Photovoltaic panel cleaning robot arm control mechanism

Abstract

This utility model belongs to the field of photovoltaic panel technology, and in particular to the control mechanism of the robotic arm of a photovoltaic panel cleaning robot. It includes a robot body with a control component at its front end. The control component includes a cleaning roller, which rotates to clean the photovoltaic panel. A monitoring component is installed to monitor the concentration and distribution characteristics of deposited contaminants on the photovoltaic panel surface in real time. A dust sensor monitors the concentration and distribution characteristics of deposited contaminants on the photovoltaic panel surface in real time using the principle of optical scattering, enabling intelligent cleaning, avoiding ineffective cleaning, extending the life of the cleaning roller, and reducing energy consumption. The dust sensor is located within a protective frame to protect it from external environmental factors such as dust and rain. A camera is also located within the protective frame to protect it from external environmental factors such as dust and rain. The camera can be a Raspberry Pi Camera, equipped with an image processor and a rotating gimbal for all-around monitoring.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic panel technology, and in particular to the control mechanism of the robotic arm of a photovoltaic panel cleaning robot. Background Technology

[0002] As the core equipment for solar power generation, photovoltaic panels are exposed to the outdoor environment for a long time and are easily covered by pollutants such as dust, bird droppings, oil stains, and snow. These pollutants not only affect the light transmittance of photovoltaic panels, but also have a significant impact on the power generation efficiency, service life, and operational stability of photovoltaic systems. Therefore, it is necessary to clean them regularly using cleaning robots to prevent corrosion and heat dissipation problems and extend the service life of photovoltaic panels. Among them, the robotic arm control mechanism in the photovoltaic panel cleaning robot is the core part to achieve efficient and automated cleaning.

[0003] In existing technologies, the robotic arm of a photovoltaic panel cleaning robot uses a rotating connection to adapt to the surface of the photovoltaic panel. However, when facing complex terrain or photovoltaic panels with different tilt angles, it is difficult to accurately adjust the cleaning force and position, resulting in poor cleaning effect. Furthermore, the robot cannot judge the degree of contamination of the photovoltaic panel and can only clean according to a fixed time or path, resulting in insufficient or excessive cleaning. Therefore, a control mechanism for the robotic arm of a photovoltaic panel cleaning robot is proposed to solve the above-mentioned problems. Utility Model Content

[0004] In order to solve the technical problems in the prior art, when facing photovoltaic panels with complex terrain or different tilt angles, the robot has difficulty in accurately adjusting the cleaning force and position, resulting in poor cleaning effect and inability to judge the degree of contamination of the photovoltaic panels, this application provides a control mechanism for the robotic arm of a photovoltaic panel cleaning robot.

[0005] The photovoltaic panel cleaning robot arm control mechanism proposed in this utility model includes a robot body, and a control component is provided at the front end of the robot body. The control component includes a cleaning roller, and the rotation of the cleaning roller cleans the photovoltaic panel.

[0006] The robot body is equipped with a monitoring component at its front end, which includes a dust sensor. The dust sensor monitors the concentration and distribution characteristics of deposited pollutants on the surface of the photovoltaic panel in real time using the principle of optical scattering.

[0007] Preferably, the control component further includes a mounting frame, which is fixedly mounted on the front end surface of the robot body.

[0008] Preferably, a rotary motor is fixedly installed on the inner sidewall of the mounting frame, the output shaft of the rotary motor is rotatably connected to the inner sidewall of the mounting frame through a bearing seat, and a rotating frame is fixedly installed on the output shaft of the rotary motor, the rotating frame being rotatably connected to the inner sidewall of the mounting frame through a bearing.

[0009] Preferably, an electric push rod is fixedly installed on the front surface of the rotating frame, and a support frame is fixedly installed at one end of the telescopic rod of the electric push rod. The support frame is slidably inserted into the inner wall of the groove of the rotating frame.

[0010] Preferably, a cleaning motor is fixedly installed on the inner wall of the support frame, the output shaft of the cleaning motor is rotatably connected to the inner wall of the groove of the support frame through a bearing seat, the output shaft of the cleaning motor is fixedly installed to one end of the cleaning roller, and the cleaning roller is rotatably connected to the inner side wall of the support frame through a bearing.

