CN110560404B - Photovoltaic panel cleaning robot and control method thereof - Google Patents
Photovoltaic panel cleaning robot and control method thereof Download PDFInfo
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- CN110560404B CN110560404B CN201910940561.2A CN201910940561A CN110560404B CN 110560404 B CN110560404 B CN 110560404B CN 201910940561 A CN201910940561 A CN 201910940561A CN 110560404 B CN110560404 B CN 110560404B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 152
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000005096 rolling process Methods 0.000 claims abstract description 96
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- 230000003044 adaptive effect Effects 0.000 description 1
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- 230000001680 brushing effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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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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- Electric Vacuum Cleaner (AREA)
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Abstract
The invention relates to the technical field of photovoltaic panel cleaning robots, and particularly provides a photovoltaic panel cleaning robot and a control method thereof. The control method of the photovoltaic panel cleaning robot comprises the steps of judging whether the photovoltaic panel cleaning robot meets an obstacle or not; if so, adjusting the rotation direction of the rolling brush to be consistent with the advancing direction of the photovoltaic panel cleaning robot. The photovoltaic panel cleaning robot comprises a detection unit, wherein the detection unit is used for detecting the rotating speed of a rolling brush motor and the load current of the rolling brush motor; the control unit is used for receiving the data of the detection unit, judging whether the photovoltaic panel cleaning robot meets an obstacle or not and outputting a control instruction; and the execution unit comprises a rolling brush and a rolling brush motor, and the rolling brush motor receives the control instruction of the control unit and drives the rolling brush to rotate according to the control instruction. The invention utilizes the auxiliary power provided by the rolling brush, can well solve the problem of obstacle crossing and improve the obstacle crossing capability of the robot.
Description
Technical Field
The invention relates to the technical field of photovoltaic panel cleaning, in particular to a photovoltaic panel cleaning robot and a control method thereof.
Background
Photovoltaic board cleaning equipment, or called photovoltaic board cleaning robot for clean the dust and sand on photovoltaic board surface, impurity etc. in the photovoltaic board array. Photovoltaic board cleaning machines people generally includes walking wheel and round brush, and the walking wheel drives whole photovoltaic board cleaning machines people and walks at the photovoltaic board surface, and the round brush is driven rotatoryly by the round brush motor simultaneously to the realization cleans the photovoltaic board.
Because the installation of the photovoltaic arrays is limited by the terrain and the installation accuracy, the adjacent photovoltaic panel arrays often have obstacles such as front and back malposition, height fall, elevation angle difference, plane steps and the like, and when the photovoltaic panel cleaning robot passes through the obstacles, the rolling brush is often blocked by the obstacles, so that the obstacle passing failure is caused, the passing capacity of the robot is further reduced, and the application place of the robot is limited. In addition, in the prior art, in order to improve the cleaning effect, a mode that the rotating direction of the rolling brush is opposite to the advancing direction is often adopted for cleaning, and the control mode makes the obstacle crossing of the photovoltaic panel cleaning robot more difficult when the photovoltaic panel cleaning robot passes through an obstacle section, so that the brush motor is blocked and even burnt out; in addition, because the load of the rolling brush during reverse running is large, if the electric quantity of the battery is too low in the running process, the risk that the robot stays on the photovoltaic panel due to the exhaustion of the electric quantity is easily caused.
Disclosure of Invention
To solve at least one aspect of the above technical problems to some extent, the present invention provides a control method of a photovoltaic panel cleaning robot, including:
judging whether the photovoltaic panel cleaning robot meets an obstacle or not;
if so, adjusting the rotation direction of the rolling brush to be consistent with the advancing direction of the photovoltaic panel cleaning robot.
Optionally, the determining whether the photovoltaic panel cleaning robot encounters an obstacle includes:
the rotating speed of the motor of the rolling brush is detected,
judging whether the rotating speed of the roller brush motor is lower than a first speed threshold value or not;
if yes, it is determined that the photovoltaic panel cleaning robot encounters an obstacle.
Optionally, the determining whether the photovoltaic panel cleaning robot encounters an obstacle includes:
detecting the load current of the roller brush motor;
judging whether the load current of the roller brush motor is higher than a first current threshold value or not;
if yes, it is determined that the photovoltaic panel cleaning robot encounters an obstacle.
Optionally, the determining whether the photovoltaic panel cleaning robot encounters an obstacle further includes: judging whether the rotating speed of the roller brush motor is higher than a second speed threshold value and/or whether the load current of the roller brush motor is lower than a second current threshold value; and if the rotating speed of the rolling brush motor is higher than the second speed threshold value, and/or the load current of the rolling brush motor is lower than the second current threshold value, determining that the photovoltaic panel cleaning robot passes through the obstacle.
