CN114433535A - Rail mounted intelligence cleans machine people - Google Patents
Rail mounted intelligence cleans machine people Download PDFInfo
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- CN114433535A CN114433535A CN202210079383.0A CN202210079383A CN114433535A CN 114433535 A CN114433535 A CN 114433535A CN 202210079383 A CN202210079383 A CN 202210079383A CN 114433535 A CN114433535 A CN 114433535A
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- 238000004140 cleaning Methods 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 18
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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
- 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
- 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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Abstract
The invention discloses a rail-mounted intelligent cleaning robot, which can walk on a running rail arranged along the laying direction of a plurality of groups of flat single-shaft photovoltaic modules; the cleaning robot comprises a motion platform which can walk along the running track; the main control system is used for controlling the operation of the cleaning robot; the power supply system is used for supplying power to the cleaning robot; the mechanical arm is connected with the motion platform through a swing mechanism; the tail end cleaning assembly is arranged on the mechanical arm and is in contact with the photovoltaic panel under the control of the mechanical arm. According to the invention, the tail end cleaning assembly is matched with the mechanical arm, so that the tail end cleaning assembly can adapt to the pose requirement of the photovoltaic assembly under the adjustment of the mechanical arm, and the efficient cleaning of a photovoltaic panel on the photovoltaic tracking system is realized; meanwhile, the moving platform travels along the running track, so that the problem of continuous sweeping operation of the cross-row is solved, the electric power safety production is guaranteed, the generating capacity is improved, and the overall running level and the profitability of the power station are improved.
Description
Technical Field
The invention belongs to the technical field of photovoltaic power generation, and particularly relates to a rail type intelligent cleaning robot.
Background
In recent years, solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy source. For a photovoltaic power station, dirt such as wind sand, dust and the like is easily accumulated on the surface of a solar cell panel, the dirt is an important factor influencing the generated energy, the light irradiation quantity received by a component can be reduced, the system efficiency is influenced, the generated energy is reduced, if the component is not timely cleaned scientifically and professionally, the generated power of the component can be attenuated by 40% -60% to the maximum extent, the generated energy is reduced by 20% -30%, the hot spot effect can be caused by local shielding, the generated energy loss is caused, the service life of group price is influenced, and meanwhile, potential safety hazards are caused.
The flat unipolar photovoltaic system of photovoltaic power plant includes the photovoltaic module that the multiunit was arranged, and traditional manual cleaning mode can make photovoltaic board surface dust or debris can not obtain timely clearance owing to clean reasons such as untimely, inefficiency, seriously influence the generated energy, and simultaneously, the debris that do not obtain the clearance can form the hot spot effect to the photovoltaic board surface. In order to meet the requirement of high-efficiency cleaning operation, cleaning equipment which is suitable for high-efficiency cleaning of a photovoltaic panel on a photovoltaic tracking system needs to be developed.
Disclosure of Invention
The invention provides a track type intelligent cleaning robot for overcoming the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a rail-mounted intelligent cleaning robot can walk on running rails arranged along the laying direction of a plurality of groups of flat single-shaft photovoltaic modules; wherein the cleaning robot comprises
The moving platform can walk along the running track;
the main control system is used for controlling the operation of the cleaning robot;
the power supply system is used for supplying power to the cleaning robot;
the mechanical arm is connected with the motion platform through a swing mechanism; the slewing mechanism comprises a slewing reducer arranged on the motion platform and a second motor used for driving the slewing reducer, and the slewing reducer is associated with the mechanical arm to drive the mechanical arm to slew;
the tail end cleaning assembly is arranged on the mechanical arm and is in contact with the photovoltaic panel under the control of the mechanical arm.
Furthermore, the motion platform is including locating frame on the orbit, locate in the frame and with orbit complex driving wheel subassembly and be used for driving the power component of driving the action of driving wheel subassembly.
Furthermore, the driving wheel assemblies are provided with two groups, one group of driving wheel assemblies is used as a driving wheel set and is driven by the power assembly, and the other group of driving wheel assemblies is used as a follow-up wheel set.
Furthermore, the two sides of the rack are respectively provided with a guide wheel, the axis of the guide wheel is vertically arranged, the guide wheel is in rolling contact with the side edge of the running track, and the guide wheel is positioned between at least two guide wheels.
