Self-detection system of photovoltaic cleaning robot

Abstract

The utility model discloses a photovoltaic cleaning robot self-detection system which comprises a plurality of variable frequency power sensors, and the direct current output positive electrode end DC + and the direct current output negative electrode end DC-of each variable frequency power sensor are connected with the positive electrode power supply end and the negative electrode power supply end of a power source through switches K1 and K2 respectively. An S + interface and an S-interface of each variable-frequency power sensor are respectively connected with a positive electrode end and a negative electrode end of an auxiliary power supply; the current output end of each variable-frequency power sensor is connected with a comparator through an amplifier; an optical fiber transmission port of each frequency conversion power sensor is connected with a communication interface of an upper computer, and the upper computer is electrically connected with the comparator; the current input end of each variable frequency power sensor is connected with the current output end of each tested system of the photovoltaic cleaning robot; the voltage input end of each frequency conversion power sensor is connected with the voltage output end of each tested system of the photovoltaic cleaning robot.

Description

Technical Field

[0001] The utility model relates to the technical field of electrical detection of photovoltaic cleaning robots, and in particular to a self-detection system of photovoltaic cleaning robots. Background Art

[0002] At present, photovoltaic power generation has gradually become the main power generation method in my country, accounting for an increasingly large proportion of my country's total power generation. Therefore, the development of photovoltaic power generation is an unstoppable trend. The cleaning ability of light and heavy photovoltaic cleaning robots plays a very important role in the efficiency of photovoltaic power generation. In order to ensure the reliable operation of photovoltaic cleaning robots, it is necessary to detect all parts of photovoltaic cleaning robots, but there is no such detection system in the market. In order to ensure the reliable operation of photovoltaic cleaning robots, it is urgent to develop a photovoltaic cleaning robot self-detection system and method. Utility Model Content

[0003] The purpose of the utility model is to provide a photovoltaic cleaning robot self-detection system in view of the above problems.

[0004] In order to achieve the above objectives, the technical solution adopted by the utility model provides a photovoltaic cleaning robot self-detection system, including:

[0005] A plurality of variable frequency power sensors, wherein the DC output positive terminal DC+ and the DC output negative terminal DC- of each variable frequency power sensor are connected to the positive power supply terminal and the negative power supply terminal of the power supply through switches K1 and K2 respectively; the S+ interface and the S- interface of each variable frequency power sensor are connected to the positive terminal and the negative terminal of the auxiliary power supply respectively; the current output terminal of each variable frequency power sensor is connected to the comparator through an amplifier; the optical fiber transmission port of each variable frequency power sensor is connected to the communication interface of a host computer, and the host computer is electrically connected to the comparator; the current input terminal of each variable frequency power sensor is connected to the current output terminal of each measured system of the photovoltaic cleaning robot; the voltage input terminal of each variable frequency power sensor is connected to the voltage output terminal of each measured system of the photovoltaic cleaning robot.

[0006] In a possible embodiment, the detection system further includes a display, which is electrically connected to the host computer, and is used to display faults occurring in the photovoltaic cleaning robot.

[0007] In a possible embodiment, the detection system further includes an oscilloscope, which is connected to the positive power supply terminal and the negative power supply terminal of the power supply through a magnetic field sensor, and a switch K3 is connected between the oscilloscope and the magnetic field sensor.

[0008] In a possible embodiment, the detection system also includes resistors R1, R2 and R3, one end of the resistor R1 is connected to one end of the switch K1, the other end of the resistor R1 is connected to the positive power supply end of the power supply, one end of the resistor R2 is connected to one end of the switch K2, the other end of the resistor R2 is connected to the negative power supply end of the power supply, one end of the resistor R3 is connected to one end of the switch K3, and the other end of the resistor R3 is connected to the oscilloscope.

[0009] In a possible embodiment, the detection system also includes multiple ammeters, one end of each ammeter is connected to the current output end of each measured system of the photovoltaic cleaning robot, and the other end of each ammeter is connected to the corresponding variable frequency power sensor; each ammeter is electrically connected to the host computer respectively.