[0011] Preferably, the monitoring component further includes a protective frame, one of which is fixedly installed on the lower surface of the mounting frame, and the other of which is fixedly installed on the outer side of the support plate of the robot body.

[0012] Preferably, the dust sensor is fixedly installed on the lower surface of the mounting frame and located inside one of the protective frames, and a camera is fixedly installed on the outer side of the support plate of the robot body, and the camera is located inside another of the protective frames.

[0013] The beneficial effects of this utility model are as follows:

[0014] 1. By setting up control components, the system cleans the photovoltaic panels. The mounting frame is fixedly installed with the rotary motor, which drives the rotating frame to rotate, allowing the robotic arm to adjust its angle to adapt to photovoltaic panels with different tilt angles. This enables precise control of the cleaning angle and improves cleaning coverage. The mounting frame has an arc-shaped groove to prevent the rotating frame from over-rotating. The extension and retraction of the electric push rod can move the support frame, thereby fine-tuning the relative distance between the cleaning roller and the photovoltaic panel. The cleaning motor is fixedly installed with the support frame and drives the cleaning roller to rotate, using friction to remove dust, bird droppings, and other pollutants. This solves the technical problem in existing photovoltaic panel cleaning robots where the robotic arm uses a rotating connection to adapt to the photovoltaic panel surface, but it is difficult to accurately adjust the cleaning force and position when facing complex terrain or photovoltaic panels with different tilt angles, resulting in poor cleaning effect.

[0015] 2. By setting up monitoring components, the concentration and distribution characteristics of deposited pollutants on the surface of photovoltaic panels are monitored in real time. The dust sensor monitors the concentration and distribution characteristics of deposited pollutants on the surface of photovoltaic panels in real time through the principle of optical scattering, which can realize intelligent cleaning, avoid ineffective cleaning, thereby extending the life of the cleaning roller and reducing energy consumption. The dust sensor is located in a protective frame to protect it from the influence of external environment such as dust and rain. The camera is also located in a protective frame to protect it from the influence of external environment such as dust and rain. The camera model can be a Raspberry Pi Camera, equipped with an image processor and a rotating gimbal to achieve all-round monitoring. This solves the technical problem in the existing technology that the robot cannot judge the degree of pollution of the photovoltaic panel and can only clean according to a fixed time or path, resulting in insufficient or over-cleaning. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the control mechanism of the robotic arm of the photovoltaic panel cleaning robot proposed in this utility model;

[0017] Figure 2 This is a perspective view of the mounting frame structure of the control mechanism for the robotic arm of the photovoltaic panel cleaning robot proposed in this utility model.

[0018] Figure 3 This is a perspective view of the rotary motor structure of the control mechanism for the robotic arm of the photovoltaic panel cleaning robot proposed in this utility model.

[0019] Figure 4 This is a perspective view of the electric push rod structure of the control mechanism for the robotic arm of the photovoltaic panel cleaning robot proposed in this utility model.

[0020] Figure 5 This is a perspective view of the dust sensor structure of the control mechanism of the photovoltaic panel cleaning robot arm proposed in this utility model.

[0021] Figure 6 This is a perspective view of the camera structure of the control mechanism of the photovoltaic panel cleaning robot arm proposed in this utility model.

[0022] In the diagram: 1. Robot body; 2. Mounting frame; 3. Rotary motor; 31. Rotating frame; 4. Electric push rod; 41. Support frame; 5. Cleaning motor; 51. Cleaning roller; 6. Protective frame; 7. Dust sensor; 71. Camera. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0024] Reference Figures 1-6 The control mechanism of the photovoltaic panel cleaning robot arm includes a robot body 1. The front end of the robot body 1 is provided with a control component, which includes a cleaning roller 51. The rotation of the cleaning roller 51 cleans the photovoltaic panel.

[0025] The control components also include a mounting frame 2, which is fixedly mounted on the front surface of the robot body 1. The mounting frame 2 is fixedly mounted to the robot body 1. The mounting frame 2 can be made of aluminum alloy, which is lightweight, high-strength, and easy to process.