Optionally, after determining that the photovoltaic panel cleaning robot passes through the obstacle, the method further includes: and adjusting the rotation direction of the rolling brush to be opposite to the advancing direction of the photovoltaic panel cleaning robot.
Optionally, the step of determining whether the photovoltaic panel cleaning robot encounters an obstacle further comprises: judging whether the battery pack capacity of the photovoltaic panel cleaning robot is lower than a capacity threshold value and/or whether the battery pack voltage is lower than a voltage threshold value;
if the battery pack capacity is lower than the capacity threshold value and/or the battery pack voltage is lower than the voltage threshold value, adjusting the rotating direction of the rolling brush to be consistent with the advancing direction of the photovoltaic panel cleaning robot;
if the battery pack capacity is not lower than the capacity threshold and the battery pack voltage is not lower than the voltage threshold, executing the step of judging whether the photovoltaic panel cleaning robot encounters an obstacle.
Compared with the prior art, the control method of the photovoltaic panel cleaning robot has the advantages that a higher sweeping effect is achieved in an obstacle-free area in a reverse mode; when an obstacle is encountered, the rotating brush is automatically switched to the forward rotation mode, and the problem of obstacle crossing can be well solved by using auxiliary power provided by forward rotation of the rolling brush, so that the obstacle crossing capability of the machine is greatly improved.
Another object of the present invention is to provide a photovoltaic panel cleaning robot, so as to solve the problem that the brush motor is locked up or even burned down due to the difficulty of obstacle crossing of the photovoltaic panel cleaning robot in the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a photovoltaic panel cleaning robot, comprising:
the detection unit is used for detecting the rotating speed of the rolling brush motor and the load current of the rolling brush motor;
the control unit is used for receiving the data of the detection unit, comparing the data with preset data, judging whether the photovoltaic panel cleaning robot meets an obstacle or not and outputting a control instruction;
and the execution unit is used for receiving the control instruction of the control unit and executing the control instruction.
Optionally, the execution unit includes a rolling brush and a rolling brush motor, and the rolling brush motor drives the rolling brush to rotate according to the control instruction;
and auxiliary wheels are arranged at two ends of the rolling brush and rotate coaxially with the rolling brush.
Optionally, the rolling brush comprises a brush shaft and brush filaments attached to the outer wall of the brush shaft, the height of the auxiliary wheel protruding out of the outer wall of the brush shaft is h, the length of the visible part of the brush filaments is s, and h is between 0.4s and 0.6 s.
Optionally, the auxiliary wheel is made of rubber or polyurethane.
Compared with the prior art, the photovoltaic panel cleaning robot has the same beneficial effects as the control method, and the description is omitted; in addition, the auxiliary wheels are additionally arranged at the two ends of the rolling brush of the photovoltaic panel cleaning robot, and when the obstacle is crossed, the auxiliary wheels can provide auxiliary power to help the obstacle to be crossed and can also protect the brush wires of the rolling brush from being abraded.
Drawings
FIG. 1 is a first flowchart of a control method of a photovoltaic panel cleaning robot according to the present invention;
FIG. 2 is a second flowchart of a control method of the photovoltaic panel cleaning robot of the present invention;
FIG. 3 is a flow chart III of a control method of the photovoltaic panel cleaning robot of the present invention;
FIG. 4 is a fourth flowchart of the control method of the photovoltaic panel cleaning robot of the present invention;
FIG. 5 is a fifth flowchart of a control method of the photovoltaic panel cleaning robot of the present invention;
FIG. 6 is a schematic view of an auxiliary wheel mounting position of an embodiment of a photovoltaic panel cleaning robot according to the present invention;
FIG. 7 is a schematic view showing the structure and dimensions of the auxiliary wheel and the rolling brush according to the present invention;
FIG. 8a is a state diagram of the photovoltaic panel cleaning robot during steady operation;
fig. 8b is a state diagram when the photovoltaic panel cleaning robot tilts forward downward;
fig. 8c is a state diagram when the photovoltaic panel cleaning robot tilts forward upward;
fig. 8d is a state diagram when the photovoltaic panel cleaning robot moves upward as a whole.
Description of reference numerals:
1-rolling and brushing; 11-brush shaft; 12-brushing filaments; 2-an auxiliary wheel; 3-cleaning the robot profile with the photovoltaic panel; 41-upper edge of photovoltaic panel; 42-lower edge of photovoltaic panel; 51-upper traveling wheels; 52-lower running wheels; 61-a first edge wheel; 62-a second edge wheel; 71-upper edge of photovoltaic panel; 72-lower edge of photovoltaic panel; 81-a first roving sensor; 82-second roving sensor.
