CN110445463B - Solar flat/curved surface adaptive intelligent cleaning robot and boundary detection method - Google Patents
Solar flat/curved surface adaptive intelligent cleaning robot and boundary detection method Download PDFInfo
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- CN110445463B CN110445463B CN201910764370.5A CN201910764370A CN110445463B CN 110445463 B CN110445463 B CN 110445463B CN 201910764370 A CN201910764370 A CN 201910764370A CN 110445463 B CN110445463 B CN 110445463B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
- F24S40/20—Cleaning; Removing snow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- 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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- Y02E10/40—Solar thermal energy, e.g. solar towers
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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)
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- Sustainable Energy (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Robotics (AREA)
- Thermal Sciences (AREA)
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Abstract
本发明提供一种太阳能平/曲型面自适应智能清扫机器人及边界检测方法，机器人包括机架、行走系统、控制系统、光伏自供电系统，机器人还包括平/曲型面自适应清扫系统，平/曲型面自适应清扫系统包括往复运动驱动机构、自适应清扫机构，自适应清扫机构能够在往复运动驱动机构的驱动下沿与机器人行走方向相垂直的方向实现往复式直线运动，自适应清扫机构包括平/曲型面变换驱动直流电机、自复位弹性基体，平/曲型面变换驱动直流电机上设置有驱动杆，驱动杆底端设置有压力传感器。本清扫机器人能够适应不同型面的太阳能利用装置(平面、各类型线的槽式聚光抛物面)，具有清扫效果好、效率高、自动化程度高的优点。
The invention provides a solar flat/curved surface self-adaptive intelligent cleaning robot and a boundary detection method. The robot includes a frame, a walking system, a control system, and a photovoltaic self-power supply system. The robot also includes a flat/curved surface self-adaptive cleaning system. The flat/curved surface adaptive cleaning system includes a reciprocating driving mechanism and an adaptive cleaning mechanism. The adaptive cleaning mechanism can realize reciprocating linear motion along the direction perpendicular to the walking direction of the robot under the driving of the reciprocating driving mechanism. The cleaning mechanism includes a flat/curved surface conversion driving DC motor and a self-reset elastic substrate. The flat/curved surface conversion driving DC motor is provided with a driving rod, and the bottom end of the driving rod is provided with a pressure sensor. The cleaning robot can adapt to different types of solar energy utilization devices (plane, various types of line trough concentrating paraboloids), and has the advantages of good cleaning effect, high efficiency and high degree of automation.
Description
Technical Field
The invention mainly relates to the technical field of solar photovoltaic/photothermal array maintenance, in particular to a solar flat/curved surface self-adaptive intelligent cleaning robot and a boundary detection method.
Background
The transmission surface/reflection surface deposition of the solar energy utilization device is one of the main external factors influencing the conversion efficiency of the solar energy utilization device, and the long-term deposition can seriously influence the conversion efficiency of the solar energy.
Most of the prior parabolic trough type concentrating collectors adopt a manual cleaning mode, and the existing machine cleaning mode is not applicable, mainly because the dust removal executing mechanism has no profile self-adaption capability. The common cleaning modes of the solar photovoltaic/photothermal planar array are manual cleaning and machine cleaning (ground mechanical vehicle arm extension dust removal, mechanical dust removal device dust removal, and surface climbing robot dust removal). Wherein, the manual cleaning mode is time-consuming and labor-consuming, low in efficiency, high in cost and low in intelligent degree; the ground mechanical arm extension dust removal has higher requirements on the space and the topography of the solar energy utilization device array, larger initial investment, still needs certain manual input, has low intelligent degree and large energy consumption, and has larger limitation because an actuating mechanism cannot adapt to various curved surfaces. The mechanical dust removal device needs a fixed walking track and a fixed base frame, and has the defects of generally existing walking blocking, uneven stress in an inclined state, walking deflection, incapability of adapting to various curved surfaces by an actuating mechanism, single dust removal actuating mode and the like; the existing face climbing robot is generally suitable for plane climbing, has no curved surface adaptability, and has the advantages of small single-period cleaning area, long dust removal period and large initial investment.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the solar flat/curved surface self-adaptive intelligent cleaning robot and the boundary detection method by combining the prior art and starting from practical application, can adapt to solar utilization devices (flat surfaces and groove type light-gathering paraboloids of various types of lines) with different profiles, and has the advantages of good cleaning effect, high efficiency and high automation degree.
The technical scheme of the invention is as follows:
the solar flat/curved surface self-adaptive intelligent cleaning robot comprises a rack, a traveling system arranged on the rack, a control system, a photovoltaic self-powered system and a flat/curved surface self-adaptive cleaning system, wherein the flat/curved surface self-adaptive cleaning system comprises a reciprocating motion driving mechanism and a self-adaptive cleaning mechanism, the self-adaptive cleaning mechanism can realize reciprocating linear motion along the direction vertical to the traveling direction of the robot under the driving of the reciprocating motion driving mechanism, the self-adaptive cleaning mechanism comprises a flat/curved surface transformation driving direct current motor and a self-resetting elastic base body, a driving rod used for pressing down the self-resetting elastic base body to deform the elastic base body is arranged on the flat/curved surface transformation driving direct current motor, and a pressure sensor is arranged at the bottom end of the driving rod, the control system controls the flat/curved profile to be converted and drives the direct current motor to act through a feedback signal of the pressure sensor, so that the self-resetting elastic base body deforms corresponding to the flat/curved profile to be cleaned, and a scraper and/or a brush are/is arranged on the self-resetting elastic base body.
