Intelligent cleaning robot for photovoltaic power station in differentiated environment

Abstract

The invention discloses an intelligent cleaning robot for a photovoltaic power station in a differentiated environment. The intelligent cleaning robot comprises a framework, an intelligent deviation correcting system, an upper transmission support, a lower transmission support, an upper housing and a lower housing. The framework is connected with the upper transmission bracket and the lower transmission bracket; the upper transmission support and the lower transmission support each comprise a transmission shaft and a multi-stage transmission structure, and the transmission shafts are connected with the integrated stepping motors and the driving walking wheels respectively. The intelligent deviation rectifying system comprises a deviation rectifying gyroscope and a control circuit; and the deviation rectifying gyroscope is integrated in a control circuit. The cleaning robot can cope with the distribution difference of the photovoltaic modules in different environments, precise distribution and control and efficient cleaning are achieved, the fault rate in the cleaning process is effectively reduced, and the cleaning effect and efficiency are improved.

Description

Technical Field

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

[0002] As the global demand for clean energy continues to increase, photovoltaic power stations have been widely used as a green and renewable energy form. However, problems such as dust accumulation and pollution on the surface of photovoltaic modules will affect the power generation efficiency and thus the economic benefits. Therefore, the cleaning and maintenance of photovoltaic modules has become a key link to ensure the normal operation of power stations and improve the power generation efficiency. However, the cleaning of photovoltaic power station modules is currently mainly done manually, semi-automatically or even directly by water washing, which has the problems of long cleaning cycle and high cleaning cost.

[0003] Specifically, the existing photovoltaic power station cleaning methods have the following problems in practical applications:

[0004] High energy consumption for cleaning: Currently, the most commonly used cleaning method is water washing, which is particularly inappropriate in water-scarce areas because it not only wastes a lot of water resources, but also may cause hidden cracks in photovoltaic modules under strong light, directly threatening the economic benefits of photovoltaic power stations. In addition, in winter, the alpine regions are severely frozen, and water washing is difficult to operate, which will also reduce the efficiency and effect of cleaning.

[0005] High cleaning cost: For large-scale photovoltaic power stations, manual cleaning often consumes a lot of manpower and material resources, and the cost is extremely high. It is estimated that the annual manual cleaning cost of a 1MW unit is about 53,000 yuan. For larger power stations, the overall cleaning cost is significantly increased, which directly affects the economic return of the power station.

[0006] Difficulty in cleaning: In remote areas such as water power stations and desert power stations, the environmental conditions are harsh, and cleaning operations require high labor and are difficult. At the same time, photovoltaic power stations under different terrain and climatic conditions are usually installed at a large angle. Traditional manual cleaning methods are difficult to adapt to the needs of large elevation angles and large spans, which increases the risk and difficulty of cleaning.

[0007] Low intelligence: Traditional cleaning methods have low intelligence, and operation and maintenance operations rely on manual judgment of cleaning frequency and time, lacking scientific management methods. Manual operation is highly subjective, resulting in insufficient or excessive cleaning of some photovoltaic power stations, resulting in waste of manpower and material resources and reducing overall operational efficiency.

[0008] In summary, the existing cleaning methods of photovoltaic power stations have problems such as high energy consumption, high cost, difficulty in cleaning and low intelligence, which can hardly meet the needs of modern photovoltaic power stations, especially in differentiated environments. Summary of the invention

[0009] In order to solve the shortcomings of the existing technology, an intelligent cleaning robot for photovoltaic power stations in differentiated environments is provided. The specific solution is as follows:

[0010] An intelligent cleaning robot for photovoltaic power stations under differentiated environments, the intelligent cleaning robot comprising a skeleton, an intelligent correction system, an upper transmission bracket, a lower transmission bracket, an upper cover shell and a lower cover shell; the skeleton is connected to the upper transmission bracket and the lower transmission bracket; the upper transmission bracket and the lower transmission bracket both comprise a transmission shaft and a multi-stage transmission structure, the transmission shaft being respectively connected to an integrated stepping motor and a driving walking wheel; the intelligent correction system comprises a correction gyroscope and a control circuit; the correction gyroscope is integrated in the control circuit.

[0011] Furthermore, the upper cover shell and the lower cover shell are closely fitted to the frame, and the overall shape is a blade-shaped angular structure that is high in the middle and low on both sides, and has a hollow style to reduce the drag coefficient.

