Photovoltaic panel cleaning robot and control method thereof

Abstract

This application discloses a photovoltaic panel cleaning robot and its control method. The photovoltaic panel cleaning robot is used to walk along the left and right borders of the photovoltaic panel driven by a motor. The photovoltaic panel cleaning robot is provided with a first control unit and a ranging sensor; the said The ranging sensor is installed on the left side wall of the photovoltaic panel cleaning robot facing the left side wall of the photovoltaic panel, and is used to measure the distance between the ranging sensor and the left side wall of the photovoltaic panel; or, the ranging sensor is installed on the photovoltaic panel. The position on the right side wall of the panel cleaning robot facing the right side wall of the photovoltaic panel is used to measure the distance between the ranging sensor and the right side wall of the photovoltaic panel; Whether the measured value exceeds the first preset range, and if so, it is determined that the photovoltaic panel cleaning robot is deflected, thereby realizing real-time detection of whether the photovoltaic panel cleaning robot is deflected, so as to facilitate timely correction.

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...

AI Technical Summary

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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