CN112054761B - Natural energy driving robot with solar panel passive dual-mode automatic cleaning device - Google Patents
Natural energy driving robot with solar panel passive dual-mode automatic cleaning device Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
- B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K35/00—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit
- H02K35/04—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit with moving coil systems and stationary magnets
-
- 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
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
- B63H2021/202—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units of hybrid electric type
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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
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Photovoltaic Devices (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
Abstract
The invention belongs to the technical field of natural energy driven robots, and particularly relates to a natural energy driven robot with a solar panel passive dual-mode automatic cleaning device. The solar cleaning module is driven by adopting a passive hybrid energy source, and the energy carried by the robot driven by natural energy is not consumed; the driving energy is easy to obtain and is not single, energy is obtained through the attitude change of the NSV and the heat around the solar panel, the energy can be captured at all times in different weather, and the robustness of the device is improved by the dual-mode hybrid driving source; the solar panel cleaning device can automatically clean the solar panel with accurate time, determines cleaning action according to the comparison between the power generation state of the solar panel and the theoretical power generation state of the current environment, abandons the traditional timing cleaning mode and achieves the optimal state of energy consumption and energy capture. According to the invention, through mixed marine energy capture, the solar panel is automatically and accurately cleaned and maintained on the premise of not wasting the energy of the NSV, so that the endurance of the NSV is improved.
Description
Technical Field
The invention belongs to the technical field of natural energy driven robots, and particularly relates to a natural energy driven robot with a solar panel passive dual-mode automatic cleaning device.
Background
Energy capture is very important for marine vehicles requiring long self-sustaining power, and tasks such as monitoring and exploration in the ocean can be effectively realized only by increasing the capture capacity of external energy as much as possible. In actual engineering application, different marine environmental energy sources utilized by different marine vehicles are different at present, and the solar energy, the wave energy, the wind energy, the temperature difference energy and the like are mainly concentrated. At present, solar energy is one of the main energy harvesting sources for marine structures on the water surface. The Shu built-up (2018) indicates that the ocean surface is not covered by a covering in the technical state of environmental energy collection and utilization of a marine robot, the condition of receiving light is better, and the average solar power density is 168. Solar energy is mainly concentrated on the surface of seawater, and when the marine vehicle sails on the water surface or shallow water, the solar panel can convert illumination into electric energy to be stored and supplied to the marine vehicle for use. To meet the long-term, networked real-time marine observation task, NSV will work continuously on the sea for months, the weather at sea is variable, the waves are rough, the solar panels that have been slapped by sea water will have sea salt crystallization at high temperature and well ventilated conditions, and furthermore, sea bird excretions, sea attached organisms and sea water microorganism excretions on the solar panels may adhere to the solar panels. These tests will be carried out on the capture capability of the solar panel, and the energy acquisition capability will influence the endurance of the NSV. Therefore, maintaining solar energy capture capability is critical to maintaining NSV range.
The C-Endure marine vehicle invented by ASV Global in England of England adopts the arc-shaped laying of solar panels to reduce the residence time of seawater on the surface, but the viscous attachments such as sea salt precipitation and marine bird excrement cannot be effectively avoided.
Kokai 2015 09/h, with the publication number of 204633672U, the invention is named as a marine solar photovoltaic power generation device, wherein a water spraying device utilizes a pressure device to spray seawater through a spray head to clean a solar panel. Although the high-pressure water flow can remove the adhesive attachments, the problem of sea salt precipitation cannot be solved by using seawater for washing.
The solar panel cleaning device is disclosed in 2018, 04, 17 and 107919847A, wherein the first motor and the second motor are connected with a power supply and need external power sources, and the solar panel cleaning device is not applicable to offshore areas far away from land.
The publication date of 2019, 11 and 08, publication number of 110425484a, the invention is named as a self-cleaning solar street lamp, wherein the wing plates and the cleaning brush need to complete cleaning action under the action of wind power, the driving source is wind, the solar panels cannot be cleaned immediately, and the initiative is poor.
The invention discloses 5, 10 and 2019, has the publication number of CN109733544A, and is named as 'a natural energy driven wing rudder linkage long endurance twin-hull unmanned boat'. The present invention proposes a solution to this problem.
The driving source of the above invention is supplied by the shore side, and the solar panel is used to obtain the stored energy. Such a method is impractical for NSV which is sailing at sea for a long time and has high requirements on endurance. NSV, while relying on solar panels to capture energy, also maintain the range of the marine vehicle itself and the power supply to the various marine observation devices. Therefore, a passive device is needed, which can ensure the normal operation of the NSV solar energy capturing device, cannot occupy the energy captured by the solar panel, and can be driven accurately and automatically. In addition, the marine weather condition changes at many ends, and is cloudy and unusual, can adapt to various moments and weather and strong robustness has the device of multimode driving source and is urgent need.