Furthermore, the driving wheel set comprises two driving wheels symmetrically arranged on two sides of the rack, and the follow-up wheel set comprises two follow-up wheels symmetrically arranged on two sides of the rack; the rack is also provided with a limiting wheel, the guide wheel is in rolling contact with the lower side surface of the running track, and the running track is positioned between the limiting wheel and the driving wheel as well as between the limiting wheel and the follow-up wheel.
Further, the arm passes through mounting flange and rotation mechanism and is connected, the arm is including locating mount pad on the mounting flange, the rotatable first support arm that sets up on the mount pad, be used for driving the relative mount pad pivoted first driving piece of first support arm, pass through first articulated second support arm, be used for driving the relative first support arm pivoted second driving piece of second support arm with first support arm, locate first joint one end is kept away from to the second support arm and is used for connecting the end-to-end joint that terminal cleaned the subassembly.
Furthermore, a first visual detection device for shooting an image of the cleaned photovoltaic panel and a second visual detection device for shooting an image of the photovoltaic panel before cleaning are arranged on the mechanical arm; the system also comprises a vision servo system used for processing images shot by the first vision detection device and the second vision detection device so as to acquire the pose of the cleaning target relative to the camera or the mechanical arm; wherein the image processing of the visual servoing system comprises the steps of: s1: image segmentation; s2: and (5) feature extraction.
Furthermore, the running track consists of two sub-tracks arranged at intervals, and a main control system and a storage battery are also arranged in the rack; a plane passing through the top surfaces of the two branch rails simultaneously is taken as a second reference surface, a straight line parallel to and equidistant from the projections of the rotation center lines of the two groups of driving wheels on the second reference surface is taken as a second reference line U2, the vertical distance from the projection point of the geometric center of the sphere covering the storage battery on the second reference surface to the second reference line U2 is taken as L3, and the vertical distance from the projection point of the geometric center of the sphere covering the first motor on the second reference surface to the second reference line U2 is taken as L4; wherein L3, L4 is 1 (1-1.1).
Furthermore, a plane passing through the top surfaces of the two branch rails simultaneously is taken as a second reference surface, the projection of the median line of the two branch rails on the second reference surface is taken as a third reference line U3, the vertical distance from the projection point of the geometric center of the sphere covering the storage battery on the second reference surface to the third reference line U3 is taken as L6, and the vertical distance from the projection point of the geometric center of the sphere covering the whole first motor on the second reference surface to the third reference line U3 is taken as L7; wherein, L6, L7, (0-1) and (0-4).
Furthermore, a plane parallel to the end face of the mounting flange is taken as a fourth reference plane, a projection point of a rotation center of the mounting flange on the fourth reference plane is taken as C0, a projection point of the rotation center of the first support arm relative to the mounting seat on the fourth reference plane is taken as U4, wherein a vertical distance from C0 to U4 is taken as L8, a distance from C1 to C0, which are projections of a geometric center of a sphere covering the whole mechanical arm on the fourth reference plane, is taken as L9, and a straight line which is parallel to U4 and passes through C0 is taken as U5; when the mechanical arm is in a unfolding state, L8: L9 is 1 (6-8); when the mechanical arm is in a contracted state, the ratio of L8: L9 is 1: (2-4).
In conclusion, the beneficial effects of the invention are as follows:
according to the invention, the tail end cleaning assembly is matched with the mechanical arm, so that the tail end cleaning assembly can adapt to the pose requirement of the photovoltaic assembly under the adjustment of the mechanical arm, and the efficient cleaning of a photovoltaic panel on the photovoltaic tracking system is realized; meanwhile, the moving platform travels along the running track, so that the problem of continuous sweeping operation of the cross-row is solved, the electric power safety production is guaranteed, the generating capacity is improved, and the overall running level and the profitability of the power station are improved.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of fig. 1 from another perspective.
Fig. 3 is an enlarged view of a portion a in fig. 2.
Fig. 4 is a cutaway perspective view of fig. 1.
Fig. 5 is another cutaway perspective view of fig. 1.
Fig. 6 is a sectional structural view of fig. 1.
Fig. 7 is a perspective view of the swing mechanism of fig. 1.
Fig. 8 is a top view of the robot arm of fig. 1.
