An intelligent cleaning robot for photovoltaic power stations

Abstract

The present invention relates to the technical field of photovoltaic power stations, and specifically discloses an intelligent cleaning robot for photovoltaic power stations, comprising a robot shell, a solar panel is arranged on the upper surface of the robot shell, an upper and lower compartment partition is arranged in the middle of the robot shell, and the upper and lower compartment partitions divide the interior of the robot shell into an upper compartment and a lower compartment, a battery, an air pump and a control circuit board are arranged in the upper compartment, a single-chip microcomputer and a GPRS communication module are arranged on the control circuit board, and a laser displacement sensor, an air suction cup, a stepper motor and a traveling wheel are arranged in the lower compartment; a raindrop sensor is arranged on the upper surface of the robot shell, and a cleaning cloth self-adhesive buckle for installing a cleaning cloth is arranged at the bottom of the robot shell, and the solar panel, the battery, the air pump, the laser displacement sensor, the stepper motor and the raindrop sensor are all connected to the control circuit board. The present invention does not require an external power supply and a water source, and uses solar energy and rainwater to clean the photovoltaic array of the photovoltaic power station for dust accumulation.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power stations, and more specifically, to an intelligent cleaning robot for photovoltaic power stations. Background Art

[0002] Solar photovoltaic power stations have been built and operated on a large scale. However, since most of these power stations are located in remote areas with strong winds and sand, the surface of the photovoltaic arrays is seriously covered with dust, which greatly affects the light receiving conditions of the photovoltaic arrays and thus reduces the power output of the photovoltaic power stations.

[0003] In view of this situation, the main treatment method at present is that the operation and maintenance personnel regularly check the dust accumulation on the surface of the photovoltaic array, manually spray water to wash the photovoltaic components, and wipe them with soft fabrics. However, this treatment method completely relies on the on-site operation of personnel and requires a large amount of water, which is very wasteful of manpower and also causes serious waste of water resources during the washing process.

[0004] Therefore, during the operation of a photovoltaic power station, automatic cleaning of the solar photovoltaic array is particularly important. Summary of the invention

[0005] In view of the above-mentioned drawbacks existing in the prior art, the present invention provides an intelligent cleaning robot for photovoltaic power stations, which does not require an external power supply and water source, and uses solar energy and rainwater to clean dust from the photovoltaic array of the photovoltaic power station.

[0006] As a first aspect of the present invention, there is provided an intelligent cleaning robot for a photovoltaic power station, comprising a robot shell, wherein a solar panel is arranged on the upper surface of the robot shell, and an upper and lower compartment partition is arranged in the middle of the robot shell, wherein the upper and lower compartment partitions divide the interior of the robot shell into an upper compartment and a lower compartment, wherein a battery, an air pump and a control circuit board are arranged in the upper compartment, a single-chip microcomputer and a GPRS communication module are arranged on the control circuit board, and a laser displacement sensor, an air suction cup, a stepper motor and a traveling wheel are arranged in the lower compartment; a raindrop sensor is arranged on the upper surface of the robot shell, and a cleaning cloth self-adhesive buckle for installing a cleaning cloth is arranged on the bottom of the robot shell, and the solar panel, the battery, the air pump, the laser displacement sensor, the stepper motor and the raindrop sensor are all connected to the control circuit board.

[0007] Furthermore, two batteries, five vacuum pumps and a control circuit board are respectively installed on the upper and lower warehouse partitions, wherein two batteries are connected in series, and the positive and negative poles of the series-connected battery pack are both connected to the control circuit board, the solar panel is connected to the control circuit board through a lead wire, the vacuum pump is a brushless motor, the positive and negative poles of the vacuum pump are respectively connected to the control circuit board, and the vacuum pump is connected to the vacuum suction cup of the lower warehouse through an air duct.

[0008] Furthermore, a laser displacement sensor is respectively installed at four corner positions of the bottom surface of the robot shell, and the four laser displacement sensors are all connected to the control circuit board of the upper warehouse.

[0009] Furthermore, the vacuum suction cups are respectively arranged at the four corners and the central position of the bottom surface of the robot shell, and the vacuum suction cups are ventilation hole structures. The vacuum suction cups are connected to the vacuum pump of the upper warehouse through an air duct.

[0010] Furthermore, four groups of traveling wheels are arranged at the bottom of the robot shell, and every two groups of traveling wheels are arranged in parallel.