Furthermore, the reciprocating motion driving mechanism comprises a reciprocating driving direct current motor, a screw rod connected with the reciprocating driving direct current motor, a sliding block in threaded fit with the screw rod, and a limiting groove plate connected with the sliding block.
Furthermore, the self-adaptive cleaning mechanism further comprises a tooling plate, the tooling plate is fixedly arranged below the limiting groove plate, the self-resetting elastic base body is arranged below the tooling plate, two ends of the self-resetting elastic base body are supported by the tooling plate, and the driving rod of the flat/curved profile transformation driving direct current motor acts on the middle position of the self-resetting elastic base body.
Further, the two ends of the tooling plate are symmetrically provided with guide slideways which are of parabolic structures, the two ends of the self-resetting elastic base body are symmetrically provided with sliding shafts, and the sliding shafts are in sliding fit with the slideways to ensure that the chord length of the self-resetting elastic base body after deformation is consistent with the chord length of the contact flat/curved surface.
Furthermore, the driving rod is an outer screw output shaft, the outer screw output shaft is in threaded fit with the tooling plate, and the flat/curved surface conversion driving direct current motor can be arranged on the limiting groove plate in a vertically sliding mode.
Furthermore, the self-adaptive cleaning mechanism further comprises two purging fans, and the two purging fans are respectively installed at the bottoms of the racks on the two sides of the self-resetting elastic base body.
Furthermore, the walking system is of a pneumatic adsorption structure and comprises four mechanical arms, a pneumatic adsorption positioning mechanism and a pneumatic adsorption/desorption mechanism, wherein the four mechanical arms are respectively arranged at four corners of the rack; the mechanical arm comprises a steering mechanical arm, a rotary walking mechanical arm and a rotary positioning mechanical arm, the steering mechanical arm is connected with the frame through a steering joint, the rotary walking mechanical arm is connected with the steering mechanical arm through a rotary walking joint, the rotary positioning mechanical arm is connected with the rotary walking mechanical arm through a rotary positioning joint, the rotation of the steering joint, the rotary walking joint and the rotary positioning joint is realized through a direct-current steering engine, the axis of the rotary walking joint is perpendicular to the axis of the steering joint, the axis of the rotary positioning joint is parallel to the rotary walking joint, the pneumatic adsorption positioning mechanism is connected with the end part of the rotary positioning mechanical arm, and the pneumatic adsorption/desorption mechanism is used for controlling the pneumatic adsorption positioning mechanism.
Furthermore, the pneumatic adsorption positioning mechanism comprises a sucker, the sucker is connected with the rotary positioning mechanical arm through a bidirectional free rotating shaft and is in self-adaptive fine-adjustment connection with the end part of the rotary positioning mechanical arm, and the rotating angle of the bidirectional free rotating shaft is limited through a limit block; the pneumatic adsorption/desorption mechanism comprises a vacuum generator and an electromagnetic valve, the vacuum generator is connected with a sucker through a branch air pipe, and a negative pressure sensor is arranged at a main air pipe at the front end of the vacuum generator and used for feeding back a negative pressure value in the branch air pipe in an air pumping state.
Furthermore, the traveling system further comprises four pressure reduction support rods, the upper ends of the pressure reduction support rods are fixedly connected with the bottoms of the corresponding mounting frames of the steering joints, and rubber pads are arranged at the lower ends of the pressure reduction support rods.
Further, after the front end sucker group in the traveling direction is positioned, the vacuum generator exhausts air, the maximum air exhaust time is set, when the adsorption limit response time is reached, if the feedback value of the negative pressure sensor is 0, the lifting arm of the rotary positioning mechanical arm of the group is controlled, the rotary positioning mechanical arm turns 90 degrees, then the rotary positioning mechanical arm and the rotary traveling mechanical arm jointly act to position the sucker group, the vacuum generator is started to exhaust air, if the adsorption is normal, the boundary detection is successful, and the boundary detection is determined.
The invention has the beneficial effects that:
1. the flat/curved surface self-adaptive cleaning system designed by the invention realizes curved surface self-adaptation by utilizing the transient characteristic of pressure signals of the pressure sensor and matching with the self-resetting elastic base body, so that the robot can adapt to solar energy utilization devices (planar and groove type light-gathering paraboloids with various types of lines) with different profiles, the dust removal execution mode is dust loosening, dust scraping and dust blowing triple reciprocating dry cleaning, and the system is suitable for areas with water shortage and large wind sand, and has the advantages of strong universality and good cleaning effect.
2. The pneumatic adsorption type walking device designed by the invention can realize reliable positioning of the robot, and the accurate rotation (steering and walking) matching of the mechanical arm group can realize accurate positioning and advancing, and the combination of the two meets the requirements on the reliability and accuracy of the robot.
3. The boundary detection method provided by the invention can automatically identify the boundary in the robot walking process, and has high automation degree and strong operation reliability.
Drawings
FIG. 1 is a schematic view of the present invention in use;
FIG. 2 is a first general structural diagram of the present invention;
FIG. 3 is a schematic diagram of the general structure of the present invention;
FIG. 4 is a schematic diagram of the adaptive cleaning system of the present invention;
FIG. 5 is a view of the parabolic ramp configuration of the present invention;
FIG. 6 is a structural view of a bidirectional free rotation shaft of the present invention;
FIG. 7 is a theoretical curve of pressure change in a flat/curved profile adaptive process of the present invention;
FIG. 8 is a schematic view of a pneumatic adsorption positioning system of the present invention;
FIG. 9 is a schematic view (side view) of the present invention showing a single cycle walking;
FIG. 10 is a schematic turning (top view) view of the present invention;
FIG. 11 is an operation flow of the robot of the present invention when cleaning a trough-type paraboloid;
fig. 12 is an operation flow of the robot in cleaning a plane according to the present invention.