Detailed Description
To facilitate understanding of the present invention, before proceeding to the description of the specific embodiments, a brief description of a photovoltaic panel cleaning robot of the prior art is first provided as follows: generally, the photovoltaic panel cleaning robot comprises an upper power device and a lower power device, wherein the upper power device and the lower power device are respectively provided with a travelling wheel, and the travelling wheels drive and support the whole photovoltaic panel cleaning robot to move on the surface of a photovoltaic panel; be equipped with the round brush between upper and lower power device, the round brush strides and takes on the photovoltaic board surface, and when the walking wheel was walked, the round brush motor drive round brush rotated to realize the round brush and clean photovoltaic board surface.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, a control method of a photovoltaic panel cleaning robot includes the steps of:
s1: and judging whether the photovoltaic panel cleaning robot meets an obstacle.
Because the contact area between the rolling brush and the surface of the photovoltaic panel is relatively fixed in the normal walking and sweeping processes of the photovoltaic panel cleaning robot, the load is basically constant; when the rolling brush encounters an obstacle and is blocked in rotation, the load is increased and the rotating speed is reduced, if the rolling brush is clamped, the rotating speed of the rolling brush motor is reduced to zero, the rolling brush motor is in a locked-rotor state, and the locked-rotor overcurrent is maximum. Therefore, whether the photovoltaic panel cleaning robot encounters an obstacle can be judged by detecting the load or the rotation speed of the roller brush motor.
Of course, other methods may be used to detect whether the photovoltaic panel cleaning robot encounters an obstacle, such as a sensor for vision or distance measurement, but the implementation algorithm may be complex and costly.
S2: if so, adjusting the rotation direction of the rolling brush to be consistent with the advancing direction of the photovoltaic panel cleaning robot.
The cleaning robot is in the photovoltaic board array surface walking in-process, leans on the round brush motor drive round brush rotatory dust and the filth that cleans photovoltaic board surface. In order to improve the cleaning effect, the cleaning is often performed in such a manner that the rotation direction of the roller brush is opposite to the forward direction of the cleaning robot. When the photovoltaic panel cleaning robot does not encounter obstacles, a better cleaning effect can be achieved, but when the cleaning robot encounters obstacles, the obstacle crossing difficulty of the cleaning robot is further increased by the reverse rotation of the rolling brush (the reverse rotation of the rolling brush in the specification means that the rotation direction of the rolling brush is opposite to the advancing direction of the cleaning robot, and the forward rotation of the rolling brush in the specification means that the rotation direction of the rolling brush is the same as the advancing direction of the cleaning robot).
Therefore, in the embodiment, after the cleaning robot is judged to encounter an obstacle, the output of the rolling brush motor is stopped firstly, then the rotating direction of the rolling brush is adjusted to be consistent with the advancing direction of the photovoltaic panel cleaning robot, the obstacle crossing problem can be well solved by using auxiliary power provided by positive rotation of the rolling brush, and the obstacle crossing capability of the cleaning robot is greatly improved. As shown in fig. 2, preferably, step S1 further includes the sub-steps of:
s11: and detecting the rotating speed of the roller brush motor. The method for detecting the rotating speed of the motor is various, for example, a photoelectric sensor is arranged to detect the number of revolutions of the output shaft of the motor or the rolling brush in unit time, or an encoder is used, which is common in the industry and is not described herein.
S12: and judging whether the rotating speed of the roller brush motor is lower than a first speed threshold value or not. The first speed threshold is a preset speed value, and when the photovoltaic panel cleaning robot cleans normally, the rotating speed of the rolling brush motor is higher than the first speed threshold. The setting of the first speed threshold can be set by experiment and experience. It should be noted that, in this step, it is determined whether the rotation speed of the roller brush motor is lower than the first speed threshold when the photovoltaic panel cleaning robot is in the cleaning mode, and when the photovoltaic panel cleaning robot is in the normal shutdown state, the determination in this step is not performed.
Preferably, the first speed threshold has a certain threshold interval in order to reduce misoperation and ensure reliable switching between forward rotation and reverse rotation of the rolling brush.
S13: and if the rotating speed of the rolling brush motor is lower than the first speed threshold value, judging that the photovoltaic panel cleaning robot meets an obstacle.
In this embodiment, whether the photovoltaic board cleaning robot meets the obstacle is judged through the rotational speed that detects the round brush motor, in other embodiments, also can be through detecting and judging whether the load current of round brush motor is higher than first current threshold value, and then judge whether the photovoltaic board cleaning robot meets the obstacle.
Preferably, as shown in fig. 3, step S1 includes the sub-steps of:
s11': and detecting the load current of the roller brush motor. The load current can be detected by a current sensor and a detection circuit.
S12': and judging whether the load current of the roller brush motor is higher than a first current threshold value. The first current threshold may be determined experimentally and empirically.