[0012] Furthermore, in the six-wheel drive mode, two integrated stepper motors respectively drive the travel wheel and the supporting wheel of the upper transmission bracket, and the travel wheel of the lower transmission assembly for joint driving.

[0013] Furthermore, the multi-stage transmission structure realizes transmission angle conversion through four sets of bevel gears, and a rigid coupling connects the optical axis and the intermediate shaft in the intermediate bracket to form a complete transmission closed-loop system.

[0014] Furthermore, when relative position deviation occurs among the four sets of walking wheels, the deviation information is fed back to the control circuit, and the control circuit inputs the training offset into the LSTM neural network. The integrated stepper motor at the corresponding end receives the electric pulse signal and changes the walking wheel step frequency through the transmission shaft, thereby performing intelligent deviation correction.

[0015] Furthermore, the supporting wheel in the lower transmission bracket is a non-powered wheel, which is used to assist in deviation correction and improve the cleaning accuracy and operation stability of the intelligent cleaning robot.

[0016] Furthermore, the frame, the upper transmission bracket, the lower transmission bracket and the transmission shaft are made of aluminum alloy.

[0017] Beneficial effects:

[0018] The present invention relates to an intelligent cleaning robot suitable for photovoltaic power stations under differentiated environments. The cleaning robot adopts an aluminum skeleton structure, which is light in weight and high in strength, and effectively enhances the battery life. The robot is equipped with an intelligent correction system, including an integrated stepper motor and a correction gyroscope, which realizes real-time correction of the robot's offset direction through a control circuit and an LSTM neural network, ensuring the stable operation of the robot in complex terrain. The outer shell of the robot adopts a low wind resistance design, and the overall structure is a blade-shaped angular structure with a high middle and low sides, and has a hollow style, which significantly reduces the wind resistance coefficient and adapts to stable driving in a high wind speed environment. Its walking system adopts a six-drive mode, and two sets of integrated stepper motors drive the walking wheels of the upper transmission and lower transmission components respectively, forming a powerful driving force and enhancing the ability to cross obstacles. The multi-stage transmission structure forms a transmission closed loop through synchronous gears and rigid couplings to ensure the high efficiency and coordination of the transmission. The cleaning robot can cope with the distribution differences of photovoltaic components in different environments, realize precise control and efficient cleaning, effectively reduce the failure rate during the cleaning process, and improve the cleaning effect and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a skeleton diagram of the intelligent cleaning robot in the embodiment.

[0020] Figure 2 This is the structural diagram of the upper transmission bracket.

[0021] Figure 3 This is the structural diagram of the lower transmission bracket.

[0022] Figure 4 This is the principle diagram of intelligent deviation correction.

[0023] Figure 5 2 is a structural diagram of a housing of the intelligent cleaning robot in an embodiment.

[0024] Figure 6 It is the transmission structure diagram.

[0025] Figure ID:

[0026] 1. Skeleton; 2. Upper transmission bracket; 3. Lower transmission bracket; 4. Transmission shaft a; 5. Integrated stepper motor a; 6. Travel wheel a; 7. Transmission shaft b; 8. Integrated stepper motor b; 9. Travel wheel b; 10. Transmission shaft c; 11. Integrated stepper motor c; 12. Travel wheel c; 13. Transmission shaft d; 14. Integrated stepper motor d; 15. Travel wheel d; 16. Correction gyroscope; 17. Upper cover; 18. Lower cover; 19. Bevel gear a; 20. Bevel gear b; 21. Bevel gear c; 22. Bevel gear d; 23. Support wheel a; 24. Support wheel b; 25. Rigid coupling a; 26. Optical axis a; 27. Intermediate bracket; 28. Intermediate shaft a; 29. ​​Rigid coupling b; 30. Optical axis b; 31. Intermediate shaft b; 32. Support wheel c; 33. Support wheel d. DETAILED DESCRIPTION

[0027] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0028] In high-cold areas, manual cleaning is less feasible in low-temperature environments, and the equipment needs to have good low-temperature resistance. In saline-alkali areas, the surface of photovoltaic power station components is prone to accumulate saline-alkali dirt due to environmental corrosion. Traditional equipment cannot withstand the erosion of saline-alkali environments for a long time, so cleaning robots are required to have excellent corrosion resistance. These differentiated environmental factors have made the cleaning needs of photovoltaic power stations increasingly diversified, requiring cleaning equipment to be able to adapt to various extreme climates and complex terrains.