Reference numerals shown in the drawings:
1. a parabolic trough concentrator; 2. a photovoltaic module; 3. a traveling system; 4. a flat/curved profile self-adaptive cleaning system; 5. a reciprocating driving direct current motor; 6. a screw rod; 7. a self-resetting elastomeric matrix; 8. a pressure sensor; 9. a drive rod; 10. the flat/curved surface conversion drives a direct current motor; 11. a brush; 12. assembling a plate; 13. a limiting groove plate; 14. a squeegee; 15. purging the fan; 16. a steering knuckle; 17. a steering mechanical arm; 18. a revolute walking joint; 19. a rotary walking mechanical arm; 20. a rotary positioning joint; 21. a rotary positioning mechanical arm; 22. a bidirectional free rotation shaft; 23. a suction cup; 24. a limiting block; 25. a guide slide way; 26. a slide shaft; 27. and a pressure reducing support rod.
Detailed Description
The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.
As shown in fig. 1, the self-powered pneumatic adsorption walking type solar flat/curved surface self-adaptive intelligent cleaning robot comprises a flat/curved surface self-adaptive cleaning system 4, a walking system 3, a self-powered system, an intelligent control system and a frame for fixing the systems. The following is a detailed description of the various parts of the system.
(1) Flat/curved surface self-adaptive cleaning system 4
1) The system structure is as follows:
as shown in fig. 2 to 5, the flat/curved surface self-adaptive cleaning system 4 can realize self-adaptive reciprocating composite dry cleaning (suitable for areas where water and dust are easy to adhere). Mainly comprises a reciprocating motion driving mechanism (driving the self-adaptive cleaning mechanism to do reciprocating motion) and a self-adaptive cleaning mechanism (cleaning and dust removing).
The reciprocating motion driving mechanism is composed of a reciprocating drive direct current motor 5, a lead screw 6, a sliding block and a limiting groove plate 13, wherein the lead screw 6 is connected with the rack through a bearing, the reciprocating drive direct current motor 5 is connected with the lead screw 6 through a coupler and used for driving the lead screw 6 to rotate forwards or backwards, the sliding block is in threaded fit with the lead screw 6, a positioning sliding rod is fixedly installed on the rack and is in sliding fit with the positioning sliding rod, the positioning sliding rod is used for preventing rotation and guiding of the sliding block, and the sliding block is driven to perform reciprocating linear motion when the lead screw 6 rotates forwards or backwards. The slide block is detachably connected with the limiting groove plate 13 through a screw.
The self-adaptive cleaning mechanism comprises a flat/curved surface transformation driving direct current motor 10 (with a driving rod 9), a flat/curved surface self-adaptive positioning/limiting tooling plate 12, a self-resetting elastic base body 7 (the material is similar to a bamboo plate, a silica gel scraper 14 is pasted, a dust loosening brush 11 is planted, a purging fan 15 and a pressure sensor 8 (fixed at the end part of the driving rod 9, specifically, the upper surface of the pressure sensor 8 is fixedly connected with the bottom of the driving rod 9, and the lower surface of the pressure sensor is not connected with the self-resetting elastic base body 7 but is contacted with the self-resetting elastic base body 7 when being pressed downwards). The flat/curved surface conversion driving direct current motor 10 is installed on the limiting groove plate 13 and is in sliding fit with the sliding groove in the limiting groove plate 13, and movable line compression/line resetting of the flat/curved surface conversion driving direct current motor 10 is achieved. Four parabolic guide slideways 25 are symmetrically arranged at two ends of the tooling plate 12 (the width of each guide slideway 25 is larger than the diameter of the sliding shaft 26, and each guide slideway 25 is provided with an inward mounting opening), and the guide slideways are detachably and fixedly mounted at the bottom of the limiting groove plate 13 through screws. The driving rod 9 of the flat/curved surface conversion driving direct current motor 10 adopts an outer wire output shaft which is matched with an inner wire hole in the center of the tooling plate 12, so that synchronous reciprocating line compression/line reset of the outer wire output shaft and the flat/curved surface conversion driving direct current motor 10 is realized. Four sliding shafts 26 are symmetrically arranged at two ends of the self-resetting elastic base body 7, a silica gel scraper 14 is pasted on the lower surface of the self-resetting elastic base body, the embedded dust loosening brush 11 is connected, and the sliding shafts 26 and the guide slide way 25 are combined to ensure that the chord length of the self-resetting elastic base body 7 after deformation is consistent with the chord length of the contact flat/curved surface. When the flat/curved surface conversion drives the direct current motor 10 to move downwards for line compression, the self-resetting elastic base body 7 is compressed, and the pressure value returned by the pressure sensor 8 is gradually increased. When the flat/curved profile is changed to drive the direct current motor 10 to move upwards for linear resetting, the self-resetting elastic matrix 7 is self-resetting (the resetting speed is limited by the moving speed of the output axis of the external wire), and the pressure value returned by the pressure sensor 8 is gradually reduced, so that the adaptive deformation of the flat/curved profile can be realized.
2) The flat/curved profile self-adaptive method comprises the following steps:
the cleaning system operation mode is divided into a plane mode and a curved mode, and the mode switching is realized by a manual switch (a general curved surface cleaning object and a plane cleaning object are positioned in two completely independent areas).
