CN212597768U - Intelligent soft braking stop control system of photovoltaic module cleaning robot - Google Patents
Intelligent soft braking stop control system of photovoltaic module cleaning robot Download PDFInfo
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- CN212597768U CN212597768U CN202020752454.5U CN202020752454U CN212597768U CN 212597768 U CN212597768 U CN 212597768U CN 202020752454 U CN202020752454 U CN 202020752454U CN 212597768 U CN212597768 U CN 212597768U
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The utility model discloses an intelligent soft-stop control system of a photovoltaic module cleaning robot, which relates to the technical field of solar photovoltaic module cleaning robots and aims at solving the problems that the existing robot is easy to suffer from lightning interference and lightning stroke due to the external arrangement of various electronic and electrical elements, the service life of the robot is shortened, the measurement is inaccurate, and the operation fault is caused; the signal induction sheet is in transmission connection with the driving wheel through a power transmission cable and used for feeding back the square wave signal when the signal induction sheet rotates to sweep through the proximity switch and sending the fed back square wave signal to the single chip microcomputer system. The utility model discloses prolong the life that photovoltaic module cleaned the robot, strengthened the operation accuracy nature and the stability that photovoltaic module cleaned the robot simultaneously.
Description
Technical Field
The utility model relates to a solar PV modules cleans machine people technical field, especially relates to a soft system of intelligence of machine people that cleans of PV modules stops control system.
Background
With the attention of the public on climate warming and environmental pollution in the global scope and the increasing exhaustion of fossil energy, new energy, especially photovoltaic power generation, is rapidly developed, and the electricity consumption cost is further reduced to the level competitive with the traditional energy. The new energy power quantity such as photovoltaic and wind power is on line at a low price and means daily wait, and the indexes of safety, stability, long service life, intellectualization and the like of new energy power generation equipment are increasingly excellent. However, the photovoltaic power station has inherent characteristics, and must be constructed outdoors, especially in desert areas with good illumination conditions, in dry and rainy northern areas, and in various roofs, mountainous areas and other places, the photovoltaic module is exposed in the air all day long and is covered and polluted by dust, snow, bird droppings, fallen leaves and the like, so that the power generation amount is greatly reduced, the service life of the photovoltaic module is shortened, and safety accidents such as fire and electric leakage can be caused in serious cases; secondly, because the photovoltaic power station is built in remote and high-altitude places such as deserts, barren mountains and roofs, which are not easy to involve by people, the assembly cleaning and the real-time knowledge of the information of the power station are inconvenient, and great challenges are brought to the intelligentization and high-efficiency operation of the photovoltaic power station. Based on the reasons, most of the existing photovoltaic power stations basically realize intelligent construction and intelligent operation and maintenance management. At present, the intelligent, waterless and automatic cleaning of photovoltaic modules is the right for really restricting the intelligent, efficient and safe operation of a photovoltaic power station.
With the reduction of the photovoltaic power generation cost, the urgent need of full-intelligent management, the strong desire of shortening the investment return period, the consideration of improving the real-time performance and safety of cleaning the photovoltaic module and saving the labor cost, the full-automatic cleaning robot for the photovoltaic module is more and more put into use.
However, because photovoltaic power plant itself establishes in the open air, and environmental condition is abominable, the power plant type is various, the roughness is all unsatisfactory, and automatic cleaning robot self technique has not obtained more rehearsal in addition, leads to the trouble problem more, mainly reflects: the robot with large power can damage a photovoltaic module, overturn, brake failure and the like; the obstacle crossing capability is reduced and the operation is blocked due to insufficient power; in order to accurately measure the starting point and the terminal point of the component array in time and the running state of the robot, the existing robot cannot avoid setting an external sensor, a mechanical switch, a weak current circuit and the like, so that the robot is easily subjected to lightning interference and lightning stroke, and the electronic devices, the switches and the like are extremely easily corroded by rainwater, dust and sunlight, so that the service life is shortened, the measurement is inaccurate, and the running fault of the robot is further caused.
Based on the problem that exists among the prior art, the utility model provides a with all electronic circuit built-in, adopt non-contact's motion, system of stopping, through independently learning method, intelligent recognition motion situation, reach under the normal operating mode, under the obstacle state, under the trouble condition and reach the soft system that the terminal point needs and stop.
