Photovoltaic panel automatic cleaning robot

Abstract

The utility model provides a kind of photovoltaic panel automatic cleaning robot, including cleaning robot body, the front of cleaning robot body is equipped with cleaning assembly, control device is equipped above cleaning robot body, the periphery of cleaning robot body is equipped with collision sensor and infrared distance measuring sensor respectively;Sucker assembly is equipped with the front lower of cleaning robot body, control device includes motherboard and daughter board, and main controller is equipped on daughter board, and information acquisition card, motion control module, speed detection module and wireless communication module are equipped on motherboard, and collision sensor and infrared distance measuring sensor are all electrically connected main controller by information acquisition card, and main controller is connected cleaning assembly, sucker assembly by motion control module.The utility model cleans photovoltaic panel by photovoltaic cleaning robot, improves the power generation efficiency of photovoltaic power station, the utility model structure is simple, easy to operate, and the degree of intellectualization is high, and practicality is strong.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to an automatic cleaning robot for photovoltaic panels. Background Technology

[0002] With the growth in global demand for renewable energy, the photovoltaic industry has experienced rapid development. In recent years, the efficiency improvement and cost reduction of photovoltaic cells have made photovoltaic power generation occupy an increasingly important position in the global energy structure. However, the effective utilization of photovoltaic power generation is constrained by many factors, one of which is the reduction in power generation efficiency caused by surface contamination of photovoltaic panels. Therefore, the development of effective photovoltaic cleaning robots for cleaning has good application prospects and practical significance. Summary of the Invention

[0003] In view of this, the present invention aims to overcome the shortcomings of the above-mentioned problems in the prior art and proposes an automatic cleaning robot for photovoltaic panels.

[0004] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0005] An automatic photovoltaic panel cleaning robot includes a cleaning robot body. A cleaning component is located on the front of the cleaning robot body, and a control device is located on top of the cleaning robot body. Collision sensors and infrared ranging sensors are located on the four sides of the cleaning robot body. The collision sensors detect obstacles, and the infrared ranging sensors send the detected data to the control device for path planning. A suction cup assembly is located directly below the cleaning robot body. The control device includes a mother board and a daughter board. A main controller is located on the daughter board, and an information acquisition card, a motion control module, a speed detection module, and a wireless communication module are located on the mother board. The daughter board is connected to the mother board via pins and sockets. The information acquisition card, motion control module, speed detection module, and wireless communication module are all electrically connected to the main controller. The collision sensors and infrared ranging sensors are both electrically connected to the main controller via the information acquisition card. The main controller is connected to the cleaning component and the suction cup assembly via the motion control module.

[0006] Furthermore, the motion control module uses the MC33886 as the motor drive chip and adjusts the speed of the motor according to the duty cycle of the signal sent by the main chip. At the same time, the speed detection module detects the speed to complete closed-loop control.

[0007] Furthermore, the speed detection module employs an encoder.

[0008] Furthermore, the cleaning robot body is equipped with wheels on its underside. The wheels have a four-wheel structure, with the front and rear wheels being omnidirectional wheels and the left and right wheels being drive wheels. Each drive wheel is equipped with a drive motor, and the steering of the robot body is achieved by controlling the speed difference between the left and right wheels.

[0009] Furthermore, the infrared ranging sensor is a GP2D12.

[0010] Furthermore, the control device is connected to a remote monitoring center via a wireless communication module, and the remote monitoring center includes a host computer and a server.

[0011] Furthermore, the wireless communication module adopts a 4G / 5G wireless network communication module.

[0012] Furthermore, the main controller adopts a single-chip microcomputer minimum system, including a single-chip microcomputer, a power interface, a clock circuit, a reset circuit, and an EEPROM. The power interface, clock circuit, reset circuit, and EEPROM are all connected to the single-chip microcomputer.

[0013] Furthermore, the microcontroller used is model MC9S12DG128.

[0014] Furthermore, an amplifier circuit, a filter circuit, and an AD converter are also provided between the collision sensor, the infrared ranging sensor, and the information acquisition card.