FIG. 9 is a schematic diagram of a dynamic system based on position control according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
Referring to fig. 1-2, an orbital intelligent cleaning robot comprises a motion platform 31, a mechanical arm 32 and a terminal cleaning assembly 33; the moving platform 31 serves as a moving base of the whole cleaning robot, the photovoltaic station is provided with a running track 10 matched with the moving platform, the running track consists of two sub-tracks 11 arranged at intervals and is arranged along the laying direction of a plurality of groups of flat single-axis photovoltaic modules, the moving platform 31 runs along the track of the running track 10, a main control system 34 and a power supply system of the whole cleaning robot are installed on the moving platform 31, and the power supply system at least comprises a storage battery 35; the mechanical arm 32 is arranged on the motion platform 31 and moves along with the motion platform 31; the terminal sweeping assembly 33 is mounted at one end of the mechanical arm 32, which is far away from the moving platform 31, and is in contact with the photovoltaic panel under the control of the mechanical arm, so as to clean the photovoltaic panel 22.
Referring to fig. 1-3, in some embodiments, the motion platform 31 includes a frame 311, a traction wheel assembly, and a power assembly; the frame 311 is located between the two sub-rails 11, the frame 311 is erected on the running track 10 through two sets of driving wheel assemblies, the two sets of driving wheel assemblies are arranged at intervals along the length direction of the frame 311 to provide forward power for the whole moving platform 31, wherein the length direction of the frame 311 is defined as the moving direction of the whole moving platform 31 on the running track 10; one group of driving wheel assemblies are used as driving wheel sets and driven by power assemblies, each driving wheel set comprises two driving wheels 312a which are symmetrically arranged on two sides of the rack, the other group of driving wheel assemblies are used as follow-up wheel sets, and each follow-up wheel set comprises two follow-up wheels 312b which are symmetrically arranged on two sides of the rack; only one group of driving wheel assemblies is used as a driving wheel group, so that the problems that two sides of a straight line run asynchronously, a set control speed difference is difficult to achieve when an arc track runs and the like in the dual-motor driving process are solved; in other embodiments, both of the two driving wheel assemblies can be set as driving wheel sets, so as to improve the driving capability.
Specifically, referring to fig. 5, the power assembly includes a transmission shaft 61, a driven gear 62, a driving gear 63, and a first motor 64; the transmission shaft 61 is rotatably arranged in the rack in a penetrating manner, and two ends of the transmission shaft are respectively connected with two driving wheels on the driving wheel set and drive the two driving wheels to act simultaneously; the driven gear 62 is positioned in the rack and fixedly arranged on the transmission shaft 61, and the driving gear 63 is positioned in the rack and meshed with the driven gear 62; the output shaft of the first motor 64 is connected to the drive gear 63. The first motor 64 is activated to drive the two drive wheels simultaneously through gear transmission.
Referring to fig. 1 to 3, in some embodiments, two sets of guide wheel assemblies are further disposed on the frame 311, the two sets of guide wheel assemblies are disposed at intervals along the length direction of the frame 311, each set of guide wheel assemblies includes two guide wheels 314 symmetrically disposed on two sides of the frame 311, an axis of each guide wheel 314 is vertically disposed, and the guide wheels 314 are in rolling contact with one side of the split rail 11 facing the frame 311, so that the moving platform 31 integrally runs along a center line of the two split rails 11, the moving platform 31 is prevented from deflecting to cause the driving wheels 312 to fall off relative to the running track 10, and the moving platform 31 is ensured to stably run on the running track 10.
Referring to fig. 1-3, in some embodiments, two sets of limiting wheel assemblies are further disposed on the frame 311, and are spaced apart along the length direction of the frame 311, each set of limiting wheel assemblies includes two limiting wheels 315 symmetrically disposed on two sides of the frame 311, and the limiting wheels 315 are in rolling contact with the lower side surface of the running track 10, and the limiting wheels 315 cooperate with the driving wheels 312 to further improve the stability of the moving platform 31. Preferably, the spacing between the two sets of spacing wheels 315 is greater than the spacing between the two sets of moving wheels 312.