[0011] Furthermore, the four groups of traveling wheels are respectively installed in the four card slots of the lower warehouse, and the stepper motor is connected to the shaft of each group of traveling wheels. The power cord of the stepper motor is connected to the control circuit board of the upper warehouse, and the forward and backward movement of the traveling wheels is driven by the stepper motor.

[0012] Furthermore, each group of the traveling wheels includes two rubber wheels, and the rubber wheels are wrapped with rubber tracks, and the rubber tracks enable the wheels to travel on the surface of the photovoltaic array.

[0013] Furthermore, two square self-adhesive buckles for the cleaning cloth are provided on the bottom surface of the robot housing, and the cleaning cloth is fixed to the bottom surface of the robot housing by the self-adhesive buckles for the cleaning cloth.

[0014] Furthermore, the battery is used to supply power to the photovoltaic power station intelligent cleaning robot.

[0015] Furthermore, the upper and lower warehouse partitions are horizontal, and the upper and lower warehouse partitions are fixed inside the robot shell through partition support columns.

[0016] The photovoltaic power station intelligent cleaning robot provided by the present invention has the following advantages: no external power supply and water source are required, and solar energy and rainwater are used to clean dust accumulation on the photovoltaic array of the photovoltaic power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0018] Figure 1 This is an axonometric diagram of the photovoltaic power station intelligent cleaning robot provided by the present invention.

[0019] Figure 2 This is a working principle diagram of the photovoltaic power station intelligent cleaning robot provided by the present invention.

[0020] Figure 3 This is a front view of the photovoltaic power station intelligent cleaning robot provided by the present invention.

[0021] Figure 4 This is a top view of the photovoltaic power station intelligent cleaning robot provided by the present invention.

[0022] Figure 5 The present invention provides Figure 4 Cross-sectional view along AA direction.

[0023] Figure 6 This is a bottom view of the photovoltaic power station intelligent cleaning robot provided by the present invention.

[0024] Figure 7 This is a schematic diagram of the internal structure of the upper warehouse provided by the present invention.

[0025] Figure 8 This is a schematic diagram of the internal structure of the lower warehouse provided by the present invention.

[0026] Fig. 9 A schematic diagram of the position of the self-adhesive fastener of the cleaning cloth provided by the present invention.

[0027] Explanation of the accompanying numbers: 1-robot shell; 2-solar panel; 3-upper and lower compartment partitions; 4-battery; 5-vacuum pump; 6-control circuit board; 7-single-chip microcomputer; 8-GPRS communication module; 9-laser displacement sensor; 10-vacuum suction cup; 11-stepping motor; 12-traveling wheel; 13-raindrop sensor; 14-cleaning cloth; 15-self-adhesive fastener for cleaning cloth; 16-partition support column. DETAILED DESCRIPTION

[0028] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation method, structure, characteristics and effects of the photovoltaic power station intelligent cleaning robot proposed by the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] In this embodiment, a photovoltaic power station intelligent cleaning robot is provided. Figure 1-9 As shown, the photovoltaic power station intelligent cleaning robot includes a robot shell 1, a solar panel 2 is arranged on the upper surface of the robot shell 1, and an upper and lower warehouse partition 3 is arranged in the middle of the robot shell 1, and the upper and lower warehouse partition 3 divides the interior of the robot shell 1 into an upper warehouse and a lower warehouse, and a battery 4, an air pump 5 and a control circuit board 6 are arranged in the upper warehouse, and a single-chip microcomputer 7 and a GPRS communication module 8 are arranged on the control circuit board 6, and a laser displacement sensor 9, an air suction cup 10, a stepper motor 11 and a traveling wheel 12 are arranged in the lower warehouse; a raindrop sensor 13 is arranged on the upper surface of the robot shell 1, and a cleaning cloth self-adhesive buckle 15 for installing a cleaning cloth 14 is arranged at the bottom of the robot shell 1, and the solar panel 2, the battery 4, the air pump 5, the laser displacement sensor 9, the stepper motor 11 and the raindrop sensor 13 are all connected to the control circuit board 6.

[0031] Preferably, two batteries 4, five vacuum pumps 5 and a control circuit board 6 are respectively installed on the upper and lower warehouse partitions 3, wherein two batteries 4 are connected in series, and the positive and negative poles of the battery packs connected in series are connected to the control circuit board 6, the solar panel 2 is connected to the control circuit board 6 through a lead, the vacuum pump 5 is a brushless motor, and the positive and negative poles of the vacuum pump 5 are respectively connected to the control circuit board 6, the vacuum pump 5 is connected to the vacuum suction cup 10 of the lower warehouse through an air duct, the vacuum pump 5 draws air through the vacuum suction cup 10 to reduce the air pressure at the bottom of the cleaning robot and the surface of the photovoltaic module, and through the pressure difference with the atmosphere, the cleaning robot can stably walk on the surface of the photovoltaic module.