[0010] In a possible embodiment, the detection system also includes multiple voltmeters, each system under test of the photovoltaic cleaning robot is connected in parallel with a voltmeter, and the DC output positive terminal DC+ and the DC output negative terminal DC- of each variable frequency power sensor are connected through the voltmeter; each of the voltmeters is electrically connected to the host computer.

[0011] In a possible embodiment, the voltage input terminal of each measured system of the photovoltaic cleaning robot is connected to the corresponding variable frequency power sensor.

[0012] In a possible embodiment, the detection system further includes a debugger, which is electrically connected to the host computer and is used to analyze the running program of the photovoltaic cleaning robot line by line.

[0013] In a possible embodiment, the detection system further includes an alarm, which is electrically connected to the host computer, and is used to respond when a fault is detected to remind the user to repair the robot.

[0014] In a possible embodiment, the photovoltaic cleaning robot includes a plurality of systems to be tested, and the system to be tested is one of a driving system, a wiping system, a water spraying system, a robotic arm system, and a sewage recovery system.

[0015] Beneficial effects of the utility model:

[0016] The utility model can monitor various component systems of the photovoltaic cleaning robot to ensure reliable operation of the robot, and can analyze faults in time to maximize the cleaning efficiency of the robot.

[0017] The utility model can detect input and output current signals, and can also perform self-test on corresponding parts of the photovoltaic cleaning machine, and the self-test includes working stage, fault detection stage, and result display stage. The utility model can comprehensively detect the current performance of each part to ensure the reliable operation of the photovoltaic cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a circuit connection diagram of the utility model.

[0019] Figure 2 This is a connection diagram of various variable frequency power sensors in the utility model.

[0020] The text labels in the figure indicate: 1. variable frequency power sensor; 2. auxiliary power supply; 3. power supply; 4. amplifier; 5. comparator; 6. host computer; 7. display screen; 8. magnetic field sensor; 9. oscilloscope; 10. system module of photovoltaic cleaning robot; 11. variable frequency power sensor module. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the protection scope of the utility model.

[0022] This embodiment provides a photovoltaic cleaning robot self-detection system. Figure 1 and Figure 2 As shown, it includes multiple variable frequency power sensors 1, an auxiliary power supply 2, a power supply 3, a comparator 5, a display screen 7, a magnetic field sensor 8, and an oscilloscope 9. The DC output positive terminal DC+ and the DC output negative terminal DC- of each variable frequency power sensor 1 are respectively connected to the positive power supply terminal and the negative power supply terminal of the power supply 3 through switches K1 and K2, and the S+ and S- interfaces of each variable frequency power sensor 1 are respectively connected to the positive terminal and the negative terminal of the auxiliary power supply 2. The current output terminals I6~I10 of each variable frequency power sensor 1 are connected to the comparator 5 through an amplifier 4, and the optical fiber transmission ports F1~F5 of each variable frequency power sensor 1 are connected to the host computer 6; the current input terminals I1~I5 of each variable frequency power sensor 1 are connected to the current output terminals of the measured system of the corresponding photovoltaic cleaning robot; and the voltage input terminals U1~U5 of each variable frequency power sensor 1 are connected to the voltage output terminals of the measured system of the corresponding photovoltaic cleaning robot.

[0023] In some possible implementations, the oscilloscope 9 is connected to the positive power supply terminal of the power supply 3 and the negative power supply terminal of the power supply through the switch K3 and the magnetic field sensor 8 , and the switch K3 is arranged between the oscilloscope 9 and the magnetic field sensor 8 .

[0024] In some optional embodiments, the display screen 7 is electrically connected to the host computer 6, and the display screen 7 is used to display the corresponding part of the photovoltaic cleaning robot where the fault occurs.

[0025] In an optional implementation, the USB communication interface of the host computer 6 is connected to the optical fiber transmission ports F1 - F5 of each variable frequency power sensor 1 .

[0026] In a possible embodiment, it also includes resistors R1, R2 and R3, one end of the resistor R1 is connected to one end of the switch K1, the other end of the resistor R1 is connected to the positive power supply end of the power supply 3, one end of the resistor R2 is connected to one end of the switch K2, the other end of the resistor R2 is connected to the negative power supply end of the power supply 3, one end of the resistor R3 is connected to one end of the switch K3, and the other end of the resistor R3 is connected to the oscilloscope 9.