Referring to fig. 6, in some embodiments, a main control system 34 and a storage battery 35 are further disposed in the rack 311; a plane passing through the top surfaces of the two branch rails simultaneously is taken as a second reference plane, a straight line parallel to and equidistant from the projection of the rotation center lines of the two groups of driving wheels on the second reference plane is taken as a second reference line U2, the vertical distance from the projection point of the geometric center of the sphere covering the storage battery 35 on the second reference plane to the second reference line U2 is taken as L3, and the vertical distance from the projection point of the geometric center of the sphere covering the first motor 64 on the second reference plane to the second reference line U2 is taken as L4; the running platform comprises two sets of movable wheel assemblies, wherein L3: L4 is 1 (1-1.1), preferably L3: L4 is 1 (1.04-1.06), so that the whole weight of the running platform is evenly distributed on the two sets of movable wheel assemblies, and the phenomenon that the whole running platform inclines in the running direction due to excessive abrasion of one set of movable wheel assemblies is avoided.
Referring to fig. 6, in some embodiments, a plane passing through top surfaces of the two branch rails at the same time is taken as a second reference plane, a projection of a median line of the two branch rails on the second reference plane is taken as a third reference line U3, a vertical distance from a projection point of a geometric center of a sphere covering the battery 35 on the second reference plane to a third reference line U3 is taken as L6, and a vertical distance from a projection point of the geometric center of the sphere covering the whole first motor 64 on the second reference plane to a third reference line U3 is taken as L7; wherein, L6, L7 is (0-1) and (0-4); preferably, L6, L7 is 1 (3-4); the whole weight of the moving platform is evenly distributed on the two branch rails through the driving wheel assembly, the driving wheel assembly and one of the branch rails are prevented from being excessively abraded, and the service life of the running rail is prolonged.
Referring to fig. 1 and 7, in some embodiments, the robot arm 32 is connected to the moving platform 31 through a swing mechanism 40, and the robot arm 32 is connected to the swing mechanism 40 through a mounting flange 321, wherein the swing mechanism 40 is mounted on the moving platform 31, and 360 ° rotation of the robot arm 32 relative to the moving platform 31 is achieved through the swing mechanism 40; the swing mechanism 40 includes a swing reducer 41 and a second motor 42; the rotation speed reducer 41 is a common transmission mechanism, and the structure of the rotation speed reducer is not described in detail, and the rotation speed reducer 41 is connected to the moving platform 31 through a fixed flange 43 and connected to the mounting flange 321 through a connecting flange 44 to drive the mechanical arm 32 to rotate. The second motor 42 is used as a power source of the rotation reducer 41 for driving the rotation reducer 41 to work, and the second motor 42 is controlled by an encoder.
Referring to fig. 1, in some embodiments, the robot arm 32 adopts a two-degree-of-freedom folding arm type structure, and in combination with the degree of freedom of rotation of the rotation mechanism 40, the robot arm 32 can carry the sweeping component to perform ascending, descending and overturning actions, and detect the pose of the swept photovoltaic component in real time through the terminal detection component, so as to control the pose of the robot arm 32 to meet the requirements of the terminal sweeping mechanism on the pose; the robotic arm 32 includes a mounting base 322, a first support arm 323, a first driving member 324, a second support arm 325, a first joint 326, a second driving member 327, a distal joint 328, and a distal detection assembly; the mounting base 322 is fixedly arranged on the mounting flange 321 and is used as a support for the whole mechanical arm 32; one end of the first support arm 323 is rotatably connected with the mounting seat 322; the first driving member 324 is a hydraulic cylinder, one end of the hydraulic cylinder is rotatably connected to the mounting base 322, the other end of the hydraulic cylinder is rotatably connected to the first supporting arm 323, and the first driving member 324 extends and retracts to drive the first supporting arm 323 to rotate relative to the mounting base 322; the first joint 326 is positioned at one end of the first support arm 323 away from the mounting seat 322; the second support arm 325 is rotatably connected with the first joint 326; the second driving member 327 is a hydraulic cylinder, one end of the second driving member is rotatably connected to the first support arm 323, the other end of the second driving member is rotatably connected to the second support arm 325, and the second driving member 327 extends and contracts to drive the second support arm 325 to rotate relative to the first support arm 323; the end fitting 328 is mounted to the end of the second robotic arm 32 distal from the first joint 326 for connection to the end cleaning assembly 33. In other embodiments, the first driving member 324 and the second driving member 327 can be electric push rods.