SUMMERY OF THE UTILITY MODEL
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an intelligent soft braking control system of a photovoltaic module cleaning robot comprises a cleaning mechanism, a power transmission cable, a parking space, a braking baffle plate and a control mechanism, wherein,
the control mechanism is arranged in the control box and comprises a power supply, a single chip microcomputer system, a direct current motor, a proximity switch and a signal induction sheet, wherein the output side of one side of the direct current motor is fixedly connected with a driving wheel, a power transmission cable is fixedly connected to two sides of the cleaning mechanism, and the power transmission cable is contracted or released around the driving wheel and is used for driving the photovoltaic module cleaning robot to move on the photovoltaic module array;
the signal induction sheet is in transmission connection with the driving wheel through a power transmission cable and is used for feeding back a square wave signal when the signal induction sheet rotates to sweep through the proximity switch and sending the fed back square wave signal to the single chip microcomputer system;
the single chip microcomputer system is in communication connection with the signal induction sheet and is used for collecting square wave signals fed back when the signal induction sheet rotates to sweep across the proximity switch, and controlling the photovoltaic module cleaning robot to intelligently execute start-stop, back-and-forth cleaning and fault treatment according to the collected and fed-back square wave signal results.
Preferably, the peripheral portion of the signal induction sheet is fixedly connected with four signal induction arms, the four signal induction arms are in a cross structure, when the signal induction sheet rotates through the transmission of the power transmission cable, the four signal induction arms and the induction surface of the proximity switch sequentially rotate and sweep, and a regular square wave signal is generated under an ideal state.
Preferably, the braking baffles are used for braking of the cleaning mechanism and soft braking of the designated braking reference position in an emergency, the number of the braking baffles is four, the four braking baffles are respectively and uniformly arranged on two sides of the photovoltaic module array and are parallel to each other up and down, and a connecting line between the two braking baffles distributed on the same side is parallel to the cleaning mechanism.
Preferably, the two sides of the cleaning mechanism are respectively provided with three limiting wheels, each side of the cleaning mechanism is provided with three limiting wheels, the three limiting wheels on the same side are ascended in a stepped manner, and the height difference between every two adjacent limiting wheels is 1.5 cm.
Preferably, the number of the parking spaces is two, and the parking spaces are distributed on two sides of the photovoltaic module array respectively.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the utility model can greatly reduce the weight of the photovoltaic component cleaning robot by arranging the control mechanism in the control box and fixing the control mechanism, thereby reducing the pressure and even the damage of the photovoltaic component;
(2) in the utility model, because the intelligent soft brake without the external sensor is stopped, the cleaning safety of the cleaning robot can be increased, and the damage to the cleaning robot caused by similar hard brake is avoided, thereby prolonging the service life of the cleaning robot;
(3) in the utility model, by intelligent judgment of obstacles encountered in the operation process of the photovoltaic component cleaning robot, timely stopping can be realized during faults, and the photovoltaic component cleaning robot is powerful and effective in obstacle crossing and snow removal;
(4) the utility model discloses greatly avoided because of the external potential safety hazard of bringing of various electron electrical components, avoided simultaneously that the solarization drenches, further prolonged photovoltaic module cleans the life of robot, avoid external interference moreover, also further strengthened photovoltaic module cleans the operation accuracy nature and the stability of robot.
Drawings
Fig. 1 is an overall schematic view of the present invention;
FIG. 2 is a schematic view of a control mechanism built into the control box;
FIG. 3 is a schematic view of a spacing wheel of the sweeping mechanism;
fig. 4 is a schematic diagram of the system of the present invention.