[0015] Compared with existing technologies, the automatic photovoltaic panel cleaning robot of this utility model has the following advantages:

[0016] This invention uses a photovoltaic cleaning robot to clean photovoltaic panels, thereby improving the power generation efficiency of photovoltaic power stations. This invention has a simple structure, is easy to operate, has a high degree of intelligence, and is highly practical. Attached Figure Description

[0017] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0018] Figure 1 This is a structural schematic diagram of an automatic photovoltaic panel cleaning robot according to the present invention;

[0019] Figure 2 This is a schematic diagram of the principle of an automatic photovoltaic panel cleaning robot according to this utility model;

[0020] Figure 3 This is a schematic diagram of the wheel structure of this utility model;

[0021] Figure 4This is a schematic diagram of the main controller of this utility model;

[0022] Figure 5 This is a schematic diagram of the optical coupler isolation module of this utility model.

[0023] Explanation of reference numerals in the attached figures

[0024] 1-Cleaning robot body; 2-Cleaning components; 3-Control device; 4-Collision sensor; 5-Infrared ranging sensor; 6-Suction cup assembly; 7-Wheel body; 8-Universal wheel; 9-Drive wheel; 10-Remote monitoring center. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0026] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] like Figure 1-2As shown, this utility model provides an automatic photovoltaic panel cleaning robot, including a cleaning robot body 1. A cleaning component 2 is provided on the front of the cleaning robot body 1. A control device 3 is provided on the top of the cleaning robot body 1. Collision sensors 4 and infrared ranging sensors 5 are respectively provided on the four sides of the cleaning robot body 1. The collision sensors 4 are used to detect obstacles, and the infrared ranging sensors 5 send the detected data to the control device 3 for path planning. A suction cup component 6 is provided directly below the cleaning robot body 1. The control device 3 includes a mother board and a daughter board. A main controller is provided on the daughter board, and an information acquisition card, a motion control module, a speed detection module, and a wireless communication module are provided on the mother board. The daughter board is connected to the mother board via pins and sockets. The information acquisition card, motion control module, speed detection module, and wireless communication module are all electrically connected to the main controller. The collision sensors 4 and infrared ranging sensors 5 are both electrically connected to the main controller via the information acquisition card. The main controller is connected to the cleaning component 2 and the suction cup component 3 via the motion control module.

[0030] Specifically, the motion control module uses the MC33886 as the motor drive chip and adjusts the speed of the motor according to the duty cycle of the signal sent by the main chip. At the same time, the speed detection module detects the speed to complete closed-loop control.

[0031] Specifically, the speed detection module uses an encoder.

[0032] Specifically, the cleaning robot body 1 has wheels 7 on its lower part. The wheels 7 adopt a four-wheel structure, with the front and rear wheels being omnidirectional wheels 8 and the left and right wheels being drive wheels 9. Each drive wheel 9 is equipped with a drive motor, and the steering of the vehicle body is achieved by controlling the speed difference between the left and right wheels.

[0033] Specifically, the infrared ranging sensor 5 is a GP2D12.

[0034] Specifically, the control device 3 is connected to the remote monitoring center 10 via a wireless communication module. The remote monitoring center includes a host computer and a server.

[0035] Specifically, the wireless communication module adopts a 4G / 5G wireless network communication module.

[0036] like Figure 4 As shown, the main controller adopts a single-chip microcomputer minimum system, including a single-chip microcomputer, a power interface, a clock circuit, a reset circuit, and an EEPROM. The power interface, clock circuit, reset circuit, and EEPROM are all connected to the single-chip microcomputer.

[0037] Specifically, the microcontroller used is model MC9S12DG128.

[0038] Specifically, an amplification circuit, a filtering circuit, and an AD converter are provided between the collision sensor, the infrared ranging sensor, and the information acquisition card to amplify the signal and filter out interference.

[0039] In operation, this invention uses a collision sensor to detect obstacles around the robot, such as the position of edges, while simultaneously using an infrared range sensor to detect the distance to these obstacles. This data is then sent to the main controller, which uses the received data to plan the path, thereby controlling the robot's direction and speed.

[0040] The wheel body of this utility model adopts a four-wheel structure, with the two left and right wheels being drive wheels and the two front and rear swivel wheels providing support, such as... Figure 3 As shown, two independent drive motors are installed on the left and right wheels of the robot, respectively. The steering of the robot is achieved by controlling the speed difference between the left and right wheels. The control is simple and easy to implement, and it can easily realize the robot's functions of moving forward, turning left, turning right, moving backward, turning around, and rotating in place.