[0029] In order to meet the above challenges, it is particularly important to introduce an intelligent cleaning robot that is suitable for different environments. The intelligent cleaning robot has the following core advantages:

[0030] Efficient skeleton structure: The robot adopts an aluminum skeleton structure, which is lightweight and durable, with enhanced battery life. It can achieve long-term operation and cleaning operations across the intermediate bridge, greatly improving cleaning efficiency.

[0031] Intelligent deviation correction system: The four-wheel drive is realized through the linkage of the integrated stepping motor and the deviation correction gyroscope. It can accurately sense the deviation of the robot during driving and perform real-time position correction to ensure the cleaning accuracy and efficiency.

[0032] Low wind resistance design: The robot adopts a low wind resistance shell design, combined with blade edges and hollow structure, which effectively reduces the wind resistance coefficient in strong wind environments and ensures its safety and stability under wind conditions of level 7 and above.

[0033] Powerful obstacle-crossing capability: The six-wheel drive walking mode enables the robot to have a strong obstacle-crossing capability, adapting to the cleaning needs of photovoltaic modules at different angles, and can accurately calculate the cleaning distance to achieve efficient and accurate cleaning effects.

[0034] The specific design plan is as follows:

[0035] Figure 1 is a skeleton diagram of the intelligent cleaning robot in the embodiment. Figure 1 The entire fuselage shown penetrates the aluminum profile frame 1 and overlaps the aluminum upper transmission bracket 2 and the aluminum lower transmission bracket 3.

[0036] Figure 2 This is the structural diagram of the upper transmission bracket. Figure 2 One end of the aluminum transmission shaft a4 in the aluminum alloy upper transmission bracket 2 is connected to the integrated stepper motor a5, and one end is connected to the running wheel a6. One end of the aluminum transmission shaft b7 in the aluminum alloy upper transmission bracket 2 is connected to the integrated stepper motor b8, and one end is connected to the running wheel b9.

[0037] Figure 3 This is the structural diagram of the lower transmission bracket. Figure 3 One end of the aluminum transmission shaft c10 in the aluminum alloy lower transmission bracket 3 is connected to the integrated stepper motor c11, and the other end is connected to the walking wheel c12. One end of the aluminum transmission shaft d13 in the aluminum alloy lower transmission bracket 3 is connected to the integrated stepper motor d14, and the other end is connected to the walking wheel d15. This all-aluminum body structure is light, has high transmission efficiency, and responds to commands accurately, which is convenient for the cleaning robot to clean photovoltaic strings on uneven terrain without being stuck due to its own excessive load.

[0038] Figure 4 This is the principle diagram of intelligent deviation correction, such as Figure 4 Shown

[0039] The correction gyroscope 16 is integrated in the control circuit. When the relative position deviation occurs in the walking wheel a6, the walking wheel b9, the walking wheel c12 and the walking wheel d15, the deviation information is fed back to the control board, and the control board inputs the training offset value to the LSTM neural network. The integrated stepper motor a5, the integrated stepper motor b8, the integrated stepper motor c11 or the integrated stepper motor d14 at the corresponding end receives the electric pulse signal, and changes the walking wheel a6, the walking wheel b9, the walking wheel c12 or the walking wheel d15 step frequency through the transmission shaft a4, the transmission shaft b7, the transmission shaft c10 or the transmission shaft d13, thereby performing intelligent correction action. Through the intelligent correction system, the random position deviation of the cleaning robot during walking in different environments can be dealt with. In the face of the differences in the distribution of photovoltaic modules in deserts, saline-alkali, mountainous areas and water power stations, it can fully deal with and solve the relative position deviation problem of the cleaning robot, and can greatly reduce the failure rate of the cleaning robot.

[0040] Figure 5 is a structural diagram of the housing of the intelligent cleaning robot in the embodiment, such as Figure 5 As shown:

[0041] The upper cover 17 and the lower cover 18 present a structure with the aluminum profile frame 1 that is high in the middle and low on both sides, and the overall shape presents a knife-edge angular feature with a hollow style. According to the general formula C d =0.5F d ρAV 2 , where F d , is the resistance of the object (unit: Newton, N), ρ is the density of the fluid (for example, the density of air under standard conditions is about 1.225kg / m3), A is the reference area, that is, the maximum area of ​​the object projected in the direction of fluid flow (unit: square meters, m 2 ), V is the velocity of the fluid relative to the object (unit: meter per second, m / s). Therefore, under the same working conditions, when F d When , ρ, and V are fixed, the contact area between the fluid direction and the reference object will be the determining factor of the drag coefficient. The structure is high in the middle and low on both sides, with a knife-edge angular feature and a hollow style, which effectively reduces the A value and thus reduces the drag coefficient.

