 which are positioned at the left side and the right side of the upper end driving device or the left side and the right side of the lower end driving device, the first travel switch Q1 and the second travel switch Q2 are connected with the controller, and the first travel switch Q1 and the second travel switch Q2 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body.
Further, the first travel switch Q1 and the second travel switch Q2 are located at the left and right sides of the upper end driving device, and the first travel switch Q1 and the second travel switch Q2 detect a signal source of the inclination of the photovoltaic cleaning robot body.
Further, the first travel switch Q1 and the second travel switch Q2 are located at the left and right sides of the lower end driving device, and the first travel switch Q1 and the second travel switch Q2 detect a signal source of the inclination of the photovoltaic cleaning robot body.
The technical scheme of the utility model at least comprises the following beneficial effects:
1. according to the utility model, a travel switch and double motor driving are adopted, so that an accurate robot gesture detection signal is obtained in the application of the photovoltaic robot with the model of more than 6 meters, and the acceleration and deceleration of the driving motors at the upper end and the lower end of the robot in different movement directions and different inclination states are calculated through the controller;
2. the utility model ensures that the photovoltaic cleaning robot with the height of more than 6 meters can stably run within an allowable inclination angle range, thereby solving the problem that the photovoltaic cleaning robot with the height of more than 6 meters is blocked and slipped due to the inclination of the gesture.
Drawings
FIG. 1 is a schematic structural diagram of embodiment 1 of the present utility model;
FIG. 2 is a schematic view showing the structure of embodiment 1 of the present utility model tilted rightward in use;
FIG. 3 is a schematic view showing the structure of embodiment 1 of the present utility model tilted to the left in use; the method comprises the steps of carrying out a first treatment on the surface of the
FIG. 4 is a schematic structural diagram of embodiment 2 of the present utility model;
FIG. 5 is a schematic view showing the structure of embodiment 2 of the present utility model tilted to the left in use;
FIG. 6 is a schematic view showing the structure of embodiment 2 of the present utility model tilted rightward in use;
FIG. 7 is a schematic structural diagram of embodiment 3 of the present utility model;
fig. 8 is a schematic view showing a structure inclined leftward in use of embodiment 3 of the present utility model;
fig. 9 is a schematic view showing a structure inclined rightward in use of embodiment 3 of the present utility model;
FIG. 10 is a schematic diagram of the structure of embodiment 4 of the present utility model;
fig. 11 is a schematic view showing a structure inclined to the left when embodiment 4 of the present utility model is used;
fig. 12 is a schematic view showing a structure inclined rightward in use of embodiment 4 of the present utility model;
FIG. 13 is a schematic view showing the structure of embodiment 5 of the present utility model;
fig. 14 is a schematic view showing a structure inclined rightward in use of embodiment 5 of the present utility model;
fig. 15 is a schematic view showing a structure inclined leftward in use of embodiment 5 of the present utility model;
in the figure: robot body 1, upper end drive 2, lower end drive 3, brush roller 4, electric cabinet 5, photovoltaic board 6, first travel switch Q1, second travel switch Q2, third travel switch Q3, fourth travel switch Q4.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to fig. 1 to 15 of the embodiments of the present utility model. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model. All other embodiments, which are obtained by a person skilled in the art based on the described embodiments of the utility model, fall within the scope of protection of the utility model.
Example 1
As shown in fig. 1 to 3, a device for detecting and controlling the operation posture of a photovoltaic cleaning robot comprises an upper end driving device 2 and a lower end driving device 3 which are positioned at the top and the bottom of a robot body 1, a control box 5 positioned on the robot body 1, a controller positioned in the control box 5, and travel switch components positioned at the left side and the right side of the upper end driving device 2 or the left side and the right side of the lower end driving device 3 and connected with the controller, wherein the travel switch components, the upper end driving device 2 and the lower end driving device 3 are all connected with the controller, the travel switch components are used as a signal source for detecting the inclination direction of the robot body 1 and transmitting signals of the signal source to the controller, the controller controls the speed of the upper end driving device 2 or the speed of the lower end driving device 3 so that the robot is positioned in an inclination deviation range of operation, and a brush roller 4 is arranged on the robot body 1 to clean dust on a photovoltaic panel 6.
The travel switch assembly comprises a first travel switch Q1 and a second travel switch Q2 which are positioned at the left side and the right side of the upper end driving device, and a third travel switch Q3 and a fourth travel switch Q4 which are positioned at the left side and the right side of the lower end driving device, wherein the first travel switch Q1, the second travel switch Q2, the third travel switch Q3 and the fourth travel switch Q4 are all connected with the controller, the first travel switch Q1 and the third travel switch Q3 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body to the left side, and the second travel switch Q2 and the fourth travel switch Q4 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot to the right side.