As shown in fig. 7, when the curved mode is switched to the planar mode (for example, the robot is transferred from the trough type heat collection field to the photovoltaic power station), the mode switch is turned to the planar gear on the profile of the parabolic trough type concentrating collector, the flat/curved profile transformation drives the dc motor 10 to rotate reversely, the external screw output shaft and the pressure sensor 8 start to move in a linear reset manner, and the flat/curved profile transformation drives the dc motor 10 to move upwards. The pressure feedback value of the pressure sensor 8 is slowly reduced from F1 to F2 in a time period of 0-t1, the time period is a cleaning force keeping time period (deformation recovery period of the dust loosening brush 11 and the scraper 14), the pressure feedback value of the pressure sensor 8 is suddenly reduced from F2 to F3 (deformation complete reset of the dust loosening brush 11 and the scraper 14) at the time of t1, then the self-reset elastic matrix 7 starts to self-reset, the rotation speed of the direct current motor 10 is constant due to flat/curved surface transformation, namely the linear reset speed of the outer wire output shaft is constant, and a certain limit is provided for the self-reset speed of the self-reset elastic matrix 7, so that the feedback value of the pressure sensor 8 changes in a curve type gradual change mode in the time period of t1-t2, the feedback value of the pressure sensor is reduced to F4 at the time of t2, the self-reset elastic matrix 7 is restored to a flat state, then the feedback value of the pressure sensor 8 is suddenly reduced from F4 to 0, and controls the flat/curved surface conversion to drive the direct current motor 10 to stop rotating, thereby completing the conversion from the curved surface mode to the flat surface mode.
When the plane mode is converted into the curved surface mode (for example, the robot is transferred from a photovoltaic power station to a trough type heat collection field), the mode switch is switched to a curved surface gear on the molded surface of the parabolic trough type light-gathering heat collector, the flat/curved surface transformation drives the direct current motor 10 to rotate forwards, the external thread output shaft and the pressure sensor 8 start linear compression and movement, and the flat/curved surface transformation drives the direct current motor 10 to move downwards. The pressure feedback value of the pressure sensor 8 is kept at 0 in a time period of 0-t1, the pressure sensor 8 and the self-resetting elastic matrix 7 are in non-contact, the pressure sensor 8 and the self-resetting elastic matrix 7 are in contact at the time of t1, the outer wire output shaft carries the pressure sensor 8 to compress the self-resetting elastic matrix 7, the pressure sensor 8 compresses along a starting line, the feedback value of the pressure sensor 8 changes from 0 to a curve type gradually, the pressure value increases along with the continuous increase of the compression amplitude, the feedback value of the pressure sensor 8 increases to F1 at the time of t2, then the feedback value increases to F2 (the dust loosening brush 11 and the scraper 14 are in contact with a cleaning plate surface), the feedback value of the pressure sensor 8 slowly increases after t2 (the deformation period of the dust loosening brush 11 and the scraper 14), and after a short time, the feedback value of the pressure sensor increases to F3 (the deformation limit pressure) at the. In the linear compression process, at the time of t2+2s, the controller controls the flat/curved surface conversion to drive the direct current motor 10 to stop rotating through the sudden increase feedback value of the pressure sensor 8 and the clock, and the conversion of the flat-curved surface mode and the curved surface self-adaption process are completed. When the robot turns and moves towards the next curved surface to be cleaned, a turning signal is fed back to the controller, further the flat/curved surface conversion is controlled to drive the direct current motor 10 to rotate reversely, the pressure sudden-decrease feedback signal control process when the curved surface mode is converted into the plane mode is repeated, when the self-resetting elastic base body 7 is flat and straight, the robot walks along the vertical direction, and when the cleaning device completely covers the area to be cleaned, the pressure sensor 8 is repeated to suddenly increase a feedback value and the curved surface self-adaption process controlled by the clock is repeated, so that the dead-angle-free cleaning of the flat/curved surface can be realized.
3) The reciprocating composite dust removal process of the cleaning system comprises the following steps:
when the flat/curved profile self-adaptive cleaning system completes adaptive deformation and completes a walking cycle, the device completely covers the next flat/curved profile to be cleaned, the control system controls the reciprocating driving direct current motor 5 to be started, the self-resetting elastic base body 7 synchronously reciprocates, and further the purpose that the dust loosening brush 11 conducts reciprocating dust loosening and the dust scraping silica gel scraper 14 further collects dust in a reciprocating mode is achieved, the 2 direct current type purging fans 15 are respectively installed at the bottoms of the machine frames on the two sides of the self-resetting elastic base body 7, the purpose of reciprocating and synchronous purging in a front-and-back mode is achieved, and dust blowing and cleaning force can be enhanced. The reciprocating movement and the returning process of the sliding block in the cleaning process are realized by induction type limit switches fixed at connecting plates at two sides of the machine frame.
(2) Traveling system 3
1) The system structure is as follows:
as shown in fig. 2, 3, 4, 6 and 8, the traveling system 3 adopts a pneumatic adsorption type traveling mode, and is composed of a pneumatic adsorption positioning system, a pneumatic adsorption/desorption system, a mechanical arm and a decompression support rod 27.
