Photovoltaic cleaning machine tilt attitude detection method, controller and photovoltaic cleaning machine
A detection method and a controller technology, which can be used in cleaning methods and utensils, chemical instruments and methods, cleaning flexible objects, etc., can solve the problems of low accuracy of photovoltaic cleaning machines
Active Publication Date: 2021-07-20
仁洁智能科技有限公司
View PDF19 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] In view of this, the purpose of the present invention is to provide a photovoltaic cleaning machine tilt attitude detection method, a controller and a photovoltaic cleaning machine to solve the technical problem of low accuracy of existing photovoltaic cleaning machines. The specific technical solutions are as follows:
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0049] See figure 1 , is a structural schematic diagram of a photovoltaic cleaning machine running on a photovoltaic module.
[0050] In order to maximize the effective amount of radiation absorbed by photovoltaic modules, such as figure 1As shown, there is a certain angle between the photovoltaic module and the ground (that is, the install...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a method for detecting the tilt attitude of a photovoltaic cleaning machine, a controller and the photovoltaic cleaning machine. A suspension point is arranged inside the photovoltaic cleaning machine, and a heavy object is suspended on the suspension point through a swing arm; when the photovoltaic cleaning machine is in a non-tilting posture, The projection point of the heavy object on the plane parallel to the swing arm in the photovoltaic cleaning machine is point m, and a distance measuring sensor is arranged at point m. The straight-line distance between point m and the current position of the heavy object is measured by the ranging sensor. If the straight-line distance is greater than 0, it indicates that the photovoltaic cleaning machine is tilted. Then, the deviation direction of the heavy object from point m is obtained. According to the straight-line distance and the length of the swing arm, and use the inverse trigonometric formula to calculate the inclination angle of the photovoltaic cleaning machine. Determine the tilt attitude of the photovoltaic cleaning machine according to the tilt angle and deviation direction. In the present application, the distance measuring sensor is arranged inside the photovoltaic cleaning machine and is not affected by external environmental factors, thus improving the accuracy of detecting the tilt attitude.
Description
technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to a method and a device for detecting the inclination attitude of a photovoltaic cleaning machine and the photovoltaic cleaning machine. Background technique [0002] The function of photovoltaic modules is to convert solar energy into electrical energy. If there is dust on the surface of photovoltaic modules, it will affect the effective radiation absorbed by photovoltaic modules. Therefore, the surface of photovoltaic modules needs to be cleaned regularly. In order to improve cleaning efficiency, special photovoltaic cleaning machines can be used to clean photovoltaic modules. [0003] In order to maximize the effective radiation absorbed by the photovoltaic module, there is usually a certain angle between the photovoltaic module and the ground, that is, the installation inclination angle, for example, the installation inclination angle is α, and the photovo...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B08B11/04B08B13/00B62D37/04
CPCB08B11/04B08B13/00B62D37/04
Inventor 朱立春朱家朋李伟晋志生王邦耀张磊
Owner 仁洁智能科技有限公司