CN109382384B - Photovoltaic panel cleaning robot and deflection detection and correction method thereof - Google Patents
Photovoltaic panel cleaning robot and deflection detection and correction method thereof Download PDFInfo
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- CN109382384B CN109382384B CN201811267387.1A CN201811267387A CN109382384B CN 109382384 B CN109382384 B CN 109382384B CN 201811267387 A CN201811267387 A CN 201811267387A CN 109382384 B CN109382384 B CN 109382384B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 121
- 238000001514 detection method Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000006073 displacement reaction Methods 0.000 claims abstract description 37
- 238000001914 filtration Methods 0.000 claims description 9
- 230000007423 decrease Effects 0.000 claims description 7
- 230000001052 transient effect Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 description 5
- 238000005070 sampling Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Photovoltaic Devices (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses a photovoltaic panel cleaning robot and a deviation detection and correction method thereof, which are used for preventing the photovoltaic panel cleaning robot from being stuck in a walking process. The chassis of the photovoltaic panel cleaning robot is provided with a limiting device, and the limiting device is used for enabling the walking direction of the inclined photovoltaic panel cleaning robot to be consistent with that before the inclination, so that the inclined photovoltaic panel cleaning robot cannot fall off from the photovoltaic panel; the chassis is also provided with a universal wheel which is positioned behind the walking wheels at the front row of the chassis and in front of the walking wheels at the last row of the chassis; the main shaft of the universal wheel is divided into two sections, the front section is fixed on a bearing of the universal wheel, the rear section is fixed on the chassis, the front section and the rear section are connected through the bearing, and when the photovoltaic panel cleaning robot deflects, the rear section generates rotary displacement relative to the front section; the main shaft is provided with a detection device for detecting the size and the direction of the rotary displacement generated by the rear section relative to the front section and outputting a detection result.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a photovoltaic panel cleaning robot and a deviation detection and correction method thereof.
Background
The photovoltaic panel cleaning robot is driven by a motor to walk along the outer frame of the photovoltaic panel, and the top view of the photovoltaic panel cleaning robot is shown in fig. 1. However, the photovoltaic panel cleaning robot is inevitably deflected in the walking process, as shown in fig. 2. For example, the photovoltaic panel cleaning robot adopts dual-motor drive, one motor drives the traveling wheels on the left side, the other motor drives the traveling wheels on the right side, and the rotating speeds of the two motors cannot be guaranteed to be completely consistent, so that the photovoltaic panel cleaning robot is difficult to avoid deflection.
The limiting device (for example, the limiting wheel is denoted by reference numeral "1" in fig. 2) mounted on the photovoltaic panel cleaning robot can enable the traveling direction of the photovoltaic panel cleaning robot after deflection to be consistent with that before deflection (see arrow directions shown in fig. 1 and fig. 2), but the larger the deflection angle is, the larger the traveling resistance brought to the photovoltaic panel cleaning robot by the limiting device is, and when the traveling resistance reaches a certain value, the photovoltaic panel cleaning robot can be jammed.
Disclosure of Invention
In view of the above, the invention provides a photovoltaic panel cleaning robot and a deviation detection and correction method thereof, so as to prevent the photovoltaic panel cleaning robot from being stuck in a walking process.
A photovoltaic panel cleaning robot, wherein:
a limiting device is arranged on a chassis of the photovoltaic panel cleaning robot and used for enabling the walking direction of the inclined photovoltaic panel cleaning robot to be consistent with that before the inclination, and the inclined photovoltaic panel cleaning robot cannot fall off the photovoltaic panel;
the chassis is also provided with a universal wheel, and the universal wheel is positioned behind the walking wheels at the front row of the chassis and in front of the walking wheels at the rear row of the chassis;
the main shaft of the universal wheel is divided into two sections, the front section is fixed on a bearing of the universal wheel, the rear section is fixed on the chassis, the front section and the rear section are connected through the bearing, and when the photovoltaic panel cleaning robot deflects, the rear section generates rotary displacement relative to the front section;
the main shaft is provided with a detection device for detecting the size and the direction of the rotary displacement generated by the rear section relative to the front section and outputting a detection result.