Preferably, the first current threshold also has a certain threshold interval in order to reduce the misoperation and ensure the reliable switching between the forward rotation and the reverse rotation of the roller brush.
S13': and if the load current of the rolling brush motor is higher than the first current threshold value, judging that the photovoltaic panel cleaning robot meets an obstacle.
In another embodiment, the rotation speed of the roller brush motor and the load current of the roller brush motor may be detected simultaneously, and it is determined whether the rotation speed of the roller brush motor is lower than a first speed threshold value and whether the load current of the roller brush motor is higher than a first current threshold value, and if so, it is determined that the photovoltaic panel cleaning robot encounters an obstacle.
As shown in fig. 4, step S1 preferably includes the following steps:
s3: and if the rotating speed of the roller brush motor is higher than a second speed threshold value, and/or the load current of the roller brush motor is lower than a second current threshold value, judging that the photovoltaic panel cleaning robot passes through the obstacle.
After the photovoltaic panel cleaning robot crosses the obstacle, the rolling brush is still in a positive rotation state, namely, the rotation direction of the rolling brush is still consistent with the advancing direction of the photovoltaic panel cleaning robot, the friction force between the rolling brush and the photovoltaic panel is reduced, the load of the motor is reduced, the rotating speed is increased, the rotating speed of the rolling brush motor is higher than a second speed threshold, and/or the load current of the rolling brush motor is lower than a second current threshold. The second speed threshold is an expected speed of the photovoltaic panel cleaning robot during normal operation, or is a set rotating speed of the rolling brush of the photovoltaic panel cleaning robot during normal operation. The second current threshold is the load current of the rolling brush motor when the photovoltaic panel cleaning robot works normally and the rolling brush motor rotates at a preset expected speed.
S4: and adjusting the rotation direction of the rolling brush to be opposite to the advancing direction of the photovoltaic panel cleaning robot. And if the photovoltaic panel cleaning robot passes through the obstacle, adjusting the rolling brush motor to stop rotating, and then adjusting the rolling brush motor to rotate reversely, namely adjusting the rotating direction of the rolling brush to be opposite to the advancing direction of the photovoltaic panel cleaning robot. At the moment, the photovoltaic panel cleaning robot is in a continuous normal cleaning state.
Preferably, as shown in fig. 5, the step S1 is preceded by the following step S0:
determining whether a battery pack capacity of the photovoltaic panel cleaning robot is below a capacity threshold and/or whether a battery pack voltage is below a voltage threshold. The method comprises the following steps: the method comprises the steps of detecting the battery pack capacity and/or the battery pack voltage of the photovoltaic panel cleaning robot, comparing the battery pack capacity with a preset capacity threshold value, and comparing the battery pack voltage with a preset voltage threshold value. The capacity and the voltage of the battery pack are parameters representing the electric quantity of the battery pack, and the electric quantity of the battery pack can be judged by detecting the capacity and the voltage of the battery pack in the step.
If the battery pack capacity is lower than a capacity threshold value and/or the battery pack voltage is lower than a voltage threshold value, adjusting the rotating direction of the rolling brush to be consistent with the advancing direction of the photovoltaic panel cleaning robot.
If the battery capacity is not lower than the capacity threshold and the battery voltage is not lower than the voltage threshold, step S1 is executed.
In this embodiment, if the battery capacity is lower than the capacity threshold and/or the battery voltage is lower than the voltage threshold, it may be determined that the battery is insufficient, and the rotation direction of the roller brush is adjusted to be consistent with the forward direction of the photovoltaic panel cleaning robot, and steps S1 and S2 are not performed. If the battery capacity is not lower than the capacity threshold and the battery voltage is not lower than the voltage threshold, it may be determined that the charge of the battery is sufficient, and the steps S1 and S2 are continuously performed.
This embodiment is through comparing the parameter of the electric quantity of characterization group battery with the preset threshold value to obtain the state of group battery electric quantity, if the group battery electric quantity is not enough, then control round brush direction of rotation is unanimous with photovoltaic board cleaning machines people's direction of advance, thereby reduces the resistance, in order to ensure that photovoltaic board cleaning machines people can walk to the stop position reliably, avoids appearing because of the risk that photovoltaic board cleaning machines people stopped on the photovoltaic board after the group battery electric quantity exhausts.
Another embodiment of the present invention provides a photovoltaic panel cleaning robot, including: and the detection unit is used for detecting one or more of parameters such as the rotating speed of the rolling brush motor, the load current of the rolling brush motor, the battery pack capacity and the battery pack voltage. The detection unit may include hardware devices such as a photosensor, an encoder, a current sensor, and a related detection circuit.
And the control unit is used for receiving the data of the detection unit, comparing the data with preset data, judging whether the photovoltaic panel cleaning robot meets an obstacle or not and outputting a control instruction.