Disclosure of Invention
The invention aims to provide a natural energy driven robot with a solar panel passive dual-mode automatic cleaning device.
The purpose of the invention is realized by the following technical scheme: comprises an integral frame; floating bodies are arranged below the left side and the right side of the integral frame, hydrofoils are arranged below the head end and the tail end of the integral frame, and a rainwater collector and an inclined energy collector are arranged at the top of the integral frame; the floating bodies below the left side and the right side of the integral frame are provided with brackets, and the brackets are provided with gas storage bottles, control modules and solar cleaning modules; the hydrofoils are connected with the floating bodies on the two sides and the supports carried on the floating bodies through connecting rods; tracks are arranged on two sides of the support, and a solar panel is laid between the tracks on the two sides; the solar cleaning module comprises a support beam, two sides of the support beam are arranged on a track through pulleys, a driving motor, a fresh water cabin and a cleaning agent cabin are arranged above the support beam, a brush is arranged below the support beam, and the brush is tightly attached to the solar panel; the fresh water cabin is connected with a rainwater collector through a hose; the inclined energy collector is connected with the motor through a cable; the output end of the driving motor is connected with the output end of the pneumatic actuator; the rainwater collector, the gas storage bottle and the pneumatic actuator are connected through a rainwater collecting pipeline; the rainwater collecting pipeline is connected with the solar panel through the heat conduction pipe, a rainwater collecting valve is arranged at the joint of the rainwater collecting pipeline and the rainwater collector, an air storage valve is arranged at the joint of the rainwater collecting pipeline and the air storage bottle, and the rainwater collecting valve and the air storage valve are controlled by the control module.
The present invention may further comprise:
the control module is internally provided with a voltage monitor, an optical radiation sensor and a thermometer; the voltage monitor monitors the voltage V generated by the solar panelFruit of Chinese wolfberry(ii) a The optical radiation sensor monitors the intensity R of solar radiationFruit of Chinese wolfberry(ii) a The thermometer measures the temperature T of the environmentFruit of Chinese wolfberry(ii) a When V isFruit of Chinese wolfberry≥VTheory of thingsWhen the solar cleaning module does not work, the inclined energy collector and the heat energy collector capture inclined energy and heat energy near the solar panel respectively and store the energy; when V isFruit of Chinese wolfberry＜VTheory of thingsWhen the solar cleaning module works, the solar panel is cleaned; tilting the energy collector and the thermal energy collector to release the previously captured energy to provide energy for the movement of the solar cleaning module up to VFruit of Chinese wolfberry≥VTheory of things(ii) a Wherein, VTheory of things＝fTheory of things(RFruit of Chinese wolfberry,TFruit of Chinese wolfberry)，fTheory of thingsThe fitting function of the solar panel power generation voltage is obtained by testing and fitting the solar panel under different temperature and light radiation intensity conditions.
The invention has the beneficial effects that:
the solar cleaning module is driven by adopting a passive hybrid energy source, and the energy carried by the robot driven by natural energy is not consumed, namely the solar cleaning module can not become a load facing a carrier; the driving energy is easy to obtain and is not single, energy is obtained through attitude change of the NSV and heat around the solar panel, and the energy can be captured at various moments in different weather, for example, in an environment with low radiation of sunlight, the energy is captured mainly by attitude change of the NSV at every moment, and in an environment with high radiation of sunlight, the heat around the solar panel becomes a main capture object of the device, and the robustness of the device is improved by the dual-mode hybrid driving source; the solar panel cleaning device can automatically clean the solar panel with accurate time, determines cleaning action according to the comparison between the power generation state of the solar panel and the theoretical power generation state of the current environment, abandons the traditional timing cleaning mode and achieves the optimal state of energy consumption and energy capture. According to the invention, through mixed marine energy capture, the solar panel is automatically and accurately cleaned and maintained on the premise of not wasting the energy of the NSV, so that the endurance of the NSV is improved.
Drawings
Figure 1 is a schematic view of the installation of a solar cleaning module according to the invention.
Fig. 2 is a schematic view of the overall structure of the present invention.
FIG. 3 is a schematic diagram of the control module of the present invention.
FIG. 4 is a flow chart of the logic determination of the control module of the present invention.
Fig. 5 is a schematic view of the solar panel cleaning module according to the present invention.
Fig. 6 is a schematic diagram of the operation of the inclined energy collector of the present invention.
Fig. 7 is a schematic diagram of the operation of the thermal energy collector of the present invention.