[0027] In a possible implementation, the detection system also includes multiple ammeters I, one end of each ammeter I is connected to the current output end of each measured system of the photovoltaic cleaning robot, and the other end of each ammeter is connected to the corresponding variable frequency power sensor 1; each ammeter I is electrically connected to the host computer, and the data obtained by the ammeter I is transmitted to the host computer.

[0028] In a possible implementation, the detection system also includes multiple voltmeters U6~U15, and each system under test of the photovoltaic cleaning robot is connected in parallel with a voltmeter. For example, in this embodiment, the system module 10 of the photovoltaic cleaning robot includes multiple systems under test such as a drive system, a wiping system, a water spraying system, a mechanical arm system, and a sewage treatment system, wherein the voltmeter U6 is connected in parallel with the drive system, the voltmeter U7 is connected in parallel with the wiping system, the voltmeter U8 is connected in parallel with the water spraying system, the voltmeter U9 is connected in parallel with the mechanical arm system, and the voltmeter U10 is connected in parallel with the sewage treatment system. The DC output positive terminal DC+ and the DC output negative terminal DC- of each variable frequency power sensor in the variable frequency power sensor module 11 are respectively connected through a corresponding voltmeter (U11~U15); each voltmeter is electrically connected to the host computer, and the data obtained by the voltmeter is transmitted to the host computer.

[0029] In a possible embodiment, the detection system further includes a debugger. During the fault detection phase, when other faults are eliminated, the debugger will analyze the robot program line by line.

[0030] In a possible embodiment, the detection system further includes an alarm. When a system failure is detected, the alarm will emit a sound or light or sound and light signal to remind the user to repair the robot.

[0031] All the above switches are controlled by the host computer 6. When the photovoltaic cleaning robot starts working, the comparator 5 sends the comparison result to the host computer 6 for analysis. When a fault occurs, the host computer 6 sends instructions to the corresponding device to perform fault detection and uploads the detection result to the host computer 6. The photovoltaic cleaning robot self-detection system can detect each system under test.

[0032] A method for utilizing the photovoltaic cleaning robot self-detection system comprises the following steps:

[0033] Step 1: Connection confirmation test. The connection confirmation test is used to confirm whether the self-detection system is connected to the corresponding tested system of the photovoltaic cleaning robot. After closing switches K1 and K2, that is, turning on the power supply, if the current at the current output end (I6~I10) of each variable frequency power sensor 1 is basically consistent with the current value set in the comparator, it means that the self-detection system is connected to all parts of the photovoltaic cleaning robot and the self-detection system starts to work.

[0034] Step 2: Working phase: After the photovoltaic cleaning robot starts working, the current value of each measured system will be sent to the comparator 5 through the variable frequency power sensor 1, and the result in the comparator 5 will be sent to the host computer for monitoring. If the comparison result is within the error range, it indicates that the photovoltaic cleaning robot is working reliably.

[0035] Step 3: Fault detection phase: If a circuit of a tested system of the photovoltaic cleaning robot has a problem, the result of the comparator in the self-detection system will be outside the error range. After multiple results are outside the error range, the host computer will start to issue self-detection commands.

[0036] First, perform voltage detection on the corresponding system under test, and determine whether the voltage value is zero by checking the voltage input value of the corresponding variable frequency power sensor. If it is zero, send the result to the host computer; if it is not zero, proceed to the next step of detection.

[0037] Secondly, the corresponding temperature sensor in the photovoltaic cleaning robot is tested, and a voltmeter is used to determine whether the voltage across the corresponding temperature sensor is zero. If the voltage value is zero or extremely low, the result is sent to the host computer. If it is not zero, the temperature sensor is used to determine whether the operating temperature of the corresponding sensor is too high. If the temperature is too high, the result is sent to the host computer. If the temperature is not too high, an ammeter is used to detect whether the connection between the sensor and the corresponding part is firm. If the current value is zero or extremely low, the result is sent to the host computer. If it is normal, the next step of detection is carried out.

[0038] Then monitor the external environment and use an oscilloscope to check whether electromagnetic interference occurs in the external environment. If electromagnetic interference occurs, the result will be sent to the host computer. If the result shows normal, proceed to the next step of detection.