Referring to fig. 8, in some embodiments, a plane parallel to an end surface of the mounting flange 321 is taken as a fourth reference plane, a projection point of a rotation center of the mounting flange 321 on the fourth reference plane is taken as C0, a projection point of a rotation center of the first support arm 323 relative to the rotation center of the mounting seat 322 on the fourth reference plane is taken as U4, a vertical distance between C0 and U4 is taken as L8, a projection distance between C1 and C0 on the fourth reference plane is taken as L9, and a straight line parallel to U4 and passing through C0 is taken as U5; when the mechanical arm 32 is in the unfolded state, L8: L9 ═ 1 (6-8); preferably, L8: L9 ═ 1 (6.5-7.5); most preferably, L8: L9 is 1: 7.35; when the robot arm 32 is in the contracted state, L8: L9 is 1: (2-4); preferably, L8: L9 ═ 1: (2.5-3.5); the projection of part of the structure of the mechanical arm on the fourth reference surface is located on the side, away from the U4, of the U5, the projection of the other part of the structure of the mechanical arm on the fourth reference surface is located on the side, close to the U4, of the U5, the balance of the mechanical arm on the motion platform is maintained by the weight of the mechanical arm, the whole weight of the mechanical arm is distributed on the motion platform more uniformly, and the motion platform 31 is prevented from inclining to the side split rail 11.
In some embodiments, the entire robotic arm may be configured to move up and down, side to side, and end to end rotational relative to the motion platform.
Optionally, the degree of freedom of the mechanical arm 32 is not limited to the scheme disclosed in this embodiment, and the degree of freedom design of the mechanical arm may be freely selected according to the field working conditions.
Referring to fig. 9, in some embodiments, the mechanical arm 32 is further provided with a first visual detection device for capturing an image of the photovoltaic panel 22 after cleaning and a second visual detection device for capturing an image of the photovoltaic panel 22 before cleaning, and through the two sets of visual detection devices, the images before and after cleaning of the cleaning robot can be clearly displayed in the background software, so that the images before and after cleaning can be identified and compared, and the cleaning operation condition on site can be known at a glance. In addition, the visual detection device has another function of automatically identifying stubborn stains. When the cleaning robot cleans, the cleaning robot participates in stubborn stains and cannot clean the stains, and the first visual detection device can automatically identify and record the positions of the stains. When rain weather occurs, the cleaning robot mainly cleans the position.
In some embodiments, the first visual inspection device and the second visual inspection device are respectively provided with an illuminating lamp, and the illuminating lamps are used for shooting a clear picture during night work.
In some embodiments, the first and second visual inspection devices respectively include a camera disposed at an end of the second support arm 325 away from the first robot arm 32, so as to realize real-time identification and positioning of uncleaned stains during the cleaning process, and perform a fixed-point cleaning operation by intelligent control of the robot arm 32.
In some embodiments, the pose of the clean target relative to the camera and the robotic arm 32 is calculated after processing the image by a position-based vision servo system, thus requiring calibration of the camera, target and model of the robotic arm 32, which affects control accuracy. During control, the pose required to be changed is converted into the angle of the rotation of the joint of the mechanical arm 32, and the joint controller controls the rotation of the joint of the mechanical arm 32.
Wherein the image processing comprises the steps of:
s1: image segmentation
Two methods are generally adopted for identifying the target from the image, namely target searching in the gray image based on the scale space multi-resolution analysis theory, and the method has higher computational complexity. Secondly, an image segmentation method is adopted to divide an image into a target area and a background area, and the information quantity of the description of the target object is reduced, so that the calculation quantity of searching is reduced. In general, the more accurate the segmentation, the more successful the identification. Stubborn stains are different from surrounding clean photovoltaic panels, but are difficult to segment from a complex background through binarization. In consideration of the change of stubborn stain gray level, an area with a unique geometric shape is formed after binarization, so that the project adopts an OTSU adaptive threshold algorithm to binarize an original image.
