Photovoltaic panel sweeping robot and control method thereof

Abstract

The invention discloses a photovoltaic panel sweeping robot and a control method thereof. The photovoltaic panel sweeping robot is used for walking along a left frame and a right frame of a photovoltaic panel under driving of a motor, a first control unit and a distance measuring sensor are arranged on the photovoltaic panel sweeping robot, the distance measuring sensor is installed on the position, right opposite to the left side wall of the photovoltaic panel, of the left side wall of the photovoltaic panel sweeping robot, and is used for measuring the distance between the distance measuringsensor and the left side wall of the photovoltaic panel, or, the distance measuring sensor is installed on the position, right opposite to the right side wall of the photovoltaic panel, of the rightside wall of the photovoltaic panel sweeping robot, and is used for measuring the distance between the distance measuring sensor and the right side wall of the photovoltaic panel, the first control unit is used for judging whether a measurement value fed back by the distance measurement sensor exceeds a first preset range or not, and if the measurement value fed back by the distance measurement sensor exceeds the first preset range, the photovoltaic panel sweeping robot is judged to be deviated, so that whether the photovoltaic panel sweeping robot is deviated or not is detected in real time,and timely deviation correcting is facilitated.

Description

technical field [0001] The invention relates to the technical field of automatic control, and more specifically, to a photovoltaic panel cleaning robot and a control method thereof. Background technique [0002] The photovoltaic panel cleaning robot walks along the left and right borders of the photovoltaic panel driven by the motor. Its top view is as follows: figure 1 shown. However, it is inevitable that the photovoltaic panel cleaning robot will be deflected during the walking process, such as figure 2 shown. [0003] The left and right edges of the photovoltaic panel cleaning robot extend vertically downwards to form left and right side walls, and the left side wall and the right side wall are each equipped with a front and a rear two limit devices (such as limit wheels, figure 2 The reference number "1" is used to indicate the limit wheel), and its function is to keep the walking direction of the deflected photovoltaic panel cleaning robot consistent with that bef...

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Problems solved by technology

[0003] The left and right edges of the photovoltaic panel cleaning robot extend vertically downwards to form left and right side walls, and the left side wall and the right side wall are each equipped with a front and a rear two limit devices (such as limit wheels, figure 2 The reference number "1" is used to indicate the limit wheel), and its function is to keep the walking direction of the deflected photovoltaic panel cleaning robot consistent with that before the deflection (see figure 1 and figure 2 The direction of the arrow shown in ), so as to prevent the photovoltaic panel cleaning robot from falling from the photovoltaic panel, but this will also bring about problems such as increased walking resistance of the photovoltaic panel cleaning robot and decreased ability to overcome obstacles.

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