[0026] To ensure the stability of the rotation of the output shaft of the rotary motor 3, the rotary motor 3 is fixedly installed on the inner wall of the mounting frame 2. The output shaft of the rotary motor 3 is rotatably connected to the inner wall of the mounting frame 2 through a bearing seat. The output shaft of the rotary motor 3 is fixedly installed on a rotating frame 31, which is rotatably connected to the inner wall of the mounting frame 2 through a bearing. The rotary motor 3 is fixedly installed on the mounting frame 2 to ensure the stability of the rotation of the output shaft of the rotary motor 3. The rotary motor 3 is fixedly installed on the rotating frame 31 to drive the rotating frame 31 to rotate, thereby realizing the angle adjustment of the robotic arm to adapt to photovoltaic panels with different tilt angles, thus accurately controlling the cleaning angle and improving the cleaning coverage. The rotating frame 31 is rotatably connected to the mounting frame 2 through a bearing to ensure the stability of the rotation of the rotating frame 31. The rotating frame 31 is also made of aluminum alloy. The rotary motor 3 can be a servo motor, such as MG996R, which has encoder feedback and is equipped with a driver to achieve high-precision control. The mounting frame has an arc groove to prevent the rotating frame 31 from over-rotating.

[0027] To achieve precise control, an electric push rod 4 is fixedly installed on the front surface of the rotating frame 31. A support frame 41 is fixedly installed at one end of the telescopic rod of the electric push rod 4. The support frame 41 is slidably inserted into the inner wall of the slide groove of the rotating frame 31. The rotating frame 31 and the electric push rod 4 are fixedly installed together. The extension and retraction of the telescopic rod of the electric push rod 4 can drive the support frame 41 to move. The support frame 41 is also made of aluminum alloy. The sliding insertion of the support frame 41 into the rotating frame 31 ensures the stability of the movement of the support frame 41, thereby fine-tuning the relative distance between the cleaning roller 51 and the photovoltaic panel. The electric push rod 4 can be of model LD12-24-50-200, which is suitable for small and medium-sized robots, and is equipped with limit switches and position sensors to achieve precise control.

[0028] To ensure the stability of the output shaft rotation of the cleaning motor 5, the cleaning motor 5 is fixedly installed on the inner wall of the support frame 41. The output shaft of the cleaning motor 5 is rotatably connected to the inner wall of the groove of the support frame 41 through a bearing seat. The output shaft of the cleaning motor 5 is fixedly installed at one end of the cleaning roller 51. The cleaning roller 51 is rotatably connected to the inner wall of the support frame 41 through a bearing. The fixed installation of the cleaning motor 5 and the support frame 41 ensures the stability of the output shaft rotation of the cleaning motor 5. The fixed installation of the cleaning motor 5 and the cleaning roller 51 drives the cleaning roller 51 to rotate, using friction to remove dust, bird droppings and other pollutants. The bristles can be made of nylon, which is soft and does not damage the surface of the photovoltaic panel. The shaft core is made of stainless steel, which is wear-resistant and corrosion-resistant. The cleaning motor 5 can be a DC geared motor, such as JGA25-370, equipped with a motor driver and a speed sensor to monitor the speed of the cleaning roller 51 in real time.

[0029] By setting up control components, the photovoltaic panels are cleaned. The mounting frame 2 is fixedly installed with the rotary motor 3, and the rotary motor 3 drives the rotating frame 31 to rotate, realizing the angle adjustment of the robotic arm to adapt to photovoltaic panels with different tilt angles, thereby precisely controlling the cleaning angle and improving the cleaning coverage. The mounting frame has an arc groove to prevent the rotating frame 31 from rotating excessively. The extension and retraction of the telescopic rod of the electric push rod 4 can drive the support frame 41 to move, thereby fine-tuning the relative distance between the cleaning roller 51 and the photovoltaic panel. The cleaning motor 5 is fixedly installed with the support frame 41 and drives the cleaning roller 51 to rotate, using friction to remove pollutants such as dust and bird droppings. This solves the technical problem in the existing technology where the robotic arm of the photovoltaic panel cleaning robot adopts a rotating connection and adapts to the surface of the photovoltaic panel, but it is difficult to accurately adjust the cleaning force and position when facing complex terrain or photovoltaic panels with different tilt angles, resulting in poor cleaning effect.

[0030] In order to monitor the concentration and distribution characteristics of deposited pollutants on the surface of photovoltaic panels in real time, a monitoring component is set at the front end of the robot body 1. The monitoring component includes a dust sensor 7, which monitors the concentration and distribution characteristics of deposited pollutants on the surface of photovoltaic panels in real time through the principle of optical scattering.