[0041] This system employs two-wheel differential control, thus requiring the control of two motors. Therefore, this invention uses four microcontrollers connected in parallel to improve current drive capability and reduce microcontroller heat generation. The microcontroller's PWM interface outputs PWM signals. To isolate the control and power sections, all PWM signals are isolated via optocoupler isolation modules. The isolated signals are then sent to the microcontroller. In this invention, a 6N137 is used for isolation. Figure 5 As shown.

[0042] The suction cup assembly of this invention is used to attach a robot to a photovoltaic panel and allow it to move up and down along a direction perpendicular to the surface of the photovoltaic panel. The suction cup assembly used in this invention is an existing product.

[0043] This invention can also install an image acquisition device on top of the robot and send the images to a remote monitoring center via a wireless network. The remote monitoring center can view the working process in real time, making it easier to identify problems and handle them promptly.

[0044] It should be noted that all components used in this utility model are existing products in the field and are not limited to specific models. The connection relationship between the components is also a conventional method in the field, as long as data transmission can be achieved.

[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic photovoltaic panel cleaning robot, characterized in that: The system includes a cleaning robot body (1), a cleaning component (2) on the front of the cleaning robot body (1), a control device (3) on the top of the cleaning robot body (1), a collision sensor (4) and an infrared ranging sensor (5) on the four sides of the cleaning robot body (1), the collision sensor (4) is used to detect obstacles, and the infrared ranging sensor (5) sends the detected data to the control device (3) for path planning; a suction cup component (6) is located directly below the cleaning robot body (1), the control device (3) includes a mother board and a daughter board, the daughter board is equipped with a main controller, the mother board is equipped with an information acquisition card, a motion control module, a speed detection module and a wireless communication module, the daughter board is connected to the mother board through pins and sockets, the information acquisition card, the motion control module, the speed detection module and the wireless communication module are all electrically connected to the main controller; the collision sensor (4) and the infrared ranging sensor (5) are both electrically connected to the main controller through the information acquisition card, and the main controller is connected to the cleaning component (2) and the suction cup component (6) through the motion control module.

2. The automatic photovoltaic panel cleaning robot according to claim 1, characterized in that: The motion control module uses the MC33886 as the motor drive chip and adjusts the speed of the motor according to the duty cycle of the signal sent by the main chip. At the same time, the speed detection module detects the speed to complete closed-loop control.

3. The automatic photovoltaic panel cleaning robot according to claim 2, characterized in that: The speed detection module uses an encoder.

4. The automatic photovoltaic panel cleaning robot according to claim 1, characterized in that: The cleaning robot body (1) is provided with wheels (7) below. The wheels adopt a four-wheel structure. The front and rear wheels are universal wheels (8), and the left and right wheels are drive wheels (9). Each drive wheel (9) is provided with a drive motor. The steering of the vehicle body is achieved by controlling the speed difference between the left and right wheels.

5. The automatic photovoltaic panel cleaning robot according to claim 1, characterized in that: The infrared ranging sensor (5) is a GP2D12.

6. The automatic photovoltaic panel cleaning robot according to claim 1, characterized in that: The control device (3) is connected to the remote monitoring center (10) via a wireless communication module. The remote monitoring center (10) includes a host computer and a server.

7. The automatic photovoltaic panel cleaning robot according to claim 1, characterized in that: The wireless communication module adopts a 4G / 5G wireless network communication module.

8. The automatic photovoltaic panel cleaning robot according to claim 1, characterized in that: The main controller adopts a single-chip microcomputer minimum system, including a single-chip microcomputer, a power interface, a clock circuit, a reset circuit, and an EEPROM. The power interface, clock circuit, reset circuit, and EEPROM are all connected to the single-chip microcomputer.

9. The automatic photovoltaic panel cleaning robot according to claim 8, characterized in that: The microcontroller used is model MC9S12DG128.

10. The automatic photovoltaic panel cleaning robot according to claim 1, characterized in that: An amplifier circuit, a filter circuit, and an AD converter are also provided between the collision sensor (4), the infrared ranging sensor (5), and the information acquisition card.

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