In the figure: 1. a control box; 2. a cleaning mechanism; 3. a power transmission cable; 4. braking the baffle; 5. a parking space; 6. a single chip system; 7. a power source; 8. a direct current motor; 9. a proximity switch; 10. a signal induction sheet; 11. a limiting wheel; 12. a signal sensing arm; 13. and a driving wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Referring to fig. 1 and 2, an intelligent soft braking control system of a photovoltaic module cleaning robot comprises a cleaning mechanism 2, a power transmission cable 3, a parking space 5, a braking baffle 4 and a control mechanism, wherein,
the control mechanism is arranged in the control box 1, the control box 1 is fixedly connected to one side of the parking space 5 and comprises a power supply 7, a single chip microcomputer system 6, a direct current motor 8, a proximity switch 9 and a signal induction sheet 10, wherein the output side of one side of the direct current motor 8 is fixedly connected with a driving wheel 13, a power transmission cable 3 is fixedly connected to two sides of the cleaning mechanism 2, and the power transmission cable 3 contracts or unwinds around the driving wheel 13 and is used for drawing the cleaning mechanism 2 of the photovoltaic module cleaning robot to move on the photovoltaic module array so as to execute cleaning operation;
the signal induction sheet 10 is in transmission connection with the driving wheel 13 through the power transmission cable 3 and is used for feeding back a square wave signal when the signal induction sheet 10 rotates and sweeps across the proximity switch 9 and sending the fed back square wave signal to the single chip microcomputer system 6;
the single chip microcomputer system 6 is in communication connection with the signal induction sheet 10 and is used for collecting square wave signals fed back when the signal induction sheet 10 rotates to sweep the proximity switch, and controlling the photovoltaic module cleaning robot to intelligently execute start-stop, back-and-forth cleaning and fault processing according to the collected and fed-back square wave signal results.
In this embodiment, the peripheral portion of the signal sensing piece 10 is fixedly connected with four signal sensing arms 12, the four signal sensing arms 12 are in a cross structure, when the signal sensing piece 10 rotates through the transmission of the power transmission cable 3, the four signal sensing arms 12 and the sensing surface of the proximity switch 9 sequentially rotate and sweep, and a regular square wave signal is generated under an ideal state; the braking baffles 4 are used for braking of a cleaning mechanism in the photovoltaic module cleaning robot and soft braking of an appointed braking reference position in an emergency situation, the number of the braking baffles 4 is four, the four braking baffles are respectively and uniformly arranged on two sides of the photovoltaic module array and are parallel up and down, and a connecting line between two braking baffles 4 distributed on the same side is parallel to the cleaning mechanism 2; the quantity on parking stall 5 is two, distributes respectively in the both sides of photovoltaic module array for clean mechanism 2 and clean the parking after accomplishing, can not cause any to shelter from photovoltaic module.
Referring to fig. 3, the two sides of the cleaning mechanism 2 are respectively provided with three limiting wheels 11, each side is distributed three, the three limiting wheels 11 on the same side are in stepped rising, the height difference between every two adjacent limiting wheels 11 is 1.5cm, and the capability of crossing obstacles during the operation of the cleaning mechanism 2 can be greatly improved.
Referring to fig. 4, in this embodiment, first, start power supply 7, dc motor 8 rotates, dc power supply 8's rotation orders about drive wheel 13 to rotate, drive wheel 13 pulls to clean mechanism 2 through power transmission hawser 3 and moves on the photovoltaic module array, the execution cleans the operation, drive wheel 13 drives signal induction piece 10 through power transmission hawser 3 and rotates simultaneously, signal induction piece 10 rotates and can feed back square wave signal when sweeping proximity switch 9, and send the square wave signal of feedback to single piece system 6, single piece system 6 gathers the square wave signal that signal induction piece 10 rotated and sweeps proximity switch 9 and feeds back, and control the intelligent execution of photovoltaic module cleaning robot to open and stop according to gathering the square wave signal result of feedback, come and go to clean, fault handling, the concrete process is as follows:
(1) when the photovoltaic module cleans the situation when the robot runs and meets the obstacle:
(a) after the photovoltaic module cleaning robot is detected to start to operate, the signal induction sheet collected by the single sheet system rotates to sweep the square wave signals fed back when the signal induction sheet passes through the proximity switch, whether the collected and fed back square wave signals exceed 30% of the time length of the standard square wave signals or not is judged, whether the time length of the next square wave signal does not exceed 10% of the time length of the previous square wave signal or not is judged, if yes, the photovoltaic panel cleaning robot is judged to be in obstacle but not to be capable of advancing, and at the moment, the photovoltaic module cleaning robot is controlled by the control mechanism to appropriately prolong the braking time.
(b) After the photovoltaic module cleaning robot is detected to start to operate, the signal induction sheet collected by the single sheet system rotates to sweep the square wave signals fed back when the signal induction sheet passes through the proximity switch, whether the collected and fed back square wave signals exceed 30% of the time length of the standard square wave signals or not is judged, whether the time length of the next square wave signal exceeds 30% of the time length of the previous square wave signal or not is judged, if yes, the operation of the photovoltaic module cleaning robot is judged to be seriously hindered or even stopped, and at the moment, the photovoltaic module cleaning robot is controlled to stop immediately through the control mechanism and the brake baffle 4.