S2: feature extraction
The image is divided into a plurality of areas, an area with a unique geometric shape is formed in the middle, and the area is used as the basis for existence and positioning of stubborn stains. Performing morphological opening operation on the binary image to eliminate adhesion between noise points and regions, and defining the following region attributes as characteristic vectors:
area to area ratio of area to area of area bounding box rectangle:
area bounding box rectangle aspect ratio:
the ratio of the rectangular width of the area bounding box to the horizontal short diameter of the area is as follows:
In some embodiments, the terminal adapter 328 is further provided with a standardized electrical interface, which is modular in design, and facilitates a quick connection with the terminal cleaning assembly 33.
In some embodiments, the end cleaning assembly 33 is designed in a lightweight modular design, is stably mounted by the end joint 328 provided by the robot arm 32, and is connected to a standardized electrical interface on the robot arm 32 to achieve an autonomous cleaning function, and the end cleaning assembly 33 is designed in a modular design, has a quick replacement interface, and is quickly replaced through the standardized interface.
Specifically, the end cleaning assembly 33 adopts a brush; preferably, the brush adopts the nylon material, has the advantage that does not absorb water, elasticity is good, avoids the rainwater to influence and cleans the effect, and can avoid cleaning for a long time and lead to the dust accumulation of brush and the adnexed of spot. Optimally, the brush is made of special dust-proof nylon materials.
In some embodiments, the direction of rotation of the brush is opposite to the overall running direction of the cleaning robot, so that pollutants are prevented from being left after the cleaning robot walks, and the pollutant cleaning effect is enhanced.
Of course, in other embodiments, the end cleaning assembly 33 employs a disc type cleaning mechanism, including a plurality of disc type brushes, each of which is driven by a separate power; on one hand, the multiple disc type brushes can prolong the comprehensive service life of the brushes, and on the other hand, the multiple disc type brushes have overlapped cleaning areas, so that the overall cleaning effect can be improved.
The cleaning robot has the following specific working modes:
(1) under normal conditions and in the rainy day, the robot cleans at night and is in an automatic working mode. In order to improve the cleaning efficiency, the photovoltaic panel 22 needs to be adjusted by matching with a robot, the flat single-shaft photovoltaic panel 22 is completely laid flat, and the robot performs quick cleaning;
(2) if there is daytime precipitation weather, the robot opens the mode of cleaning automatically according to the information that environmental detection system gathered, is automatic mode of operation. In order to improve the cleaning efficiency of the robot, the flat single-shaft photovoltaic panel 22 is completely laid flat, and the robot performs quick cleaning. If short-term rainfall occurs according to the forecast of weather, a specific photovoltaic panel 22 can be manually selected (in the early stage, the photovoltaic panel 22 with more residual dirt can be automatically recorded when the robot cleans);
(3) if the robot needs to be manually assisted to start a cleaning task in non-precipitation weather and daytime cleaning operation, the robot is in a semi-autonomous working mode. The robot starts photovoltaic board 22 gradient monitoring devices, to the gradient real-time detection of photovoltaic board 22, when guaranteeing the operation, cleans mechanism and photovoltaic board 22 and is in the best state of cleaning all the time.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (10)
1. The utility model provides a track type intelligence cleans machine people which characterized in that: the cleaning robot can walk on running tracks arranged along the laying direction of the multiple groups of flat single-shaft photovoltaic modules; wherein the cleaning robot comprises
The moving platform can walk along the running track;
the main control system is used for controlling the operation of the cleaning robot;
the power supply system is used for supplying power to the cleaning robot;
the mechanical arm is connected with the motion platform through a swing mechanism; the slewing mechanism comprises a slewing reducer arranged on the motion platform and a second motor used for driving the slewing reducer, and the slewing reducer is associated with the mechanical arm to drive the mechanical arm to slew;
the tail end cleaning assembly is arranged on the mechanical arm and is in contact with the photovoltaic panel under the control of the mechanical arm.
2. The rail-mounted intelligent cleaning robot as claimed in claim 1, wherein: the motion platform comprises a rack arranged on the operation track, a driving wheel assembly arranged on the rack and matched with the operation track, and a power assembly used for driving the driving wheel assembly to act.
3. The rail-mounted intelligent cleaning robot as claimed in claim 2, wherein: the driving wheel assemblies are provided with two groups, one group of driving wheel assemblies is used as a driving wheel set and is driven by the power assembly, and the other group of driving wheel assemblies is used as a follow-up wheel set.