[0039] Finally, the host computer detects the program of the corresponding system under test and uses a debugger to detect the corresponding program. If the program fails, the result is sent back to the host computer.

[0040] Step 4: Result display stage: After receiving the cause of the fault, the host computer displays the corresponding fault location and cause on the display screen, and issues an alarm to remind the user that the robot has a fault so that the problem can be quickly resolved.

[0041] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0042] This article uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core ideas of the utility model. The above is only a preferred implementation method of the utility model. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the utility model, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the utility model to other occasions without improvement, should be regarded as the protection scope of the utility model.

Claims

1. A photovoltaic cleaning robot self-detection system, characterized in that: It comprises a plurality of variable frequency power sensors, wherein the DC output positive terminal DC+ and the DC output negative terminal DC- of each variable frequency power sensor are respectively connected to the positive power supply terminal and the negative power supply terminal of the power supply through switches K1 and K2; the S+ interface and the S- interface of each variable frequency power sensor are respectively connected to the positive terminal and the negative terminal of the auxiliary power supply; the current output terminal of each variable frequency power sensor is connected to the comparator through an amplifier; the optical fiber transmission port of each variable frequency power sensor is connected to the communication interface of the host computer, and the host computer is electrically connected to the comparator; the current input terminal of each variable frequency power sensor is respectively connected to the current output terminal of each measured system of the photovoltaic cleaning robot; the voltage input terminal of each variable frequency power sensor is connected to the voltage output terminal of each measured system of the photovoltaic cleaning robot.

2. The photovoltaic cleaning robot self-detection system according to claim 1, characterized in that: It also includes a display, which is electrically connected to the host computer and is used to display faults that occur in the photovoltaic cleaning robot.

3. The photovoltaic cleaning robot self-detection system according to claim 1, characterized in that: It also includes an oscilloscope, which is connected to the positive power supply terminal and the negative power supply terminal of the power supply through the magnetic field sensor, and a switch K3 is connected between the oscilloscope and the magnetic field sensor.

4. The photovoltaic cleaning robot self-detection system according to claim 3, characterized in that: It also includes a resistor R1, a resistor R2 and a resistor R3, one end of the resistor R1 is connected to one end of the switch K1, the other end of the resistor R1 is connected to the positive power supply end of the power supply, one end of the resistor R2 is connected to one end of the switch K2, the other end of the resistor R2 is connected to the negative power supply end of the power supply, one end of the resistor R3 is connected to one end of the switch K3, and the other end of the resistor R3 is connected to the oscilloscope.

5. The photovoltaic cleaning robot self-detection system according to claim 3, characterized in that: It also includes multiple ammeters, one end of each ammeter is connected to the current output end of each measured system of the photovoltaic cleaning robot, and the other end of each ammeter is connected to the corresponding variable frequency power sensor; each ammeter is electrically connected to the upper computer respectively.

6. The photovoltaic cleaning robot self-detection system according to claim 3, characterized in that: It also includes multiple voltmeters. Each tested system of the photovoltaic cleaning robot is connected in parallel with a voltmeter respectively. The DC output positive terminal DC+ and the DC output negative terminal DC- of each variable frequency power sensor are connected through the voltmeter; each of the voltmeters is electrically connected to the host computer respectively.

7. The photovoltaic cleaning robot self-detection system according to claim 6, characterized in that: The voltage input terminal of each measured system of the photovoltaic cleaning robot is connected to the corresponding variable frequency power sensor.

8. The photovoltaic cleaning robot self-detection system according to claim 1, characterized in that: It also includes a debugger, which is electrically connected to the host computer and is used to analyze the running program of the photovoltaic cleaning robot line by line.

9. The photovoltaic cleaning robot self-detection system according to claim 1, characterized in that: It also includes an alarm, which is electrically connected to the upper computer and is used to respond when a fault is detected to remind the user to repair the robot.

10. The photovoltaic cleaning robot self-detection system according to any one of claims 1 to 9, characterized in that: The system module of the photovoltaic cleaning robot includes a plurality of systems to be tested, and the system to be tested is one of a driving system, a wiping system, a water spraying system, a robotic arm system, and a sewage recovery system.

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