(c) After the photovoltaic module cleaning robot is detected to start to operate, the signal induction sheet collected by the single sheet system rotates to sweep the square wave signals fed back when the signal induction sheet passes through the proximity switch, whether the collected and fed back square wave signals exceed 30% of the time length of the standard square wave signals or not is judged, whether the time length of the next square wave signal and the time length of the previous square wave signal change irregularly or not is judged, if yes, the operation of the photovoltaic module cleaning robot is judged to be seriously hindered or even stopped, and at the moment, the photovoltaic module cleaning robot is controlled to stop immediately through the control mechanism and the braking baffle 4.
(2) When the photovoltaic module cleaning robot normally operates:
(a) after the photovoltaic module cleaning robot starts to operate, the square wave signals fed back when the signal collected by the single chip system sweeps the proximity switch are sensed, whether the number of times of collecting the fed back square wave signals reaches the set number of times is judged, if yes, the photovoltaic module cleaning robot is judged to operate to reach the specified stop position, and at the moment, the photovoltaic module cleaning robot is controlled to stop immediately through the control mechanism and the brake baffle 4.
After the photovoltaic module cleaning robot stops, whether the stopping position of the photovoltaic module cleaning robot is in a parking space 5 needs to be detected through a control mechanism, and if the photovoltaic module cleaning robot is in the parking space 5, the control mechanism sends a normal stopping signal to the photovoltaic module cleaning robot; if the parking space 5 is not reached, a fault signal is sent, and the initial operation position is returned.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (5)
1. An intelligent soft braking control system of a photovoltaic module cleaning robot comprises a cleaning mechanism, a power transmission cable, a parking space, a braking baffle plate and a control mechanism,
the control mechanism is arranged in the control box and comprises a power supply, a single chip microcomputer system, a direct current motor, a proximity switch and a signal induction sheet, wherein the output side of one side of the direct current motor is fixedly connected with a driving wheel, a power transmission cable is fixedly connected to two sides of the cleaning mechanism, and the power transmission cable is contracted or released around the driving wheel and is used for driving the photovoltaic module cleaning robot to move on the photovoltaic module array;
the signal induction sheet is in transmission connection with the driving wheel through a power transmission cable and is used for feeding back a square wave signal when the signal induction sheet rotates to sweep through the proximity switch and sending the fed back square wave signal to the single chip microcomputer system;
the single chip microcomputer system is in communication connection with the signal induction sheet and is used for collecting square wave signals fed back when the signal induction sheet rotates to sweep across the proximity switch, and controlling the photovoltaic module cleaning robot to intelligently execute start-stop, back-and-forth cleaning and fault treatment according to the collected and fed-back square wave signal results.
2. The soft brake control system according to claim 1, wherein four signal sensing arms are fixedly connected to the peripheral edge of the signal sensing piece, the four signal sensing arms are in a cross structure, and when the signal sensing piece rotates through the transmission of the power transmission cable, the four signal sensing arms and the sensing surface of the proximity switch sequentially rotate and sweep, so that a regular square wave signal is generated under an ideal state.
3. The soft stop control system according to claim 1 or 2, wherein the number of the braking baffles is four, the braking baffles are respectively and uniformly arranged on two sides of the photovoltaic module array and are parallel up and down, and a connecting line between two braking baffles distributed on the same side is parallel to the sweeping mechanism.
4. The soft braking control system according to claim 1 or 2, wherein the cleaning mechanism is provided with three limiting wheels on both sides, the three limiting wheels on the same side are raised in a stepped manner, and the height difference between two adjacent limiting wheels is 1.5 cm.
5. The soft stop control system according to claim 1 or 2, wherein the number of the parking spaces is two, and the two parking spaces are respectively distributed on two sides of the photovoltaic module array.
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| CN202020752454.5U CN212597768U (en) | 2020-05-09 | 2020-05-09 | Intelligent soft braking stop control system of photovoltaic module cleaning robot |
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| CN202020752454.5U CN212597768U (en) | 2020-05-09 | 2020-05-09 | Intelligent soft braking stop control system of photovoltaic module cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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