Optionally, the detection device is implemented based on a resistance ring, the direction of rotational displacement generated by the rear section relative to the front section determines whether the resistance value of the resistance ring is increased or decreased, and the magnitude of rotational displacement generated by the rear section relative to the front section determines the degree of increase or decrease of the resistance value of the resistance ring.
Optionally, the detection device is implemented based on a torque sensor, and the magnitude and direction of the rotational displacement generated by the rear section relative to the front section determine the magnitude and direction of the torque measured by the torque sensor.
Optionally, the photovoltaic panel cleaning robot is further provided with a first control unit for filtering instant data in the detection result to avoid forming misjudgment.
Optionally, the photovoltaic panel cleaning robot is driven by multiple motors, one part of the motors drive walking wheels on the left side of the chassis, and the other part of the motors drive walking wheels on the right side of the chassis;
the photovoltaic panel cleaning robot is also provided with a second control unit, and the second control unit is used for adjusting the rotating speed of the motor according to the detection result output by the second control unit so as to realize automatic deviation correction.
Optionally, the second control unit is further configured to filter out transient data in the detection result to avoid forming a false judgment.
A photovoltaic panel cleaning robot deflection detection method is applied to any one of the photovoltaic panel cleaning robots disclosed above, and the method comprises the following steps:
detecting the size and the direction of rotary displacement generated by a rear section of a main shaft of a universal wheel relative to a front section in the photovoltaic panel cleaning robot;
and outputting a detection result.
Optionally, after the outputting the detection result, the method further includes: and filtering instantaneous data in the detection result to avoid forming misjudgment.
A deviation rectifying method of a photovoltaic panel cleaning robot is characterized by being applied to the photovoltaic panel cleaning robot driven by multiple motors, and the method comprises the following steps:
detecting the size and the direction of rotary displacement generated by a rear section of a main shaft of a universal wheel relative to a front section in the photovoltaic panel cleaning robot;
outputting a detection result;
and adjusting the rotating speed of the motor according to the detection result to realize automatic deviation correction.
Optionally, after the outputting the detection result, the method further includes: and filtering instantaneous data in the detection result to avoid forming misjudgment.
According to the technical scheme, the principle that the rolling direction of the universal wheel is always consistent with the walking direction of the photovoltaic panel cleaning robot is utilized, when the rear section of the main shaft of the universal wheel is kept static relative to the front section, the photovoltaic panel cleaning robot is judged not to be deflected, when the rear section generates rotary displacement relative to the front section, the photovoltaic panel cleaning robot is judged to be deflected, and the size and the direction of the rotary displacement directly reflect the size and the direction of a deflection angle, so that the automatic detection of the deflection angle of the photovoltaic panel cleaning robot is realized, a worker can conveniently know the deflection degree in real time and timely correct the deflection when the deflection angle is too large, and the photovoltaic panel cleaning robot is prevented from being stuck in the walking process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic top view of a photovoltaic panel cleaning robot disclosed in the prior art when the robot is not deflected;
FIG. 2 is a schematic top view of a photovoltaic panel sweeping robot as disclosed in the prior art when deflected;
fig. 3 is a schematic top view of a photovoltaic panel cleaning robot according to an embodiment of the present invention when the photovoltaic panel cleaning robot is not deflected;
FIG. 4 is a schematic structural diagram of a universal wheel according to an embodiment of the present invention;
FIG. 5 is a schematic top view of a photovoltaic panel sweeping robot shown deflected in accordance with an embodiment of the present invention;
FIG. 6 is a flowchart of a method for detecting a deviation of a photovoltaic panel cleaning robot according to an embodiment of the present invention;
FIG. 7 is a flowchart of a method for detecting the deflection of a photovoltaic panel cleaning robot according to an embodiment of the present disclosure;
FIG. 8 is a flowchart of a deviation rectifying method for a photovoltaic panel cleaning robot according to an embodiment of the present invention;
fig. 9 is a flowchart of a deviation rectifying method for a photovoltaic panel cleaning robot according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The photovoltaic panel cleaning robot disclosed by the embodiment of the invention is obtained by improving on the basis of fig. 1, and the top view of the photovoltaic panel cleaning robot is shown in fig. 3 and described as follows:
four traveling wheels are installed on the chassis of the photovoltaic panel cleaning robot 100, and of course, if the chassis of the photovoltaic panel cleaning robot 100 is too wide and too long, more traveling wheels may be provided. The photovoltaic panel cleaning robot 100 is inevitably inclined in the walking process, for example, the photovoltaic panel cleaning robot 100 adopts multiple motor drives (usually, dual motor drives), one part of the motor drives the left walking wheels (i.e. the walking wheels walking along the left outer frame of the photovoltaic panel), the other part of the motor drives the right walking wheels (i.e. the walking wheels walking along the outer frame of the right side of the photovoltaic panel), and in the walking process of the photovoltaic panel cleaning robot 100, the accumulated error caused by the inconsistent rotation speed of the motor driving the left walking wheels and the motor driving the right walking wheels can cause the photovoltaic panel cleaning robot 100 to be inclined.