When the photovoltaic cleaning robot runs to the right, Q1 and Q3 have signals, the photovoltaic cleaning robot is judged to incline to the left, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the upper end driving motor keeps the original speed or accelerates until the signals of Q1 and Q3 disappear, or the signals of Q1, Q3 or Q2 and Q4 are simultaneously provided, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in the inclination deviation range of running;
when the photovoltaic cleaning robot runs to the right, Q2 and Q4 have signals, the photovoltaic cleaning robot is judged to incline to the right, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the lower end driving motor keeps the original speed or accelerates until the signals of Q2 and Q4 disappear, or the signals of Q1, Q3 or Q2 and Q4 are simultaneously provided, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in the inclination deviation range of running;
when the photovoltaic cleaning robot runs leftwards, signals are generated on the Q1 and the Q3, the photovoltaic cleaning robot is judged to incline leftwards, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the upper end driving motor keeps the original speed or accelerates until the signals of the Q1 and the Q3 disappear, or the signals are generated on the Q1, the Q3 or the Q2 and the Q4 at the same time, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to recover the normal speed, and at the moment, the robot is in the inclination deviation range of running.
When the photovoltaic cleaning robot runs leftwards, signals are generated on the Q2 and the Q4, the photovoltaic cleaning robot is judged to incline rightwards, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the lower end driving motor keeps the original speed or accelerates until signals of the Q2 and the Q4 disappear, or signals are generated on the Q1, the Q3 or the Q2 and the Q4 at the same time, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in an inclination deviation range of running.
Example 2
As shown in fig. 4 to 6, a device for detecting and controlling the operation posture of a photovoltaic cleaning robot comprises an upper end driving device 2 and a lower end driving device 3 which are positioned at the top and the bottom of a robot body 1, a control box 5 positioned on the robot body 1, a controller positioned in the control box 5, and travel switch components positioned at the left side and the right side of the upper end driving device 2 or the left side and the right side of the lower end driving device 3 and connected with the controller, wherein the travel switch components, the upper end driving device 2 and the lower end driving device 3 are all connected with the controller, the travel switch components are used as a signal source for detecting the inclination direction of the robot body 1 and transmitting signals of the signal source to the controller, the controller controls the speed of the upper end driving device 2 or the speed of the lower end driving device 3 so that the robot is positioned in an inclination deviation range of operation, and a brush roller 4 is arranged on the robot body 1 to clean dust on a photovoltaic panel 6.
The travel switch assembly comprises a first travel switch Q1 positioned on the upper end driving device and a second travel switch Q2 positioned on the lower end driving device, the first travel switch Q1 and the second travel switch Q2 are arranged on the same side of the robot body, and the first travel switch Q1 and the second travel switch Q2 are connected with the controller. The first travel switch Q1 and the second travel switch Q2 are arranged on the left side of the robot body, and the first travel switch Q1 and the second travel switch Q2 serve as signal sources for detecting the inclination of the photovoltaic cleaning robot body to the right side or the left side.
When the photovoltaic cleaning robot runs to the right, a signal is generated in Q1, the photovoltaic cleaning robot is judged to incline to the left, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the upper end driving motor keeps the original speed or accelerates until the Q1 signal disappears, or the signal is generated in Q1 and Q2 at the same time, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in an inclination deviation range of running;
when the photovoltaic cleaning robot runs to the right, a signal is generated in Q2, the photovoltaic cleaning robot is judged to tilt to the right, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the lower end driving motor keeps the original speed or accelerates until the Q2 number disappears, or the signal is generated in Q1 and Q2 simultaneously, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in a tilting deviation range of running.
Example 3
As shown in fig. 7 to 9, a device for detecting and controlling the operation posture of a photovoltaic cleaning robot comprises an upper end driving device 2 and a lower end driving device 3 which are positioned at the top and the bottom of a robot body 1, a control box 5 positioned on the robot body 1, a controller positioned in the control box 5, and travel switch components positioned at the left side and the right side of the upper end driving device 2 or the left side and the right side of the lower end driving device 3 and connected with the controller, wherein the travel switch components, the upper end driving device 2 and the lower end driving device 3 are all connected with the controller, the travel switch components are used as a signal source for detecting the inclination direction of the robot body 1 and transmitting signals of the signal source to the controller, the controller controls the speed of the upper end driving device 2 or the speed of the lower end driving device 3 so that the robot is positioned in an inclination deviation range of operation, and a brush roller 4 is arranged on the robot body 1 to clean dust on a photovoltaic panel 6.