The mechanical arms mainly realize linear forward and reverse walking (transverse/longitudinal) and steering of the robot and are divided into a steering mechanical arm 17, a rotary walking mechanical arm 19 and a rotary positioning mechanical arm 21. The robot is provided with four mechanical arms which are respectively arranged at four corners of the frame and divided into 2 mechanical arm groups (the longitudinal walking and the transverse walking are recombined after being changed in direction) which are respectively named as a walking direction front end mechanical arm group and a walking direction rear end mechanical arm group. The single mechanical arm is formed by connecting a steering mechanical arm 17 (one), a rotary walking mechanical arm 19 (one) and a rotary positioning mechanical arm 21 (one) in series through a direct current steering engine, the steering mechanical arm 17 is connected with a rack through the direct current steering engine (a steering joint 16), the rotary positioning mechanical arm 21 is connected with the steering mechanical arm 17 through the direct current steering engine (a rotary positioning joint 20), and the rotary walking mechanical arm 19 is connected with the rotary positioning mechanical arm 21 through the direct current steering engine (a rotary walking joint 18).
The pneumatic adsorption positioning system has the functions of ensuring the reliable positioning, stable walking and boundary detection of the robot. The pneumatic adsorption positioning system is mainly realized through a vacuum sucker 23, the vacuum sucker 23 is connected to the rotary positioning mechanical arm 21 through a bidirectional free rotating shaft 22 and is connected with the end part of the rotary positioning mechanical arm 21 in a self-adaptive fine-adjustment mode, and the vacuum sucker 23 is used for ensuring to adapt to molded surfaces with different curvatures. Because the curvature difference of the adjacent molded surfaces is small, the limiting baffle groups (composed of three limiting blocks 24, respectively and fixedly installed at the two-way free rotating shaft 22 and the supporting frames, one limiting baffle group is arranged at the two-way free rotating shaft 22, two supporting frames are arranged, one limiting baffle group is arranged between two supporting frames at the two-way free rotating shaft 22, the rotating angle of the two-way free rotating shaft 22 can be limited through the limiting blocks 24, the two limiting baffle groups can rotate within a certain range), the stability of the robot in the walking and dust removing process is ensured, and the curved surface adaptability of the robot is improved.
The pneumatic adsorption/desorption system is mainly used for controlling the pneumatic adsorption positioning system. It mainly comprises a vacuum generator, an electromagnetic valve and a connecting air pipe. The whole robot is provided with four high-elasticity silica gel pneumatic suckers 23, a vacuum generator and five electromagnetic valves aiming at four mechanical arms. A single mechanical arm is provided with a high-elasticity silica gel pneumatic sucker 23 and an electromagnetic valve (the vacuum degree of a branch is kept after a vacuum generator is closed), the vacuum generator and the electromagnetic valve are shared, and a negative pressure sensor is installed at a main air pipe at the front end of the vacuum generator and used for feeding back a negative pressure value of each branch after air exhaust (before the electromagnetic valve of the branch is not closed).
Reliable positioning is required to be ensured in the reciprocating dust removal stage of the robot, high negative pressure is respectively generated in the four high-elasticity silica gel suckers 23 in the stage, and the robot can be stably adsorbed on the flat/curved molded surface due to large suction force generated by large pressure difference between atmospheric pressure and the high negative pressure. In the walking stage of the robot, accurate walking tracks and stability need to be guaranteed, in the walking stage, the high-elasticity silica gel suckers 23 are divided into two groups, namely a front sucker group in the walking direction and a rear sucker group in the walking direction, the two sucker groups are alternately adsorbed and desorbed, the adsorption groups realize reliable positioning, the desorption mechanical arm groups realize walking and positioning rotation, the two sucker groups adsorb together, and when the front mechanical arm and the rear mechanical arm are in the same direction, the two mechanical arm groups perform walking rotation before walking. When the robot reaches the boundary, the controller needs to receive an accurate boundary detection feedback signal, and the signal is fed back to the controller by the negative pressure sensor.
As shown in fig. 3, the decompression support rod 27 is used for balancing and supporting the robot body under specific working conditions, and the specific working conditions include a working condition that the suction cup group is detached and the corresponding mechanical arm group rotates and a dust removal working condition. When the suction cup group is detached and the corresponding mechanical arm group rotates, the pressure-reducing support rod 27 can balance the weight of the robot body to a certain degree so as to reduce the support weight of the suction cup group and achieve the purpose of reliably fixing the robot body under a specific working condition. One end of the pressure reducing support rod 27 is fixedly connected with the bottom of the mounting rack of the steering joint 16, the other end (provided with an elastic rubber pad) contacts the flat/curved profile, the length of the pressure reducing support rod is equal to the distance from the bottom surface of the rack to the surface of the lower part of the opening of the flat/curved profile self-adaptive positioning/limiting tool parabola-shaped guide slide way 25 plus 0.5cm (the limit deformation of the hairbrush 11 and the silica gel scraper 14), and four pressure reducing support rods are arranged.
2) The running system running method comprises the following steps:
in this embodiment, the operation method of the walking system is explained only by the operation flow of the pneumatic suction cup and each mechanical arm during the pneumatic suction walking process. The robot arm groups and the pneumatic chuck groups are named with the traveling direction of the traveling system as a reference, and are respectively a traveling direction front end pneumatic chuck group, a traveling direction front end steering robot arm group, a traveling direction front end turning traveling robot arm group, a traveling direction front end turning positioning robot arm group, a traveling direction front end electromagnetic valve group, a traveling direction rear end pneumatic chuck group, a traveling direction rear end turning robot arm group, a traveling direction rear end turning traveling robot arm group, a traveling direction rear end turning positioning robot arm group, a traveling direction rear end electromagnetic valve group (hereinafter referred to simply as front end and rear end).