The chassis of the photovoltaic panel cleaning robot 100 is further provided with a limiting device (for example, a limiting wheel, which is still indicated by reference numeral "1" in fig. 3) for keeping the traveling direction of the deflected photovoltaic panel cleaning robot 100 consistent with that before deflection, so as to prevent the deflected photovoltaic panel cleaning robot 100 from falling off the photovoltaic panel during traveling along the outer frame of the photovoltaic panel. Although the existence of the limiting device can make the traveling direction of the deflected photovoltaic panel cleaning robot 100 consistent with that before deflection, the greater the deflection angle is, the greater the traveling resistance of the limiting device to the photovoltaic panel cleaning robot 100 is, and when the traveling resistance reaches a certain value, the photovoltaic panel cleaning robot 100 is locked.
In order to avoid the photovoltaic panel cleaning robot 100 from being stuck in the walking process, the universal wheel 2 is further installed on the chassis of the photovoltaic panel cleaning robot 100, the detection device is additionally arranged, and the deflection angle of the photovoltaic panel cleaning robot 100 is automatically detected through the matching effect of the detection device and the universal wheel 2, so that a worker can know the deflection degree in real time and timely correct the deviation when the deflection angle is too large.
Specifically, the universal wheels 2 are located behind the walking wheels at the front row of the chassis and in front of the walking wheels at the last row (fig. 3 only takes the arrangement at the center of the chassis as an example), and the chassis of the photovoltaic panel cleaning robot 100 has four walking wheels, which are a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, for example, then the walking wheels at the front row refer to the left front wheel and the right front wheel, and the walking wheels at the last row refer to the left rear wheel and the right rear wheel. The main shaft of the universal wheel 2 is divided into two sections, the front section N is fixed on the bearing of the universal wheel 2, the rear section M is fixed on the chassis of the photovoltaic panel cleaning robot 100, and M and N are connected through the bearing, as shown in fig. 4, the working principle is as follows:
because the front wheels of the vehicle are the guide wheels, the rear wheels only roll along the motion direction of the vehicle, and the motion direction of the vehicle cannot be changed (when the vehicle is reversed, the original front wheels can be changed into the rear wheels, and the rear wheels can be changed into the front wheels), and in addition, the universal wheels are easy to deviate as the guide wheels, so the universal wheels 2 are arranged behind the walking wheels at the front row and in front of the walking wheels at the last row, and thus, the universal wheels 2 always roll along the walking direction of the photovoltaic panel cleaning robot 100 and keep consistent with the walking direction no matter the photovoltaic panel cleaning robot 100 moves forwards or reverses.
Since the rolling direction of the universal wheel 2 is always the same as the traveling direction of the photovoltaic panel cleaning robot 100, when the photovoltaic panel cleaning robot 100 is deflected, rotational displacement occurs between the rolling direction of the universal wheel 2 and the chassis of the photovoltaic panel cleaning robot 100, as shown in fig. 3 and 5, fig. 3 is a schematic plan view when no deflection occurs, and fig. 5 is a schematic plan view when deflection occurs. That is, when the photovoltaic panel cleaning robot 100 is not deflected, M remains stationary with respect to N, and when the photovoltaic panel cleaning robot 100 is deflected, M is rotationally displaced with respect to N, and the greater the deflection angle, the greater the rotational displacement, and the direction of deflection also directly determines the direction of rotational displacement.