The control unit receives data from the detection unit, including but not limited to the rotational speed of the roller brush motor, the load current of the roller brush motor, the battery pack capacity, the battery pack voltage, and the like. The control unit compares the capacity of the battery pack with a preset capacity threshold value, or compares the voltage of the battery pack with a preset voltage threshold value, and if the capacity of the battery pack is lower than the capacity threshold value, or the voltage of the battery pack is lower than the voltage threshold value, a command for adjusting the rolling brush motor to rotate forwards is sent. Otherwise, the control unit continues to compare the rotational speed of the roller brush motor with a first speed threshold and/or the load current of the roller brush motor with a first current threshold. If the rotating speed of the rolling brush motor is lower than a first speed threshold value and/or the load current of the rolling brush motor is higher than a first current threshold value, it is judged that the photovoltaic panel cleaning robot encounters an obstacle, and the control unit sends an instruction for adjusting the rolling brush motor to rotate forwards. Otherwise, the photovoltaic panel cleaning robot is judged to have passed the obstacle or not to encounter the obstacle, and the control unit sends out a command for adjusting the rolling brush motor to reverse rotation or a command for maintaining reverse rotation.
And the execution unit is used for receiving the control instruction of the control unit and executing the control instruction. Specifically, the control command of the control unit includes a rotation direction of the drum brush motor and the like.
The execution unit comprises a rolling brush and a rolling brush motor, and the rolling brush motor receives the control instruction of the control unit and drives the rolling brush to rotate according to the control instruction. Specifically, the roller brush motor may drive the roller brush in the forward direction or the reverse direction. When the rotating direction of the rolling brush motor needs to be switched, the output of the rolling brush motor is firstly stopped, namely, the rolling brush motor is stopped, and then the rotating direction of the rolling brush motor is switched to the direction opposite to the original rotating direction.
As shown in fig. 6, it is preferable that the roller brush 1 is provided at both ends thereof with auxiliary wheels 2, and the auxiliary wheels 2 rotate coaxially with the roller brush 1. The rolling brush 1 comprises a brush shaft 11, the brush shaft 11 is connected with a rolling brush motor, and the rolling brush motor is used for driving the brush shaft 11 to rotate. The outer wall of the brush shaft 11 is fixedly provided with brush wires 12, the brush shaft 11 rotates to drive the brush wires 12 to rub against the surface of the photovoltaic panel, and therefore the purpose of cleaning the photovoltaic panel is achieved.
When the photovoltaic panel cleaning robot normally operates, the auxiliary wheel 2 does not contact and rub with the surface of the photovoltaic panel. When the photovoltaic panel cleaning robot passes through an obstacle, under certain conditions, the auxiliary wheel 2 is in contact with the obstacle, and the auxiliary wheel 2 and the brush shaft 11 rotate synchronously to provide auxiliary power for the photovoltaic panel cleaning robot and assist in passing the obstacle. Meanwhile, the auxiliary wheel 2 can also support the rolling brush 1, and the abrasion of the brush wires 12 is reduced.
Preferably, as shown in fig. 7, the auxiliary wheel 2 is coaxial with the brush shaft 11, and the radial outer wall of the auxiliary wheel 2 protrudes from the outer wall of the brush shaft 11 by a height h. The length of the visible portion of the brush filaments 12 provided on the outer wall of the brush shaft 11 is a value s, where the visible portion of the brush filaments 12 refers to the length of the brush filaments 12 extending from the outer wall of the brush shaft 11 outward in the radial direction of the brush shaft 11. h and s satisfy the following relation: h is more than or equal to 0.4s and less than or equal to 0.6s, namely h is between 0.4s and 0.6 s.
In this embodiment, since the height of the auxiliary wheel 2 protruding from the outer wall of the brush shaft 11 is close to half of the length s of the visible portion of the brush filaments 12, the brush filaments 12 can be better protected from excessive wear during obstacle crossing.
Preferably, the auxiliary wheel 2 is made of rubber or Polyurethane (PU). Adopt rubber or PU material for when auxiliary wheel 2 lies in the barrier contact, frictional force is great, and supplementary barrier effect of crossing is better.
The control method of the photovoltaic panel cleaning robot according to the other embodiment of the present invention further includes a position detection control method. Due to the fact that photovoltaic arrays are built in an outdoor environment and are limited by conditions such as terrain, construction conditions and personnel factors, various obstacles such as front-back dislocation, height drop, elevation angle difference and plane steps exist between adjacent photovoltaic panel arrays. When the photovoltaic panel cleaning robot runs on the photovoltaic array, the obstacle needs to be crossed by depending on self adaptive capacity, and the robot walks from one photovoltaic panel array to another photovoltaic panel array. The photovoltaic panel cleaning robot may tilt with the obstacle.