[0032] Preferably, a laser displacement sensor 9 is respectively installed at the four corner positions of the bottom surface of the robot shell 1, and the four laser displacement sensors 9 are all connected to the control circuit board 6 of the upper warehouse; wherein, the laser displacement sensor 9 is used to detect whether the robot is above the photovoltaic array, to ensure that the robot does not step on empty air to prevent falling from the photovoltaic array, and to record the walking route; when it is detected that there is a real object below, the robot continues to move in the original direction; when it is detected that the robot is suspended below, the original forward direction is changed to move in a direction perpendicular to the original direction.

[0033] Preferably, the vacuum suction cups 10 are respectively provided at the four corners and the central position of the bottom surface of the robot housing 1, and the vacuum suction cups 10 are ventilation hole structures. The vacuum suction cups 10 are connected to the vacuum pump 5 of the upper warehouse through an air duct.

[0034] Preferably, four groups of the traveling wheels 12 are arranged at the bottom of the robot housing 1, and every two groups of traveling wheels 12 are arranged in parallel, so as to realize free operation in two dimensions, thus overcoming the complex control of turning or reversing required by general robots.

[0035] Preferably, four groups of the traveling wheels 12 are respectively installed in the four slots of the lower warehouse, and the stepper motor 11 is connected to the axis of each group of the traveling wheels 12. The power cord of the stepper motor 11 is connected to the control circuit board 6 of the upper warehouse, and the forward and backward movement of the traveling wheels 12 is driven by the stepper motor 11.

[0036] Preferably, each set of the traveling wheels 12 includes two rubber wheels, and the rubber wheels are wrapped with rubber tracks, and the rubber tracks enable the wheels to travel on the surface of the photovoltaic array.

[0037] Preferably, the bottom surface of the robot housing 1 is provided with two square cleaning cloth self-adhesive buckles 15 for installing the cleaning cloth 14. The cleaning cloth 14 is fixed to the bottom surface of the robot housing 1 by the cleaning cloth self-adhesive buckles 15, and the replacement of the cleaning cloth 14 is convenient; wherein, the cleaning cloth 14 is used to scrub the surface of the photovoltaic array, and it is in close contact with the surface of the photovoltaic array. Through the movement of the traveling wheel 12, the position of the entire cleaning robot is driven to move, and the cleaning cloth scrubs the surface of the photovoltaic array with the help of rainwater.

[0038] Preferably, the storage battery 4 is used to supply power to the photovoltaic power station intelligent cleaning robot.

[0039] Preferably, the upper and lower bin partitions 3 are horizontal, and the upper and lower bin partitions 3 are fixed inside the robot housing 1 through partition support columns 16 .

[0040] Specifically, under the irradiation of sunlight, the cleaning robot converts the received solar energy into electrical energy through the solar panel 2 and stores it in the battery 4 inside the robot.

[0041] Combine the following Figures 1 to 9 The specific working process of the photovoltaic power station intelligent cleaning robot provided by the present invention is described in detail.

[0042] On rainy days, the raindrop sensor 13 automatically detects the amount of rainfall and provides the single-chip microcomputer 7 on the control circuit board 6 with information on the amount of rainfall. The single-chip microcomputer 7 determines whether the rainfall is suitable for cleaning the photovoltaic array. When the precipitation conditions meet the cleaning conditions, the robot automatically starts the cleaning mode. At this time, the single-chip microcomputer 7 controls the laser displacement sensor 9 to sense the current position information of the cleaning robot in real time. The single-chip microcomputer 7 determines whether the cleaning robot is above the photovoltaic array based on the current position information of the cleaning robot. If the cleaning robot is above the photovoltaic array, the single-chip microcomputer 7 controls the stepper motor 11 to drive the travel wheel 12 to move along the set route to drive the The cleaning robot walks above the photovoltaic array, and the laser displacement sensor 9 records the walking route of the cleaning robot. During the walking process, the cleaning robot scrubs the surface of the photovoltaic array with the cleaning cloth at the bottom; if the single-chip computer 7 determines that the cleaning robot has exceeded a certain distance from the photovoltaic array, it will control the stepping motor 11 to drive the traveling wheel 12 to change the traveling direction; at the same time, the vacuum pump 5 is controlled to extract air through the vacuum suction cup 10 at the bottom of the cleaning robot to reduce the air pressure at the bottom of the cleaning robot and the surface of the photovoltaic module, and the robot is adsorbed on the photovoltaic array through the pressure difference with the atmosphere, so that the cleaning robot can stably walk on the surface of the photovoltaic module;