The main shaft of the universal wheel 2 is provided with a detection device for detecting the size and direction of the rotary displacement generated by the M relative to the N, and outputting a detection result, and a worker can determine whether the photovoltaic panel cleaning robot 100 deflects or not and the deflection angle and the deflection direction when the photovoltaic panel cleaning robot 100 deflects according to the output result, so that the photovoltaic panel cleaning robot 100 is timely corrected when the deflection angle is too large, and the photovoltaic panel cleaning robot 100 is prevented from being stuck in the walking process.
Optionally, the detection device may be implemented based on a resistance ring, where the direction of the rotational displacement generated by M with respect to N determines whether the resistance value of the resistance ring increases or decreases (the direction of the rotational displacement generated by M with respect to N is positive and the resistance value of the resistance ring increases correspondingly, and the direction of the rotational displacement generated by M with respect to N is negative and the resistance value of the resistance ring decreases correspondingly, or the direction of the rotational displacement generated by M with respect to N is negative and the direction of the rotational displacement generated by M with respect to N is positive and the resistance value of the resistance ring decreases correspondingly), and the magnitude of the rotational displacement generated by M with respect to N determines the degree of increase or decrease of the resistance value of the resistance ring. Alternatively, the detection means may be implemented based on a torque sensor, and the magnitude and direction of the rotational displacement of M relative to N determine the magnitude and direction of the torque measured by the torque sensor.
As can be seen from the above description, according to the embodiment, by using the principle that the rolling direction of the universal wheel 2 is always consistent with the walking direction of the photovoltaic panel cleaning robot 100, when M is kept static relative to N, it is determined that the photovoltaic panel cleaning robot 100 is not deflected, when M is subjected to rotational displacement relative to N, it is determined that the photovoltaic panel cleaning robot 100 is deflected, and the magnitude and direction of the rotational displacement directly reflect the magnitude and direction of the deflection angle, so that the automatic detection of the deflection angle of the photovoltaic panel cleaning robot 100 is realized, a worker can conveniently know the deflection degree in real time and timely correct the deflection when the deflection angle is too large, and the photovoltaic panel cleaning robot is prevented from being stuck in the walking process.
Optionally, in any of the embodiments disclosed above, the photovoltaic panel cleaning robot 100 is further provided with a first control unit, configured to filter out transient data in the detection result, so as to avoid forming a false judgment.
Specifically, when the interference of factors such as shaking and obstacles occurs, the rolling direction of the universal wheel 2 is deviated, so that M generates a large instantaneous rotational displacement relative to N, and at this time, it is easily determined by mistake that the photovoltaic panel cleaning robot 100 is deviated, so that the present embodiment performs instantaneous value filtering processing on software, for example: and (3) suddenly changing the direction of the universal wheel 2 when the universal wheel encounters an obstacle, rotating M and N, collecting the rotary displacement of M relative to N, and if the holding time of a sampling value is less than a threshold value t (t is generally 50ms), considering that the sampling value is an instant invalid value and filtering the sampling value.
Optionally, in any of the embodiments disclosed above, when the photovoltaic panel cleaning robot 100 is driven by multiple motors, one part of the motors drives the traveling wheels on the left side of the chassis, and the other part of the motors drives the traveling wheels on the right side of the chassis, the photovoltaic panel cleaning robot 100 is further provided with a second control unit, which is used for adjusting the rotation speed of the motor according to the detection result output by the second control unit, so as to realize automatic deviation rectification.
The detection device is realized by taking a resistance ring as an example, when the resistance R of the resistance ring is detected to meet the condition that a omega- △ m is smaller than or equal to R and smaller than or equal to a omega + △ m, deviation correction is not needed within an error allowable range, when the resistance R of the resistance ring is detected to be larger than a omega + △ m, if the photovoltaic panel cleaning robot 100 is judged to move from left to right at the moment, the rotating speed of the motor driving the left walking wheels is increased for deviation correction, until the condition that a omega- △ m is smaller than or equal to R and smaller than or equal to a omega + △ m, all the motors are kept to operate at the same rotating speed, when the resistance R of the resistance R is detected to be smaller than a omega-592 m and the walking direction is judged to move from left to right at the moment, the rotating speed of the motor driving the right walking wheels is increased for deviation correction, and until the condition that a omega- △ m is smaller than or equal to R and smaller than or equal to a omega + △ m, all the motors are kept to operate at the same rotating speed.