The travel switch assembly comprises a first travel switch Q1 positioned on the upper end driving device and a second travel switch Q2 positioned on the lower end driving device, the first travel switch Q1 and the second travel switch Q2 are arranged on the same side of the robot body, and the first travel switch Q1 and the second travel switch Q2 are connected with the controller. The first travel switch Q1 and the second travel switch Q2 are arranged on the right side of the robot body, and the first travel switch Q1 and the second travel switch Q2 serve as signal sources for detecting the inclination of the photovoltaic cleaning robot body to the right side or the left side.
When the photovoltaic cleaning robot runs leftwards, a signal is generated in the Q1, the photovoltaic cleaning robot is judged to incline leftwards, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the upper end driving motor keeps the original speed or accelerates until the Q1 signal disappears, or the signal is generated in the Q1 and the Q2 simultaneously, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in an inclination deviation range of running.
When the photovoltaic cleaning robot runs leftwards, a signal is generated in Q2, the photovoltaic cleaning robot is judged to incline rightwards, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the lower end driving motor keeps the original speed or accelerates until the Q2 signal disappears, or the signal is generated in Q1 and Q2 simultaneously, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in an inclination deviation range of running.
Example 4
As shown in fig. 10 to 12, a device for detecting and controlling the operation posture of a photovoltaic cleaning robot comprises an upper end driving device 2 and a lower end driving device 3 which are positioned at the top and the bottom of a robot body 1, a control box 5 positioned on the robot body 1, a controller positioned in the control box 5, and travel switch components positioned at the left side and the right side of the upper end driving device 2 or the left side and the right side of the lower end driving device 3 and connected with the controller, wherein the travel switch components, the upper end driving device 2 and the lower end driving device 3 are all connected with the controller, the travel switch components are used as a signal source for detecting the inclination direction of the robot body 1 and transmitting signals of the signal source to the controller, the controller controls the speed of the upper end driving device 2 or the speed of the lower end driving device 3 so that the robot is positioned in an inclination deviation range of operation, and a brush roller 4 is arranged on the robot body 1 to clean dust on a photovoltaic panel 6.
The travel switch assembly comprises a first travel switch Q1 and a second travel switch Q2 which are positioned at the left side and the right side of the upper end driving device 2, the first travel switch Q1 and the second travel switch Q2 are both connected with the controller, and the first travel switch Q1 and the second travel switch Q2 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body.
When the photovoltaic cleaning robot runs to the right, a signal is generated in Q1, the photovoltaic cleaning robot is judged to incline to the left, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the upper end driving motor keeps the original speed or accelerates until the Q1 signal disappears, or the signal is generated in Q1 and Q2 at the same time, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in an inclination deviation range of running;
when the photovoltaic cleaning robot runs to the right, a signal is generated in Q2, the photovoltaic cleaning robot is judged to tilt to the right, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the lower end driving motor keeps the original speed or accelerates until the Q2 number disappears, or the signal is generated in Q1 and Q2 simultaneously, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in a tilting deviation range of running.
Example 5
As shown in fig. 13 to 15, a device for detecting and controlling the operation posture of a photovoltaic cleaning robot comprises an upper end driving device 2 and a lower end driving device 3 which are positioned at the top and the bottom of a robot body 1, a control box 5 positioned on the robot body 1, a controller positioned in the control box 5, and travel switch components positioned at the left side and the right side of the upper end driving device 2 or the left side and the right side of the lower end driving device 3 and connected with the controller, wherein the travel switch components, the upper end driving device 2 and the lower end driving device 3 are all connected with the controller, the travel switch components are used as a signal source for detecting the inclination direction of the robot body 1 and transmitting signals of the signal source to the controller, the controller controls the speed of the upper end driving device 2 or the speed of the lower end driving device 3 so that the robot is positioned in an inclination deviation range of operation, and a brush roller 4 is arranged on the robot body 1 to clean dust on a photovoltaic panel 6.
The travel switch assembly comprises a first travel switch Q1 and a second travel switch Q2 which are positioned on the left side and the right side of the lower end driving device 3, the first travel switch Q1 and the second travel switch Q2 are connected with a controller, and the first travel switch Q1 and the second travel switch Q2 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body.
When the photovoltaic cleaning robot runs leftwards, a signal is generated in the Q1, the photovoltaic cleaning robot is judged to incline leftwards, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the upper end driving motor keeps the original speed or accelerates until the Q1 signal disappears, or the signal is generated in the Q1 and the Q2 simultaneously, at the moment, the lower end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in an inclination deviation range of running.