4. The rail-mounted intelligent cleaning robot as claimed in claim 2, wherein: the guide wheels are arranged on two sides of the rack respectively, the axes of the guide wheels are arranged vertically, the guide wheels are in rolling contact with the side edges of the running tracks, and the guide wheels are located between at least two guide wheels.
5. The rail-mounted intelligent cleaning robot as claimed in claim 3, wherein: the driving wheel set comprises two driving wheels symmetrically arranged on two sides of the rack, and the follow-up wheel set comprises two follow-up wheels symmetrically arranged on two sides of the rack; the rack is also provided with a limiting wheel, the guide wheel is in rolling contact with the lower side surface of the running track, and the running track is positioned between the limiting wheel and the driving wheel as well as between the limiting wheel and the follow-up wheel.
6. The rail-mounted intelligent cleaning robot as claimed in claim 1, wherein: the arm passes through mounting flange and rotation mechanism and is connected, the arm is including locating mount pad on the mounting flange, the rotatable first support arm that sets up on the mount pad, be used for driving the relative mount pad pivoted first driving piece of first support arm, pass through first joint connection's second support arm with first support arm, be used for driving the relative first support arm pivoted second driving piece of second support arm, locate first joint one end is kept away from to the second support arm and is used for connecting the end-to-end joint that the subassembly was cleaned to the end.
7. The rail-mounted intelligent cleaning robot as claimed in claim 1, wherein: the mechanical arm is provided with a first visual detection device for shooting an image of the cleaned photovoltaic panel and a second visual detection device for shooting an image of the photovoltaic panel before cleaning; the system also comprises a vision servo system used for processing images shot by the first vision detection device and the second vision detection device so as to acquire the pose of the cleaning target relative to the camera or the mechanical arm; wherein the image processing of the visual servoing system comprises the steps of: s1: image segmentation; s2: and (5) feature extraction.
8. The rail-mounted intelligent cleaning robot as claimed in claim 2, wherein: the running track consists of two sub-tracks arranged at intervals, and a main control system and a storage battery are also arranged in the rack; a plane passing through the top surfaces of the two branch rails simultaneously is taken as a second reference surface, a straight line parallel to and equidistant from the projections of the rotation center lines of the two groups of driving wheels on the second reference surface is taken as a second reference line U2, the vertical distance from the projection point of the geometric center of the sphere covering the storage battery on the second reference surface to the second reference line U2 is taken as L3, and the vertical distance from the projection point of the geometric center of the sphere covering the first motor on the second reference surface to the second reference line U2 is taken as L4; wherein L3, L4 is 1 (1-1.1).
9. The rail-mounted intelligent cleaning robot of claim 8, wherein: a plane passing through the top surfaces of the two branch rails simultaneously is taken as a second reference surface, the projection of the middle branch lines of the two branch rails on the second reference surface is taken as a third reference line U3, the vertical distance from the projection point of the geometric center of the sphere covering the storage battery on the second reference surface to the third reference line U3 is taken as L6, and the vertical distance from the projection point of the geometric center of the sphere covering the whole first motor on the second reference surface to the third reference line U3 is taken as L7; wherein, L6, L7 is (0-1) and (0-4).
10. The rail-mounted intelligent cleaning robot of claim 7, wherein: taking a plane parallel to the end face of the mounting flange as a fourth reference plane, setting a projection point of a rotation center of the mounting flange on the fourth reference plane as C0, taking a projection of the first supporting arm relative to the rotation center of the mounting seat on the fourth reference plane as U4, wherein a vertical distance from C0 to U4 is L8, taking a projection of a geometric center of a sphere covering the whole mechanical arm on the fourth reference plane as C1 to C0 is L9, and setting a straight line parallel to U4 and passing through C0 as U5; when the mechanical arm is in a unfolding state, L8: L9 is 1 (6-8); when the mechanical arm is in a contracted state, the ratio of L8: L9 is 1: (2-4).
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| CN202210079383.0A CN114433535A (en) | 2022-01-24 | 2022-01-24 | Rail mounted intelligence cleans machine people |
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| CN202210079383.0A CN114433535A (en) | 2022-01-24 | 2022-01-24 | Rail mounted intelligence cleans machine people |
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