Optionally, the second control unit is further configured to filter out transient data in the detection result to avoid forming a false judgment.
The embodiment of the invention also discloses a deflection detection method of the photovoltaic panel cleaning robot, wherein the deflection detection method comprises the following steps: a limiting device is arranged on a chassis of the photovoltaic panel cleaning robot and used for enabling the walking direction of the inclined photovoltaic panel cleaning robot to be consistent with that before the inclination, and the inclined photovoltaic panel cleaning robot cannot fall off the photovoltaic panel; the chassis is also provided with a universal wheel, and the universal wheel is positioned behind the walking wheels at the front row of the chassis and in front of the walking wheels at the rear row of the chassis; the main shaft of the universal wheel is divided into two sections, the front section is fixed on a bearing of the universal wheel, the rear section is fixed on the chassis, the front section and the rear section are connected through the bearing, and when the photovoltaic panel cleaning robot deflects, the rear section generates rotary displacement relative to the front section.
As shown in fig. 6, the method for detecting the inclination of the photovoltaic panel cleaning robot includes:
step S01: detecting the size and the direction of rotary displacement generated by a rear section of a main shaft of a universal wheel relative to a front section in the photovoltaic panel cleaning robot;
step S02: and outputting a detection result.
Optionally, as shown in fig. 7, after the step S02, the method further includes: step S03: and filtering instantaneous data in the detection result to avoid forming misjudgment.
The embodiment of the invention also discloses a deviation rectifying method for the photovoltaic panel cleaning robot, wherein the deviation rectifying method comprises the following steps: the photovoltaic panel cleaning robot is driven by multiple motors, one part of the motors drive walking wheels on the left side of the chassis, and the other part of the motors drive walking wheels on the right side of the chassis; the chassis is also provided with a limiting device for keeping the walking direction of the inclined photovoltaic panel cleaning robot consistent with that before the inclination, so that the photovoltaic panel cleaning robot cannot fall off the photovoltaic panel; the chassis is also provided with a universal wheel, and the universal wheel is positioned behind the walking wheels at the front row of the chassis and in front of the walking wheels at the rear row of the chassis; the main shaft of the universal wheel is divided into two sections, the front section is fixed on a bearing of the universal wheel, the rear section is fixed on the chassis, the front section and the rear section are connected through the bearing, and when the photovoltaic panel cleaning robot deflects, the rear section generates rotary displacement relative to the front section.
As shown in fig. 8, the deviation rectifying method of the photovoltaic panel cleaning robot includes:
step S11: detecting the size and the direction of rotary displacement generated by a rear section of a main shaft of a universal wheel relative to a front section in the photovoltaic panel cleaning robot;
step S12: and outputting a detection result.
Step S13: and adjusting the rotating speed of the motor according to the detection result to realize automatic deviation correction.
Optionally, as shown in fig. 9, after the step S12, the method further includes:
step S121: filtering out the transient data in the detection result to avoid forming a false judgment, and then proceeding to step S13.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The method disclosed by the embodiment corresponds to the method disclosed by the embodiment of the photovoltaic panel cleaning robot product, so that the description is simple, and the relevant points can be referred to the description of the product part.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the embodiments. Thus, the present embodiments are not intended to be limited to the embodiments shown herein but are to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a photovoltaic board cleans machine people which characterized in that:
a limiting device is arranged on a chassis of the photovoltaic panel cleaning robot and used for enabling the walking direction of the inclined photovoltaic panel cleaning robot to be consistent with that before the inclination, and the inclined photovoltaic panel cleaning robot cannot fall off the photovoltaic panel;
the chassis is also provided with a universal wheel, and the universal wheel is positioned behind the walking wheels at the front row of the chassis and in front of the walking wheels at the rear row of the chassis; the walking wheels at the foremost row of the chassis are guide wheels;
the main shaft of the universal wheel is divided into two sections, the front section is fixed on a bearing of the universal wheel, the rear section is fixed on the chassis, the front section and the rear section are connected through the bearing, and when the photovoltaic panel cleaning robot deflects, the rear section generates rotary displacement relative to the front section;
the main shaft is provided with a detection device for detecting the size and the direction of the rotary displacement generated by the rear section relative to the front section and outputting a detection result.