When the photovoltaic cleaning robot runs leftwards, a signal is generated in Q2, the photovoltaic cleaning robot is judged to incline rightwards, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to decelerate according to a set proportion, the lower end driving motor keeps the original speed or accelerates until the Q2 signal disappears, or the signal is generated in Q1 and Q2 simultaneously, at the moment, the upper end driving motor is controlled by the photovoltaic cleaning robot control program to recover to the normal speed, and at the moment, the robot is in an inclination deviation range of running.
In the present utility model, unless explicitly specified and defined otherwise, for example, it may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms described above in this application will be understood by those of ordinary skill in the art in view of the specific circumstances.
The foregoing is a preferred embodiment of the present utility model and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present utility model and are intended to be comprehended within the scope of the present utility model.
Claims (8)
1. The utility model provides a photovoltaic cleaning robot operation gesture detects and controlling means, a serial communication port, including upper end drive arrangement and the lower extreme drive arrangement that are located robot body top and bottom, be located the control box on the robot body, be located the controller of control box, be located upper end drive arrangement left and right sides or be located lower end drive arrangement's left and right sides and the travel switch subassembly that is connected with the controller, travel switch subassembly, upper end drive arrangement and lower extreme drive arrangement all are connected with the controller, travel switch subassembly is as the incline direction signal source that detects the robot body and give the controller with its signal transmission, the speed of controller control upper end drive arrangement or lower end drive arrangement's speed in order to make the robot be in the incline deviation scope of operation.
2. The device for detecting and controlling the operation posture of the photovoltaic cleaning robot according to claim 1, wherein the travel switch assembly comprises a first travel switch Q1 and a second travel switch Q2 positioned at the left side and the right side of the upper end driving device, and a third travel switch Q3 and a fourth travel switch Q4 positioned at the left side and the right side of the lower end driving device, the first travel switch Q1, the second travel switch Q2, the third travel switch Q3 and the fourth travel switch Q4 are all connected with the controller, the first travel switch Q1 and the third travel switch Q3 are used as signal sources for detecting the leftward inclination of the photovoltaic cleaning robot body, and the second travel switch Q2 and the fourth travel switch Q4 are used as signal sources for detecting the rightward inclination of the photovoltaic cleaning robot body.
3. The device for detecting and controlling the operation posture of the photovoltaic cleaning robot according to claim 1, wherein the travel switch assembly comprises a first travel switch Q1 located on the upper end driving device and a second travel switch Q2 located on the lower end driving device, the first travel switch Q1 and the second travel switch Q2 are located on the same side of the robot body, and the first travel switch Q1 and the second travel switch Q2 are connected with the controller.
4. The device for detecting and controlling the operation posture of the photovoltaic cleaning robot according to claim 3, wherein the first travel switch Q1 and the second travel switch Q2 are positioned at the left side of the robot body, and the first travel switch Q1 and the second travel switch Q2 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body to the right side or the left side.
5. The device for detecting and controlling the operation posture of the photovoltaic cleaning robot according to claim 3, wherein the first travel switch Q1 and the second travel switch Q2 are positioned on the right side of the robot body, and the first travel switch Q1 and the second travel switch Q2 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body to the right side or the left side.
6. The device for detecting and controlling the operation posture of the photovoltaic cleaning robot according to claim 1, wherein the travel switch assembly comprises a first travel switch Q1 and a second travel switch Q2 which are positioned at the left and right sides of the upper end driving device or the left and right sides of the lower end driving device, the first travel switch Q1 and the second travel switch Q2 are both connected with the controller, and the first travel switch Q1 and the second travel switch Q2 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body.
7. The device for detecting and controlling the operation posture of the photovoltaic cleaning robot according to claim 6, wherein the first travel switch Q1 and the second travel switch Q2 are located at the left and right sides of the upper driving device, and the first travel switch Q1 and the second travel switch Q2 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body.
8. The device for detecting and controlling the operation posture of the photovoltaic cleaning robot according to claim 6, wherein the first travel switch Q1 and the second travel switch Q2 are located at the left and right sides of the lower end driving device, and the first travel switch Q1 and the second travel switch Q2 are used as signal sources for detecting the inclination of the photovoltaic cleaning robot body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223561503.5U CN219150863U (en) | 2022-12-30 | 2022-12-30 | Photovoltaic cleans robot operation gesture and detects and controlling means |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202223561503.5U CN219150863U (en) | 2022-12-30 | 2022-12-30 | Photovoltaic cleans robot operation gesture and detects and controlling means |
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| CN219150863U true CN219150863U (en) | 2023-06-09 |
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| CN202223561503.5U Active CN219150863U (en) | 2022-12-30 | 2022-12-30 | Photovoltaic cleans robot operation gesture and detects and controlling means |
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2022
- 2022-12-30 CN CN202223561503.5U patent/CN219150863U/en active Active
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