[0042] Figure 6 It is a transmission structure diagram, such as Figure 6 As shown:

[0043] One end of the transmission shaft a4 and the transmission shaft b7 in the upper transmission bracket 2 is directly connected to the integrated stepper motor a5 and the integrated stepper motor b8. The transmission shaft a4 and the transmission shaft b7 at the middle end are first connected in series with the bevel gear a19 and the bevel gear b20 respectively. The bevel gear a19 and the bevel gear b20 are connected at right angles with the bevel gear c21 and the bevel gear d22, and then directly connected with the supporting wheel a23 and the supporting wheel b24. The rear end transmission shaft a4 is directly connected with the rigid coupling a25, so as to connect the optical axis a26 and the intermediate shaft a28 in the intermediate bracket 27, and finally form a transmission closed loop. One end of the aluminum transmission shaft c10 and the transmission shaft d13 in the aluminum lower transmission bracket 3 are directly connected to the integrated stepper motor c11 and the integrated stepper motor d14, and the tail end transmission shaft c10 is directly connected to the rigid coupling b29, thereby connecting the optical axis b30 and the intermediate shaft b31 in the intermediate bracket 27. In addition, in the lower transmission bracket 3, the supporting wheel c32 and the supporting wheel d33 are unpowered wheels, which are used to assist in deviation correction, and finally form a transmission closed loop.

[0044] As a further improvement, the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent cleaning robot for photovoltaic power stations in differentiated environments, characterized in that: The intelligent cleaning robot includes a skeleton, an intelligent correction system, an upper transmission bracket, a lower transmission bracket, an upper cover shell and a lower cover shell; the skeleton is connected to the upper transmission bracket and the lower transmission bracket; the upper transmission bracket and the lower transmission bracket both include a transmission shaft and a multi-stage transmission structure, and the transmission shaft is respectively connected to an integrated stepping motor and a driving walking wheel; the intelligent correction system includes a correction gyroscope and a control circuit; the correction gyroscope is integrated in the control circuit.

2. The intelligent cleaning robot for photovoltaic power stations in differentiated environments according to claim 1, characterized in that: The upper and lower cover shells fit tightly with the frame, and the overall shape is a blade-shaped angular structure that is high in the middle and low on both sides, with a hollow style to reduce the drag coefficient.

3. The intelligent cleaning robot for photovoltaic power stations in differentiated environments according to claim 1, characterized in that: The six-wheel drive mode of the travel wheel is driven by two integrated stepper motors to drive the travel wheel and the supporting wheel of the upper transmission bracket respectively, and the travel wheel of the lower transmission assembly for joint driving.

4. The intelligent cleaning robot for photovoltaic power stations in differentiated environments according to claim 1, characterized in that: The multi-stage transmission structure realizes transmission angle conversion through four sets of helical gears, and a rigid coupling connects the optical axis and the intermediate shaft in the intermediate bracket to form a complete transmission closed-loop system.

5. The intelligent cleaning robot for photovoltaic power stations in differentiated environments according to claim 1, characterized in that: When relative position deviation occurs among the four sets of walking wheels, the deviation information is fed back to the control circuit, and the control circuit inputs the training offset into the LSTM neural network. The integrated stepper motor at the corresponding end receives the electric pulse signal and changes the walking wheel step frequency through the transmission shaft, thereby performing intelligent deviation correction.

6. The intelligent cleaning robot for photovoltaic power stations in differentiated environments according to claim 1, characterized in that: The supporting wheel in the lower transmission bracket is a non-powered wheel, which is used to assist in deviation correction and improve the cleaning accuracy and operation stability of the intelligent cleaning robot.

7. The intelligent cleaning robot for photovoltaic power stations in differentiated environments according to claim 1, characterized in that: The frame, the upper transmission bracket, the lower transmission bracket and the transmission shaft are made of aluminum alloy.

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