2. The photovoltaic panel cleaning robot according to claim 1, wherein the detection means is implemented based on a resistance ring, a direction of rotational displacement of the rear section relative to the front section determines whether a resistance value of the resistance ring increases or decreases, and a magnitude of rotational displacement of the rear section relative to the front section determines a degree of increase or decrease of the resistance value of the resistance ring.
3. The photovoltaic panel cleaning robot according to claim 1, wherein the detecting means is implemented based on a torque sensor, and the magnitude and direction of the rotational displacement of the rear section relative to the front section determine the magnitude and direction of the torque measured by the torque sensor.
4. The photovoltaic panel cleaning robot as claimed in claim 1, wherein a first control unit is further disposed on the photovoltaic panel cleaning robot, and is configured to filter out transient data in the detection result to avoid forming misjudgment.
5. The photovoltaic panel cleaning robot as recited in claim 1, wherein the photovoltaic panel cleaning robot is driven by multiple motors, one part of the motors drives the travelling wheels on the left side of the chassis, and the other part of the motors drives the travelling wheels on the right side of the chassis;
the photovoltaic panel cleaning robot is also provided with a second control unit, and the second control unit is used for adjusting the rotating speed of the motor according to the detection result output by the second control unit so as to realize automatic deviation correction.
6. The photovoltaic panel cleaning robot as recited in claim 5, wherein the second control unit is further configured to filter out transient data in the detection result to avoid forming false positives.
7. A photovoltaic panel cleaning robot deflection detection method applied to the photovoltaic panel cleaning robot of claim 1, the method comprising:
detecting the size and the direction of rotary displacement generated by a rear section of a main shaft of a universal wheel relative to a front section in the photovoltaic panel cleaning robot;
and outputting a detection result.
8. The method for detecting the inclination of the photovoltaic panel cleaning robot according to claim 7, further comprising, after outputting the detection result: and filtering instantaneous data in the detection result to avoid forming misjudgment.
9. A deviation rectifying method of a photovoltaic panel cleaning robot is applied to the photovoltaic panel cleaning robot as claimed in claim 5, and the method comprises the following steps:
detecting the size and the direction of rotary displacement generated by a rear section of a main shaft of a universal wheel relative to a front section in the photovoltaic panel cleaning robot;
outputting a detection result;
and adjusting the rotating speed of the motor according to the detection result to realize automatic deviation correction.
10. The deviation rectifying method for a photovoltaic panel cleaning robot according to claim 9, further comprising, after outputting the detection result: and filtering instantaneous data in the detection result to avoid forming misjudgment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811267387.1A CN109382384B (en) | 2018-10-29 | 2018-10-29 | Photovoltaic panel cleaning robot and deflection detection and correction method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811267387.1A CN109382384B (en) | 2018-10-29 | 2018-10-29 | Photovoltaic panel cleaning robot and deflection detection and correction method thereof |
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| CN109382384B true CN109382384B (en) | 2020-05-22 |
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| CN110125124B (en) * | 2019-05-14 | 2021-07-20 | 合肥仁洁智能科技有限公司 | Photovoltaic cleaning machine inclination posture detection method, controller and photovoltaic cleaning machine |
| CN112756307B (en) * | 2021-01-27 | 2024-07-16 | 江苏德天智能科技有限公司 | Photovoltaic panel cleaning robot and deviation correcting method thereof |
| CN113037205B (en) * | 2021-03-29 | 2022-11-15 | 阳光电源股份有限公司 | State detection method and controller of photovoltaic cleaning device and photovoltaic cleaning device |
| CN113778100B (en) * | 2021-09-18 | 2024-04-05 | 仁洁智能科技有限公司 | Cleaning robot control method and device and terminal equipment |
| CN114505268B (en) * | 2022-02-21 | 2023-03-28 | 杭州舜海光伏科技有限公司 | Multipoint driving structure of cleaning beam and driving method thereof |
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