For correcting the inclined photovoltaic panel cleaning robot, the traditional correction mode is as follows: a change gear is arranged on an upper power device of the robot and is in contact with the upper side surface of the photovoltaic panel; and a guide wheel is arranged on a lower power device of the robot, the guide wheel is in contact with the lower side surface of the photovoltaic panel, and the rigid correction of the robot is realized by utilizing the tension of a hanging wheel and a guide wheel spring so as to enable the rigid correction to be longitudinally parallel to the photovoltaic panel. The robot generally needs to install rails on the upper side and the lower side of the photovoltaic panel, so that the application cost is increased; meanwhile, the inclination adjusting range is limited, once the robot walks obliquely, faults such as jamming, motor burning and the like are easily caused, and the robot adopting the correction mode is low in general obstacle crossing capability and high in operation fault rate.
To solve the above technical problem to some extent, the position detection control method adopted in this embodiment is as follows:
as shown in fig. 8 (including fig. 8a to 8d), the photovoltaic panel cleaning robot is provided with a first traveling wheel, a second traveling wheel, a third traveling wheel and a fourth traveling wheel. Wherein, the first walking wheel and the second walking wheel are upper walking wheels 51 arranged on the upper power device, and the third walking wheel and the fourth walking wheel are lower walking wheels 52 arranged on the lower power device. The upper running wheels 51 are driven by an upper motor and the lower running wheels 52 are driven by a lower motor. Assuming that the walking direction of the photovoltaic panel cleaning robot is shown by an arrow in fig. 8, the outer contour of the photovoltaic panel cleaning robot is shown as a photovoltaic panel cleaning robot contour 3 shown in fig. 8, and the upper and lower edges of the photovoltaic panel are respectively shown as a photovoltaic panel upper edge 71 and a photovoltaic panel lower edge 72 shown in fig. 8, wherein the photovoltaic panel cleaning robot contour 3 is only a schematic diagram for embodying a positional relationship, and does not represent a specific contour of an actual photovoltaic panel cleaning robot.
As shown in fig. 8a, when the photovoltaic panel cleaning robot walks parallel to the edge of the photovoltaic panel, the first edge wheel 61 and the second edge wheel 62 are attached to the upper edge 71 of the photovoltaic panel, and at this time, the robot runs in an optimal posture, and the first edge patrol sensor 81 and the second edge patrol sensor 82 are both located outside the photovoltaic panel, and no signal is output.
As shown in fig. 8b, when the robot is advanced downward due to obstacle crossing, climbing, or a difference in motor speed, the first edge wheel 61 of the robot is emptied and tilted forward with the second edge wheel 62 as a fulcrum. Due to the long length of the robot, even if a small inclination occurs, the first edge tracking sensor 81 will be located above the photovoltaic panel at this time due to the amplification effect, outputting a signal to the control unit. The control unit reduces the speed of the lower traveling wheels 52 by reducing the rotating speed of the lower motor, so that the robot runs in a state of being parallel to the photovoltaic panel.
As shown in fig. 8c, when the robot is advanced upward, the second edge wheel 62 of the robot is emptied and is tilted backward with the first edge wheel 61 as a fulcrum. At this time, the second patrol sensor 82 is located above the photovoltaic panel, and outputs a detection signal to the control unit. The control unit increases the speed of the lower traveling wheels 52 by increasing the rotating speed of the lower motor, thereby realizing the correction of the position of the robot.
As shown in fig. 8d, in some special cases, the robot moves upward as a whole, the first edge tracking sensor 81 and the second edge tracking sensor 82 are both located above the photovoltaic panel, and when both output detection signals, the control unit first decelerates the lower traveling wheel 52 to bring it into the state shown in fig. 8c, and the first edge wheel 61 is first attached to the upper edge 71 of the photovoltaic panel; the lower running wheels 52 are then accelerated until the robot enters the steady state shown in fig. 8 a.
When the walking direction of the photovoltaic panel cleaning robot is opposite, the mode of adjusting the posture of the robot is consistent with the principle of the embodiment, and the details are not repeated here. In the embodiment, the position detection control method of the photovoltaic panel cleaning robot has the advantages of good stability, wide application occasions and simple structure.
Optionally, the first edge patrol sensor 81 and the second edge patrol sensor 82 both adopt laser sensors, which can better resist the influence of dust and dirt, and achieve higher detection precision. Of course, ultrasonic or other sensors may also be employed.
Optionally, the power wheel of the robot can also be set as a change gear, so that the robot can walk on the edge of the photovoltaic panel.