As shown in fig. 9-10, the walking process is implemented according to the following procedures (the on-off of the main electromagnetic valve and the on-off of the vacuum generator are controlled in a linkage manner):
the front end and the rear end pneumatic chucks are both in a negative pressure adsorption state (the front end and the rear end electromagnetic valve set are closed) at the initial moment, a robot controller sends a cleaning starting instruction, a controller controls a branch electromagnetic valve of the rear end pneumatic chuck set to be opened, the rear end pneumatic chuck is detached, a rear end rotary positioning mechanical arm set rotates 90 degrees anticlockwise, the rear end rotary positioning mechanical arm set keeps a horizontal state, the rear end rotary walking mechanical arm set rotates 120 degrees anticlockwise (can be set and can be adjusted), the rear end rotary positioning mechanical arm set rotates 90 degrees clockwise, the rear end pneumatic chuck set is tightly attached to a flat/curved surface, the controller controls a vacuum generator to exhaust air, the controller receives a negative pressure signal in a complete adsorption state, the rear end electromagnetic valve set is closed, the rear end pneumatic chuck is adsorbed, and the synchronous implementation is carried out, the front end and rear end rotary walking mechanical arm group rotates 120 degrees clockwise (the step is used for realizing forward walking, the rotation of the front end and rear end rotary walking mechanical arm group in the step is realized by taking a rotary positioning joint as a rotation center, and the action principle is that the rotary positioning joint rotates 120 degrees in the direction of enabling the rotary positioning mechanical arm group to rotate anticlockwise, at the moment, a sucker connected with the rotary positioning mechanical arm group is in an adsorption state, so that the rotary positioning mechanical arm group does not rotate 120 degrees anticlockwise but keeps motionless, therefore, the acting force at the rotary positioning joint can reversely drive the rotary walking mechanical arm group to rotate 120 degrees clockwise by taking the rotary positioning joint as the center, so that the robot walks, and simultaneously, the rotary walking joint rotates 120 degrees in the direction of enabling the rotary walking mechanical arm group to rotate clockwise by matching with the rotary walking), a controller controls a branch electromagnetic valve of a front end pneumatic sucker group to be opened, a front end pneumatic sucker to be detached, and a front end rotary positioning mechanical arm group The method comprises the steps of anticlockwise rotating 90 degrees of a mechanical arm set, keeping a front-end rotary positioning mechanical arm set in a horizontal state, anticlockwise rotating 120 degrees of a front-end rotary walking mechanical arm set (setting and feedback adjustment), clockwise rotating 90 degrees of the front-end rotary positioning mechanical arm set, tightly attaching a front-end pneumatic sucker set to a flat/curved surface, controlling air suction of a vacuum generator by a controller, receiving a negative pressure signal in a complete adsorption state by the controller, closing the front-end magnetic valve set, adsorbing the front-end pneumatic sucker, detecting a boundary, starting the flat/curved surface self-adaptive dust removal system to perform reciprocating dust removal, stopping the dust removal system, repeating the processes (detecting the boundary, feeding a boundary pressure signal to the controller by the pressure sensor), controlling the flat/curved surface to be transformed to drive the DC motor to rotate reversely by the controller, resetting the elastic matrix, and resetting the front end, wherein the front end is connected with a power supply and the DC motor to be connected with the power supply The rotary positioning mechanical arm group rotates 90 degrees anticlockwise, the front rotary positioning mechanical arm keeps a horizontal state, the front rotary positioning mechanical arm group rotates 90 degrees clockwise, the front pneumatic sucker group is tightly attached to a flat/curved surface, the controller controls the vacuum generator to pump air, the controller receives a negative pressure signal in a complete adsorption state, the front magnetic valve group is closed, the front pneumatic sucker is adsorbed, the rear pneumatic sucker is detached, the rear rotary positioning mechanical arm group rotates 90 degrees anticlockwise, the rear rotary positioning mechanical arm keeps a horizontal state, the rear rotary positioning mechanical arm group rotates 90 degrees outwards, the rear rotary positioning mechanical arm group rotates 90 degrees clockwise, the rear pneumatic sucker group is tightly attached to a flat/curved surface, the controller controls the vacuum generator to pump air, the controller receives a negative pressure signal in a complete adsorption state, and the rear end rotates the negative pressure signal Closing an electromagnetic valve group, absorbing by a rear end pneumatic sucking disc, walking until a flat/curved surface to be cleaned is completely covered, controlling the flat/curved surface to be converted by a controller to drive a direct current motor to rotate positively, adapting to the flat/curved surface after the elastic matrix is deformed from a reset position, walking and cleaning.
In the above-described walking process of the present invention, the same-side robot arm after turning is supported toward the inside, and therefore, after turning is completed, the robot arm direction needs to be adjusted, that is, the robot arm in front of the walking direction is supported outward, and the robot arm on the rear side is kept unchanged.
3) The boundary detection method comprises the following steps:
the walking system of the invention provides a boundary detection method for the walking of a robot, and the automatic detection of the boundary can be realized by matching the set mechanical arm group with a pneumatic adsorption positioning system and a pneumatic adsorption/desorption system.