[0043] The single chip computer 7 calculates whether the cleaning work of the entire photovoltaic array is completed by judging the robot walking route data recorded by the laser displacement sensor 9 and the detected photovoltaic array edge data. When the cleaning work of the entire photovoltaic array is completed, the single chip computer 7 controls the cleaning robot to automatically return to the original starting position and wait for the next round of work. It also sends the real-time data of the working status to the operation and maintenance center through the GPRS communication module to complete the entire working process, which brings great convenience to the operation and maintenance work of the photovoltaic power station.

[0044] The photovoltaic power station intelligent cleaning robot provided by the present invention relies solely on solar energy for energy supply and can clean the photovoltaic array with a cleaning cloth using only rainwater.

[0045] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A photovoltaic power station intelligent cleaning robot, characterized in that: The robot comprises a robot shell (1), wherein a solar panel (2) is arranged on the upper surface of the robot shell (1), and an upper and lower compartment partition (3) is arranged in the middle of the robot shell (1), wherein the upper and lower compartment partition (3) divides the interior of the robot shell (1) into an upper compartment and a lower compartment, wherein a storage battery (4), an air pump (5) and a control circuit board (6) are arranged in the upper compartment, and a single-chip microcomputer (7) and a GPRS communication module (8) are arranged on the control circuit board (6), and a laser displacement sensor (9), an air suction cup (10), a stepping motor (11) and a traveling wheel (12) are arranged in the lower compartment; a raindrop sensor (13) is arranged on the upper surface of the robot shell (1), and a cleaning cloth self-adhesive buckle (15) for mounting a cleaning cloth (14) is arranged at the bottom of the robot shell (1), and the solar panel (2), the storage battery (4), the air pump (5), the laser displacement sensor (9), the stepping motor (11) and the raindrop sensor (13) are all connected to the control circuit board (6); Two storage batteries (4), five air pumps (5) and a control circuit board (6) are respectively installed on the upper and lower compartment partitions (3), wherein the two storage batteries (4) are connected in series, and the positive and negative poles of the series-connected storage battery group are both connected to the control circuit board (6), the solar panel (2) is connected to the control circuit board (6) via a lead wire, the air pump (5) is a brushless motor, and the positive and negative poles of the air pump (5) are respectively connected to the control circuit board (6), and the air pump (5) is connected to the air suction cup (10) of the lower compartment via an air duct; A laser displacement sensor (9) is respectively installed at the four corner positions of the bottom surface of the robot housing (1), and the four laser displacement sensors (9) are all connected to the control circuit board (6) of the upper warehouse; the vacuum suction cup (10) is respectively arranged at the four corners and the central position of the bottom surface of the robot housing (1), and the vacuum suction cup (10) is a ventilation hole structure, and the vacuum suction cup (10) is connected to the vacuum pump (5) of the upper warehouse through an air duct; Four groups of traveling wheels (12) are arranged at the bottom of the robot housing (1), and every two groups of traveling wheels (12) are arranged in parallel; Four groups of the traveling wheels (12) are respectively installed in four slots of the lower warehouse, the shaft of each group of the traveling wheels (12) is connected to the stepper motor (11), the power line of the stepper motor (11) is connected to the control circuit board (6) of the upper warehouse, and the forward and backward movement of the traveling wheels (12) is driven by the stepper motor (11); Each set of the traveling wheels (12) comprises two rubber wheels, the outer surface of the rubber wheels is wrapped with rubber tracks, and the rubber tracks travel on the surface of the photovoltaic array; The bottom surface of the robot housing (1) is provided with two square cleaning cloth self-adhesive buckles (15), and the cleaning cloth (14) is fixed to the bottom surface of the robot housing (1) via the cleaning cloth self-adhesive buckles (15); The storage battery (4) is used to supply power to the photovoltaic power station intelligent cleaning robot.

2. The photovoltaic power station intelligent cleaning robot according to claim 1, characterized in that: The upper and lower bin partitions (3) are horizontal, and the upper and lower bin partitions (3) are fixed inside the robot housing (1) via partition support columns (16).

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