[0031] To secure the protective frame 6, the monitoring component also includes a protective frame 6. One protective frame 6 is fixedly installed on the lower surface of the mounting frame 2, and the other protective frame 6 is fixedly installed on the outer side of the support plate of the robot body 1. One protective frame 6 is fixedly installed to the mounting frame 2, and the other protective frame 6 is fixedly installed to the robot body 1. The protective layer can be made of polycarbonate, which is transparent and impact-resistant.

[0032] To achieve intelligent cleaning and avoid ineffective cleaning, a dust sensor 7 is fixedly installed on the lower surface of the mounting frame 2, inside a protective frame 6. A camera 71 is fixedly installed on the outer side of the support plate of the robot body 1, inside another protective frame 6. The dust sensor 7 is fixedly installed to the mounting frame 2 and uses optical scattering principles to monitor the concentration and distribution characteristics of deposited pollutants on the photovoltaic panel surface in real time, enabling intelligent cleaning, avoiding ineffective cleaning, extending the life of the cleaning roller 51, and reducing energy consumption. The dust sensor 7 can be a GP2Y1010AU0F model, equipped with a signal conditioning circuit and a microcontroller. The dust sensor 7 is protected within the protective frame 6 from external environmental factors such as dust and rain. The specific location and number of dust sensors 7 can be optimized according to actual working conditions. Similarly, the camera 71 is fixedly installed to the robot body 1, inside the protective frame 6, protecting it from external environmental factors such as dust and rain. The specific location and number of cameras 71 can also be optimized according to actual working conditions. A Raspberry Pi model can be used. The camera is equipped with an image processor and a rotating pan-tilt unit for all-around monitoring.

[0033] By setting up monitoring components, the concentration and distribution characteristics of deposited pollutants on the surface of the photovoltaic panel are monitored in real time. The dust sensor 7 monitors the concentration and distribution characteristics of deposited pollutants on the surface of the photovoltaic panel in real time through the principle of optical scattering, which can realize intelligent cleaning, avoid ineffective cleaning, thereby extending the life of the cleaning roller 51 and reducing energy consumption. The dust sensor 7 is located inside the protective frame 6, which protects it from the influence of external environment such as dust and rain. The camera 71 is also located inside the protective frame 6, which protects it from the influence of external environment such as dust and rain. The camera 71 can be a Raspberry Pi Camera, equipped with an image processor and a rotating gimbal to achieve all-round monitoring. This solves the technical problem in the existing technology that the robot cannot judge the degree of pollution of the photovoltaic panel and can only clean according to a fixed time or path, resulting in insufficient or excessive cleaning.

[0034] Working principle: The robot body 1 locates the photovoltaic panel array via GPS. The camera 71 inside the protective frame 6 captures images of the photovoltaic panel array. The algorithm identifies gaps and edge features between the panels to generate a local map, which compensates for the positioning error of GPS in dense arrays. The control system uses the Dijkstra algorithm, combined with the photovoltaic panel layout map, to generate the optimal cleaning path and prioritizes the coverage of highly polluted areas.

[0035] When it is necessary to adjust the rotation angle of the rotating frame 31, the camera 71 obtains the tilt angle of the photovoltaic panel through image recognition, and the data is fed back to the control system. The rotating motor 3 on the mounting frame 2 receives the PWM signal and drives the rotating frame 31 to rotate to the matching angle.

[0036] When precise adjustment of the relative distance between the cleaning roller 51 and the photovoltaic panel is required, the electric push rod 4 has a built-in pressure sensor to monitor the contact pressure between the cleaning roller 51 and the photovoltaic panel in real time. If the pressure is lower than the threshold, the push rod extends; if it is higher than the threshold, the push rod retracts. When the surface of the photovoltaic panel is uneven, such as when the edge protrudes, the push rod responds and adjusts within 10ms to avoid the cleaning roller 51 from bouncing or being over-pressed.