The specific method comprises the following steps: the method is characterized in that a negative pressure sensor is arranged at a main air pipe at the front end of a vacuum generator, when a robot walks to a position near a boundary (non-stop position boundary) along a flat/curved profile, a sucker group at the front end of a walking direction enters the outside of the boundary in advance, the vacuum generator starts to pump air after the sucker group is positioned, the maximum air pumping time is set to be 30s, when the suction limit response time is reached, if the feedback value of the negative pressure sensor is still 0 (the feedback signal indicates that the robot reaches the boundary), a controller controls a rotary positioning mechanical arm to lift the arm, the rotary positioning mechanical arm turns 90 degrees, then the rotary positioning mechanical arm and the rotary walking mechanical arm jointly act to position the sucker group, the vacuum generator is started to pump air, and if the suction is normal, the boundary detection is successful.
(3) Self-powered system
The invention adopts a self-powered system to meet the power consumption requirement of the robot. The self-powered system is used for providing a direct-current power supply for the direct-current steering engine, the vacuum generator and the blowing fan 15, ensures that the system does not consume external energy, and consists of a photovoltaic module 2, a lithium battery pack, a charge-discharge controller and a wire. Photovoltaic module 2 selects the high novel subassembly of photoelectric conversion efficiency, and the tiling is in the frame top, because of the parking stall department that is located the flat/curved profile both sides of solar energy when the robot shuts down, and the parking stall is along with solar energy parabolic trough concentrator synchronous tracking sun or unanimous with the plane inclination, so the system can guarantee that photovoltaic module 2 converts solar radiation energy with the optimum, and the electric energy direct storage of photovoltaic module output is to lithium cell group. The number of the lithium battery packs in series-parallel connection is determined according to the input voltage of the electric appliance and the daily average power consumption of the robot, and the lithium battery packs are packaged in a control box on the lower surface of the rack. The charge and discharge controller is packaged in the control box, can control the charge and discharge process of the lithium battery, prevents overcharge and overdischarge, and has a maximum power tracking function.
(4) Intelligent control system
The robot provided by the invention is provided with a corresponding intelligent control system, and can realize automatic walking, steering, cleaning and the like of the robot. The control principle and the control flow are as follows.
1) The control principle is as follows:
the intelligent control system consists of an input power supply, a controller, an execution device, a signal source, a signal transmission and communication module, is used for receiving solar irradiance (total radiation/direct radiation), solar conversion efficiency, a pressure sensor 8 feedback signal, a negative pressure sensor feedback signal, a duration and step number signal (signal source) in real time, and sends a start-stop instruction to a direct current steering engine (execution device), a purging fan 15 (execution device), a timer and a pedometer according to a maximum descending index allowed by the solar conversion efficiency, so that intelligent seamless connection of processes such as flat/curved surface self-adaption, boundary detection, accurate walking route, deep cleaning flat/curved surface and efficient charging and discharging can be realized, and the execution device, the controller and other self-powered systems provide the input power supply. The controller is packaged in the control box, controls the starting, walking, cleaning, steering and turning processes of the robot according to the accurate boundary detection feedback signal, the pedometer feedback signal, the timer feedback signal and the set main route, and is the central core of the robot.
When the solar energy conversion efficiency of the solar energy utilization device is reduced to 97% of the photovoltaic module conversion efficiency in the cleaning state, the controller sends a cleaning starting instruction, each functional module is electrified, and the robot is started. The flat/curved surface self-adaptive process controller receives a feedback signal of the pressure sensor 8, and further controls the flat/curved surface to change and drive the positive and negative rotation of the direct current motor 10, so that the self-resetting elastic matrix 7 is deformed adaptively. The boundary detection process controller receives a feedback signal of the negative pressure sensor in the main air pipe, judges whether the space is outside the boundary, and further controls the steering of the robot, the judgment of the walking direction after the steering and the parking process. The accurate walking route is determined by the boundary detection, the steering and the walking process. The deep cleaning is mainly coordinated and controlled by the historical optimal cleaning duration, a timer signal and a limit switch (reciprocating cleaning and homing control). The walking direction after turning is judged by the boundary detection result, after the mechanical arm turns, the mechanical arm is adjusted firstly to change the positioning state of the mechanical arm into an initial state position, then the walking direction is randomly selected, when the boundary signal is detected after walking for one step, the robot immediately walks in a reverse direction, and when the boundary signal is not detected after walking for two steps, the direction is the correct walking direction. And the homing and stopping process of the robot is controlled by the three-boundary detection result, after the pedometer feeds back the steering step number, the robot turns and walks to the next boundary, the robot turns again and judges the walking direction after the steering, if boundary signals are returned from both sides, the robot is shown to reach the stopping position, the state is further adjusted to the initial state position, and the controller controls the robot to stop, so that the cleaning is completed. When the robot detects the boundary signal, the robot finishes going back one step and turns to the next boundary, turns to the next boundary again and judges the turning walking direction, if the boundary signals are returned from the two sides, the robot is shown to reach the stand, the state is further adjusted to the initial state position, and the controller controls the robot to stop and finish cleaning.