Preferably, the linear velocity of the lower traveling wheel 52 is slightly higher than the linear velocity of the upper traveling wheel 51, so that the linear velocity of the lower traveling wheel 52 can be adjusted within a wide range;
alternatively, the upper motor speed may be adjusted to correct the attitude with the lower motor speed as a reference. The upper motor and the lower motor can be selected from a brushless motor, a brush motor, a servo motor, a stepping motor and the like.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (9)
1. A control method of a photovoltaic panel cleaning robot, comprising:
judging whether the photovoltaic panel cleaning robot meets an obstacle or not;
if so, adjusting the rotation direction of the rolling brush to be consistent with the advancing direction of the photovoltaic panel cleaning robot;
the step of judging whether the photovoltaic panel cleaning robot encounters an obstacle further comprises the following steps: judging whether the battery pack capacity of the photovoltaic panel cleaning robot is lower than a capacity threshold value and/or whether the battery pack voltage is lower than a voltage threshold value;
if the battery pack capacity is lower than the capacity threshold value and/or the battery pack voltage is lower than the voltage threshold value, adjusting the rotating direction of the rolling brush to be consistent with the advancing direction of the photovoltaic panel cleaning robot;
if the battery pack capacity is not lower than the capacity threshold and the battery pack voltage is not lower than the voltage threshold, executing the step of judging whether the photovoltaic panel cleaning robot encounters an obstacle.
2. The method for controlling a photovoltaic panel cleaning robot according to claim 1, wherein the determining whether the photovoltaic panel cleaning robot encounters an obstacle includes:
detecting the rotating speed of a roller brush motor;
judging whether the rotating speed of the roller brush motor is lower than a first speed threshold value or not;
if yes, it is determined that the photovoltaic panel cleaning robot encounters an obstacle.
3. The method for controlling a photovoltaic panel cleaning robot according to claim 1, wherein the determining whether the photovoltaic panel cleaning robot encounters an obstacle includes:
detecting the load current of the roller brush motor;
judging whether the load current of the roller brush motor is higher than a first current threshold value or not;
if yes, it is determined that the photovoltaic panel cleaning robot encounters an obstacle.
4. The control method of a photovoltaic panel cleaning robot according to claim 2 or 3, wherein the judging whether the photovoltaic panel cleaning robot encounters an obstacle further comprises: judging whether the rotating speed of the roller brush motor is higher than a second speed threshold value and/or whether the load current of the roller brush motor is lower than a second current threshold value; and if the rotating speed of the rolling brush motor is higher than the second speed threshold value, and/or the load current of the rolling brush motor is lower than the second current threshold value, determining that the photovoltaic panel cleaning robot passes through the obstacle.
5. The method for controlling a photovoltaic panel cleaning robot according to claim 4, wherein after determining that the photovoltaic panel cleaning robot passes through the obstacle, the method further comprises: and adjusting the rotation direction of the rolling brush to be opposite to the advancing direction of the photovoltaic panel cleaning robot.
6. A photovoltaic panel cleaning robot, comprising:
a detection unit for detecting: one or more of the rotating speed of the rolling brush motor, the load current of the rolling brush motor, the battery pack capacity and the battery pack voltage;
the control unit is used for receiving the data of the detection unit, comparing the data with preset data, judging whether the photovoltaic panel cleaning robot meets an obstacle or not and outputting a control instruction;
the execution unit is used for receiving the control instruction of the control unit and executing the control instruction;
the control unit is further configured to: judging whether the capacity of the battery pack is lower than a capacity threshold value and/or whether the voltage of the battery pack is lower than a voltage threshold value; if the battery pack capacity is lower than the capacity threshold value and/or the battery pack voltage is lower than the voltage threshold value, outputting the control instruction suitable for adjusting the rotating direction of the rolling brush to be consistent with the advancing direction of the photovoltaic panel cleaning robot; if the battery pack capacity is not lower than the capacity threshold and the battery pack voltage is not lower than the voltage threshold, executing the step of judging whether the photovoltaic panel cleaning robot encounters an obstacle.
7. The photovoltaic panel cleaning robot according to claim 6, wherein the execution unit comprises a rolling brush (1) and a rolling brush motor, and the rolling brush motor drives the rolling brush (1) to rotate according to the control command;
and auxiliary wheels (2) are arranged at two ends of the rolling brush (1), and the auxiliary wheels (2) and the rolling brush (1) rotate coaxially.
8. The photovoltaic panel cleaning robot according to claim 7, wherein the roller brush (1) comprises a brush shaft (11) and brush filaments (12) attached to the outer wall of the brush shaft (11), the auxiliary wheel (2) has a height h protruding from the outer wall of the brush shaft (11), the length of the visible portion of the brush filaments (12) has a value s, and h is between 0.4s and 0.6 s.
