Solar flat/curved surface adaptive intelligent cleaning robot and boundary detection method

Abstract

The invention provides a solar flat / curved surface adaptive intelligent cleaning robot and a boundary detection method. The robot includes a frame, a walking system, a control system, and a photovoltaic self-power supply system. The robot also includes a flat / curved surface adaptive cleaning system. The flat / curved surface adaptive cleaning system includes a reciprocating drive mechanism and an adaptive cleaning mechanism. The adaptive cleaning mechanism can be driven by the reciprocating drive mechanism to achieve reciprocating linear motion in the direction perpendicular to the robot's walking direction. The adaptive cleaning mechanism The cleaning mechanism includes a flat / curved surface conversion driving DC motor and a self-returning elastic base. The flat / curved surface conversion driving DC motor is provided with a driving rod, and the bottom end of the driving rod is provided with a pressure sensor. This cleaning robot can adapt to different types of solar energy utilization devices (flat, trough-type light-concentrating paraboloids of various types of lines), and has the advantages of good cleaning effect, high efficiency, and high degree of automation.

Description

technical field [0001] The invention mainly relates to the technical field of solar photovoltaic / photothermal array maintenance, in particular to a solar flat / curved surface adaptive intelligent cleaning robot and a boundary detection method. Background technique [0002] Dust on the transmission surface / reflection area of ​​solar energy utilization devices is one of the main external factors affecting its conversion efficiency. Long-term dust accumulation can seriously affect the conversion efficiency of solar energy. [0003] At present, most of the parabolic trough concentrating heat collectors adopt the manual cleaning method, and the existing machine cleaning methods are not suitable. The main reason is that the dust removal actuator has no surface self-adaptive ability. The common cleaning methods of solar photovoltaic / photothermal planar arrays are manual cleaning and machine cleaning (dust removal by arm of ground mechanical vehicle, dust removal by mechanical dust r...

AI Technical Summary

Problems solved by technology

Among them, the manual cleaning method is time-consuming, labor-intensive, low in efficiency, high in cost, and low in intelligence; the dust removal of ground mechanical vehicles has high requirements on the spacing of solar energy utilization device arrays and topography, and the initial investment is relatively large. A certain amount of labor is still required. The investment and the actuator cannot adapt to various curved surfaces, the degree of intelligence is low, and the energy consumption is large, so it has great limitations

The mechanical dust removal device needs a fixed walking track and a fixed base frame, and there are generally disadvantages such as walking stuck, uneven force under the tilted state, walking deflection, the actuator cannot adapt to various curved surfaces, and the dust removal execution method is relatively simple; the existing Climbing robots are generally suitable for plane crawling, without the ability to adapt to curved surfaces, and the single-cycle cleaning area is small, the dust removal cycle is long, and the initial investment is large

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