2) The robot operation flow comprises the following steps:
as shown in fig. 11: when the robot cleans the groove type parabolic condenser, a bridge (two ends) needs to be connected between the upper half groove and the lower half groove in an overlapping manner. At the initial moment, the robot stops at a parking position, the parking position tracks the sun along with the parabolic trough condenser, the photovoltaic module 1 converts solar energy into direct current to be output and stored in the lithium battery pack, and power is provided for the operation process of the robot. After the intelligent control system receives various feedback signals, the dust removal starting time is judged according to the judgment conditions, when the judgment result shows that dust removal is needed, the robot is started, and according to the operation flow of the figure 11, the intelligent control system controls the starting and stopping of each steering engine group and the blowing fan according to the walking and judgment conditions, so that all-dimensional dead-corner-free cleaning is realized. The specific operation flow is as follows:
a) the robot starts and leaves the parking apron flow: the controller sends a cleaning starting instruction, namely a walking system (a self-reset elastic base body 7 is in a reset state) is powered on and started, a user walks forwards, the walking step number N fed back by the pedometer is L/L (L is the length of the robot and L is a single-step walking distance), the mechanical arm turns, and the mechanical arm is adjusted to an initial state position;
b) the walking direction judging process after steering: a) is connected, a walking direction is randomly selected and the user walks forwards for one step, boundary detection, boundary signal feedback, immediate backward walking, boundary detection, non-boundary signal feedback, and continuous walking;
c) the robot enters a first cleaning area flow: b) -continuous transverse walking-boundary detection is carried out every step-boundary signal feedback is carried out-mechanical arm steering-mechanical arm positioning state is adjusted to be initial state-flat/curved surface self-adaptive cleaning system is suitable for cleaning curved surface (self-reset elastic matrix 7 deformation) -walking direction judgment process after steering-mechanical arm positioning state is adjusted to be initial state;
d) a longitudinal walking process: c) -starting longitudinal walking-counting the walking steps fed back by the pedometer, wherein N is L/L-stopping the walking system;
e) longitudinal cleaning flow: d) receiving, namely resetting a timer, starting the flat/curved surface self-adaptive cleaning system, reciprocating cleaning, returning a timer to a set value (historical optimal cleaning time), returning and stopping the flat/curved surface self-adaptive cleaning system, and performing a longitudinal walking process;
f) the process of turning longitudinal walking and dust removal into transverse walking is as follows: e) -feedback boundary signal-self-reset elastic base 7 reset-mechanical arm steering-mechanical arm positioning state regulation to initial state-steering back walking direction judgment flow-transverse walking-;
g) the process of 'transverse walking' turning 'longitudinal walking + dust removal' comprises the following steps: f) is connected, the walking step number N fed back by the pedometer is L1/L (L1 is the width of the robot, L is the single step walking distance), the mechanical arm turns, the mechanical arm positioning state is adjusted to be the initial state, the walking direction is judged after turning, the flat/curved surface self-adaptive cleaning system is suitable for cleaning a curved surface (self-resetting elastic matrix 7 deformation);
h) and (3) a dust removal process: a longitudinal cleaning process-a longitudinal walking process-a process of turning from longitudinal walking and dust removal to transverse walking-a process of transverse walking and dust removal-a process of longitudinal cleaning-a process of longitudinal walking and dust removal-a process of transverse walking and dust removal-a process of longitudinal cleaning-a process of longitudinal walking;
i) a homing shutdown process: transverse walking- — the number of walking steps N < L1/L (L1 is the robot width, L is the single step walking distance) — feedback boundary signal- — transverse walking process (back step) — transverse walking "turning" longitudinal walking + dust removal "process- — longitudinal cleaning process- — longitudinal walking process- — feedback boundary signal- — mechanical arm turning- — mechanical arm positioning state adjustment to initial state position- — random selection of walking direction and forward walking one step- — boundary detection- — feedback boundary signal- — immediate reverse walking two steps- — boundary detection- — feedback boundary signal-transverse walking process (back step) — mechanical arm turning- — mechanical arm positioning state adjustment to initial state position- — reset of the elastic base 7 (preventing elastic attenuation from self-reset elastic base 7 due to long-term deformation) — stop machine- — execution of stopping machine- — execution of the machine-stop machine The system is powered off.
As shown in fig. 12: when the robot cleans a plane (a photovoltaic array or a flat plate collector array), a connecting bridge does not need to be lapped, and the walking route is basically the same, so the specific operation flow is the same as the cleaning process of the parabolic trough type condenser. At the initial moment, the robot stops at a stand, the stand inclination angle (the optimal installation inclination angle) is the same as that of a photovoltaic array or a flat plate collector array (generally non-tracking installation), and a photovoltaic module converts solar energy into direct current to be output and stored in a lithium battery pack to provide power for the operation process of the robot. After the intelligent control system receives various feedback signals, the dust removal starting time is judged according to the judgment condition, when the judgment result is dust removal, the robot is started, and according to the operation flow of the figure 12, the intelligent control system controls the starting and stopping of each steering engine group and the blowing fan according to the walking and judgment conditions, so that the all-dimensional dead-corner-free cleaning is realized. The intelligent control realizes the intelligent seamless connection of the flat/curved surface self-adaption, the boundary detection, the accurate walking route, the deep cleaning flat/curved surface, the efficient charging and discharging and other function realization processes.
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| CN112914436B (en) * | 2021-01-25 | 2022-01-25 | 深圳市磐锋精密技术有限公司 | Intelligent industrial robot positioning system |
| 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 |
| CN114035591B (en) * | 2021-11-15 | 2023-05-02 | 哈尔滨工程大学 | Motion switching control method of underwater variable-curvature wall surface motion robot |
| CN114789438B (en) * | 2022-03-30 | 2023-08-29 | 中国科学院合肥物质科学研究院 | Interactive robot motion unit |
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Effective date of registration: 20230904 Address after: 010000 Sibida Automobile City Economic and Trade Park, Xing'an North Road, Hohhot, Inner Mongolia Autonomous Region Patentee after: Inner Mongolia Jianfeng Technology Co.,Ltd. Address before: 010051, 49 Aimin street, Xincheng District, the Inner Mongolia Autonomous Region, Hohhot Patentee before: INNER MONGOLIA University OF TECHNOLOGY |