Fig. 8 is a schematic structural view of the pneumatic actuator of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention designs a natural energy driven robot (NSV) with a solar panel passive dual-mode automatic cleaning device (OSPC). To meet the long-term, networked real-time marine observation task, NSV will work continuously on the sea for months, the weather at sea is variable, the waves are rough, the solar panels that have been slapped by sea water will have sea salt crystallization at high temperature and well ventilated conditions, and furthermore, sea bird excretions, sea attached organisms and sea water microorganism excretions on the solar panels may adhere to the solar panels. According to the invention, through mixed marine energy capture, the solar panel is automatically and accurately cleaned and maintained on the premise of not wasting the energy of the NSV, so that the endurance of the NSV is improved.
A natural energy driven robot with a solar panel passive dual-mode automatic cleaning device comprises an integral framework; floating bodies are arranged below the left side and the right side of the integral frame, hydrofoils are arranged below the head end and the tail end of the integral frame, and a rainwater collector and an inclined energy collector are arranged at the top of the integral frame; the floating bodies below the left side and the right side of the integral frame are provided with brackets, and the brackets are provided with gas storage bottles, control modules and solar cleaning modules; the hydrofoils are connected with the floating bodies on the two sides and the supports carried on the floating bodies through connecting rods; tracks are arranged on two sides of the support, and a solar panel is laid between the tracks on the two sides; the solar cleaning module comprises a support beam, two sides of the support beam are arranged on a track through pulleys, a driving motor, a fresh water cabin and a cleaning agent cabin are arranged above the support beam, a brush is arranged below the support beam, and the brush is tightly attached to the solar panel; the fresh water cabin is connected with a rainwater collector through a hose; the inclined energy collector is connected with the motor through a cable; the output end of the driving motor is connected with the output end of the pneumatic actuator; the rainwater collector, the gas storage bottle and the pneumatic actuator are connected through a rainwater collecting pipeline; the rainwater collecting pipeline is connected with the solar panel through the heat conduction pipe, a rainwater collecting valve is arranged at the joint of the rainwater collecting pipeline and the rainwater collector, an air storage valve is arranged at the joint of the rainwater collecting pipeline and the air storage bottle, and the rainwater collecting valve and the air storage valve are controlled by the control module.
The control module is internally provided with a voltage monitor, an optical radiation sensor and a thermometer; the voltage monitor monitors the voltage V generated by the solar panelFruit of Chinese wolfberry(ii) a The optical radiation sensor monitors the intensity R of solar radiationFruit of Chinese wolfberry(ii) a The thermometer measures the temperature T of the environmentFruit of Chinese wolfberry(ii) a When V isFruit of Chinese wolfberry≥VTheory of thingsWhen the solar cleaning module does not work, the inclined energy collector and the heat energy collector capture the inclined energy and the heat energy near the solar panel respectively,storing energy; when V isFruit of Chinese wolfberry＜VTheory of thingsWhen the solar cleaning module works, the solar panel is cleaned; tilting the energy collector and the thermal energy collector to release the previously captured energy to provide energy for the movement of the solar cleaning module up to VFruit of Chinese wolfberry≥VTheory of things(ii) a Wherein, VTheory of things＝fTheory of things(RFruit of Chinese wolfberry,TFruit of Chinese wolfberry)，fTheory of thingsThe fitting function of the solar panel power generation voltage is obtained by testing and fitting the solar panel under different temperature and light radiation intensity conditions.
Example 1:
(1) the solar panel passive dual-mode automatic cleaning device for the natural energy driven robot is driven by passive hybrid energy, the energy carried by the natural energy driven robot (NSV) is not consumed, namely the natural energy driven robot cannot become a load facing a carrier; the driving energy is easy to obtain and is not single, energy is obtained through attitude change of the NSV and heat around the solar panel, and the energy can be captured at various moments in different weather, for example, in an environment with low radiation of sunlight, the energy is captured mainly by attitude change of the NSV at every moment, and in an environment with high radiation of sunlight, the heat around the solar panel becomes a main capture object of the device, and the robustness of the device is improved by the dual-mode hybrid driving source; the solar panel cleaning device can automatically complete and is accurate in time, cleaning action is determined according to the comparison between the power generation state of the solar panel and the theoretical power generation state of the environment at that time, the traditional timing cleaning mode is abandoned, and the optimal states of energy consumption and NSV energy capture of the device are achieved.