[0037] During the cleaning process, the cleaning motor 5 inside the support frame 41 is speed-regulated by a PWM signal. The default speed is 50 r / min, which is suitable for dry dust. If the dust sensor 7 inside the protective frame 6 detects too much dust, or the camera 71 detects oil stains, the speed is increased to 80 r / min to enhance the friction of the cleaning roller 51. At the same time, the camera 71 captures the cleaned surface at 30 fps. By comparing the grayscale values ​​of the images, if the residual stain area is >5%, the control system marks the area and triggers repeated cleaning.

[0038] An alarm can be installed as needed. When the camera 71 detects an obstacle, such as a rock or a cable, the control system immediately cuts off the power to the robot body 1, which can trigger an audible and visual alarm.

[0039] The main power supply uses a DC12V lithium battery, with the capacity selected according to the motor power; some models are equipped with a small photovoltaic panel to extend the battery life through solar charging; the power management system monitors the battery status in real time and has overcurrent and overvoltage protection functions.

[0040] A pressure sensor can be installed on the cleaning roller 51 bracket as needed to monitor the contact pressure and feed it back to the electric push rod 4 control system.

[0041] Moving parts such as the rotating frame bearing 31, the electric push rod slide rail 4, and the cleaning roller bearing 51 should be lubricated with lithium-based grease every 100 hours of operation or once a month to reduce friction and wear. Take care to avoid contact between the lubricant and the photovoltaic panel to prevent contamination.

[0042] Regularly check the wear of the brush bristles. Replace them if they are deformed or fall off. Regularly clean the dust sensor 7 and camera 71 lens to ensure monitoring accuracy. Regularly check the drive circuits and mechanical loads of each motor. Replace the motor if necessary. Regularly calibrate or replace the sensors and recalibrate the control system.

[0043] The various structures in the control mechanism can be fixedly installed using bolts or flanges depending on the actual working conditions, so as to facilitate subsequent maintenance and replacement.

[0044] The electronic devices, their power supply methods, and control methods described in this article are all existing technologies with mature applications. Therefore, they will only be briefly explained here without further elaboration.

[0045] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A control mechanism for a photovoltaic panel cleaning robot arm, comprising a robot body (1), characterized in that: The front end of the robot body (1) is provided with a control component, which includes a cleaning roller (51). The rotation of the cleaning roller (51) cleans the photovoltaic panel. The control component also includes a mounting frame (2), which is fixedly mounted on the front surface of the robot body (1); A rotary motor (3) is fixedly installed on the inner wall of the mounting frame (2). The output shaft of the rotary motor (3) is rotatably connected to the inner wall of the mounting frame (2) through a bearing seat. A rotating frame (31) is fixedly installed on the output shaft of the rotary motor (3). The rotating frame (31) is rotatably connected to the inner wall of the mounting frame (2) through a bearing. The robot body (1) is equipped with a monitoring component at its front end. The monitoring component includes a dust sensor (7). The dust sensor (7) monitors the concentration and distribution characteristics of deposited pollutants on the surface of the photovoltaic panel in real time through the principle of optical scattering.

2. The photovoltaic panel cleaning robot arm control mechanism of claim 1, wherein: An electric push rod (4) is fixedly installed on the front surface of the rotating frame (31). A support frame (41) is fixedly installed on one end of the telescopic rod of the electric push rod (4). The support frame (41) is slidably inserted into the inner wall of the groove of the rotating frame (31).

3. The photovoltaic panel cleaning robot arm control mechanism of claim 2, wherein: A cleaning motor (5) is fixedly installed on the inner wall of the support frame (41). The output shaft of the cleaning motor (5) is rotatably connected to the inner wall of the groove of the support frame (41) through a bearing seat. The output shaft of the cleaning motor (5) is fixedly installed to one end of the cleaning roller (51). The cleaning roller (51) is rotatably connected to the inner wall of the support frame (41) through a bearing.

4. The photovoltaic panel cleaning robot arm control mechanism of claim 1, wherein: The monitoring component also includes a protective frame (6), one of which is fixedly installed on the lower surface of the mounting frame (2), and the other is fixedly installed on the outer side of the support plate of the robot body (1).

5. The photovoltaic panel cleaning robot arm control mechanism of claim 4, wherein: The dust sensor (7) is fixedly installed on the lower surface of the mounting frame (2) and located inside one of the protective frames (6). A camera (71) is fixedly installed on the outer side of the support plate of the robot body (1) and the camera (71) is located inside another of the protective frames (6).

Images