9. A photovoltaic panel cleaning robot according to claim 7, characterized in that the auxiliary wheel (2) is made of rubber or polyurethane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910940561.2A CN110560404B (en) | 2019-09-30 | 2019-09-30 | Photovoltaic panel cleaning robot and control method thereof |
| PCT/CN2020/116700 WO2021063211A1 (en) | 2019-09-30 | 2020-09-22 | Control method for photovoltaic panel cleaning robot and photovoltaic panel cleaning robot |
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| CN201910940561.2A CN110560404B (en) | 2019-09-30 | 2019-09-30 | Photovoltaic panel cleaning robot and control method thereof |
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| CN110560404B true CN110560404B (en) | 2020-12-22 |
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| CN110560404B (en) * | 2019-09-30 | 2020-12-22 | 北京中电博顺智能设备技术有限公司 | Photovoltaic panel cleaning robot and control method thereof |
| CN111438155A (en) * | 2020-05-09 | 2020-07-24 | 南京索能多思智能科技有限公司 | Intelligent soft braking stop control system and method for photovoltaic module cleaning robot |
| CN111492784B (en) * | 2020-05-25 | 2021-08-06 | 浙江大学 | Self-adaptive multi-section obstacle detection method for intelligent mower in complex terrain |
| CN111766886B (en) * | 2020-07-10 | 2023-07-18 | 苏州鼎威新能源有限公司 | Device control method and device for photovoltaic cleaning device and storage medium |
| CN112254657A (en) * | 2020-09-21 | 2021-01-22 | 河南颂达信息技术有限公司 | Intelligent snow removal robot scheduling method based on visual perception |
| CN112205912B (en) * | 2020-10-14 | 2022-03-11 | 深圳截明电子科技有限公司 | Surface cleaning device and cleaning method using same |
| CN113208499B (en) * | 2021-05-26 | 2022-12-06 | 深圳市普森斯科技有限公司 | Cleaning apparatus, method of controlling the same, and computer-readable storage medium |
| CN113275288A (en) * | 2021-06-05 | 2021-08-20 | 深圳市瑞河科技有限公司 | Clean gyro wheel mechanism |
| CN113854892B (en) * | 2021-10-21 | 2022-08-02 | 唐山学院 | Cleaning device capable of automatically planning path |
| CN113951777A (en) * | 2021-10-28 | 2022-01-21 | 深圳市杉川机器人有限公司 | Cleaning device and method for controlling rotation speed thereof |
| CN114558818A (en) * | 2022-03-18 | 2022-05-31 | 安徽怡丰自动化科技有限公司 | Control method and control device for cleaning device, cleaning equipment and storage medium |
| CN115268421A (en) * | 2022-03-21 | 2022-11-01 | 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) | Autonomous cleaning method of photovoltaic cleaning robot |
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| JP5686271B2 (en) * | 2012-12-25 | 2015-03-18 | 株式会社未来機械 | Self-propelled cleaning robot |
| CN105071762A (en) * | 2015-07-28 | 2015-11-18 | 中节能太阳能科技（镇江）有限公司 | Solar intelligent cleaning device for photovoltaic arrays |
| EP3341660B1 (en) * | 2015-08-24 | 2019-07-24 | Saudi Arabian Oil Company | Front-heavy dust cleaning vehicle |
| KR101837176B1 (en) * | 2016-07-22 | 2018-03-12 | (주)에코브라이트코리아 | Robot apparatus for cleaning solar cell panel |
| CN108268032A (en) * | 2016-12-30 | 2018-07-10 | 北京天诚同创电气有限公司 | The control method and control device of photovoltaic module cleaning device |
| CN107876469B (en) * | 2017-11-10 | 2019-09-27 | 中车青岛四方车辆研究所有限公司 | Photovoltaic cleaning equipment and its control method |
| CN107943039A (en) * | 2017-11-29 | 2018-04-20 | 深圳市沃特沃德股份有限公司 | Sweeping robot cleaning method and sweeping robot |
| CN107997691A (en) * | 2017-12-05 | 2018-05-08 | 北京奇虎科技有限公司 | Stall processing method, device and clean robot |
| CN109365462B (en) * | 2018-12-06 | 2021-06-22 | 合肥仁洁智能科技有限公司 | Photovoltaic panel cleaning robot and control method thereof |
| CN209406900U (en) * | 2018-12-29 | 2019-09-20 | 绍兴心越科技有限公司 | A kind of photovoltaic plate dedusting machine device people of active obstacle |
| CN109772841B (en) * | 2019-01-23 | 2021-09-03 | 合肥仁洁智能科技有限公司 | Photovoltaic module cleaning robot and obstacle crossing control method and device thereof |
| CN110560404B (en) * | 2019-09-30 | 2020-12-22 | 北京中电博顺智能设备技术有限公司 | Photovoltaic panel cleaning robot and control method thereof |
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| CN110560404A (en) | 2019-12-13 |
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