(2) FIG. 1 is a schematic view of an installation of an OSPC (solar panel passive dual mode cleaning device) for a naturally powered robot; fig. 2 is a structural diagram of a natural energy driven robot (NSV). Firstly, the support of the solar energy capturing device of the NSV is used for supporting the solar panel, and the support can be a support independent of the system and is arranged at the position shown in the figure 2; a motion track for a Solar panel cleaning module (SPC) to perform a cleaning motion; connecting modules for connecting the NSV support and the SPC motion track, wherein the connecting modules are connected in a sealing riveting mode, and at least one rivet hole is required to be drilled; the round through holes (at least eight) can be customized according to the requirements of users and are used for fixedly connecting the solar panel and the NSV solar energy capturing device bracket; an inclined energy collector (OEC) is arranged at a place where NSV pitching and rolling are obvious, is generally arranged near an NSV superstructure, and is a device for collecting NSV pitching and rolling energy; the rainwater collector is used for collecting rainwater (fresh water) in the sea and avoiding seawater irrigation, and is installed at the uppermost part of the NSV; a Heat Energy Collector (HEC) is a device for collecting Heat near a solar panel, and is installed near a solar energy capture device; a Cleaning judger (Cle-Judge) is installed near the solar energy capturing device for monitoring the working condition of the solar panel so as to signal whether the solar panel is clean or not.
(3) FIG. 3 is a schematic view showing the composition of a Cleaning judger (Cle-Judge). The cleaning judger consists of a voltage monitor, a light radiation sensor and a thermometer. The voltage monitor is used for monitoring the voltage V generated by the solar panel loaded by the NSVFruit of Chinese wolfberry(ii) a The optical radiation sensor is used for monitoring the intensity R of the solar radiation at the timeFruit of Chinese wolfberry(ii) a The thermometer is used for measuring the temperature T of the environment in which the NSV is positionedFruit of Chinese wolfberry。
(4) FIG. 4 is a logic flow diagram of the Cleaning Judge (Cle-Judge). According to the intensity of solar radiation RFruit of Chinese wolfberryTemperature T of the environment in which the NSV is locatedFruit of Chinese wolfberryCalculating the voltage V generated by the solar panelTheory of thingsAnd V isTheory of things＝fTheory of things(RFruit of Chinese wolfberry,TFruit of Chinese wolfberry) Wherein f isTheory of thingsThe fitting function of the solar panel power generation voltage is obtained by testing and fitting the NSV carried solar panel under different temperature and light radiation intensity conditions; when V isFruit of Chinese wolfberry≥VTheory of thingsWhen the SPC in the OSPC does not work, the OEC and the HEC capture NSV tilting energy and heat energy near the solar panel respectively and store the energy; when V isFruit of Chinese wolfberry＜VTheory of thingsAt that time, the SPC in OSPC starts working, scrubbing the solar panel, and the energy captured before the OEC and HEC release provides energy for SPC movement until VFruit of Chinese wolfberry≥VTheory of things。
(5) FIG. 5 is a schematic diagram of the composition of SPC. The SPC consists of a main support structure, a motor, a fresh water compartment and a detergent compartment. The rainwater collector is connected with the fresh water cabin through a hose, and the rainwater collector is used as a fresh water supplement source of the fresh water cabin by utilizing atmospheric pressure and the gravitational potential energy of water, so that the mechanism is simple and reliable; the OEC is connected to the motor by a cable for driving the SPC in a cleaning motion. The wheels serve to reduce friction during movement, making the structure smoother during cleaning. The brush is closely attached to the NSV solar panel and used for cleaning stubborn salt stains, other attachments with high viscosity and the like.
(6) Figure 6 is a schematic diagram of the operation of the OEC. The upper and lower bar magnets with different polarities form a magnetic field inside the OEC; the coil cuts magnetic induction lines in a magnetic field due to the rolling (pitching) motion of the NSV to generate electromotive force to drive charge motion, and energy is stored in a capacitor; the two ends of the coil are provided with the wire storage boxes, the torsion springs are arranged in the wire storage boxes and connected with the coil, and the tightness of the torsion springs is not influenced by the cutting motion of the coil, and the redundant coil can be timely withdrawn.
(7) Fig. 7 is a functional diagram of the HEC. Two ends of the rainwater collecting pipeline are controlled by valves, and the rainwater collecting valve is connected with a rainwater collector; the gas storage valve is connected with the gas storage bottle. The rainwater collecting pipeline is connected with the solar panel through the heat transfer pipe; the OEC and the SPC are connected by a pneumatic actuator. When the sun irradiates the solar panel, a large amount of heat is distributed around the capturing plate, the capturing plate begins to heat up, the heat heats water in the rainwater collecting pipeline through the heat transfer pipe, the water becomes water vapor, the pressure in the pipe is increased, the rainwater collecting valve is closed at the moment, and the gas storage valve is opened to store gas. When HEC is needed to work, the air storage raft is opened, the rain collecting valve is closed, and air enters the pneumatic actuator to drive the SPC to work.
Fig. 8 is a schematic structural view of a pneumatic actuator. The water vapor of the rainwater collection pipeline enters the pushing piston, the driving rod pushes the SPC to move, the water vapor disappears, and the piston is restored to the original position under the elastic action of the spring.
An inclined energy collector (OEC) collects energy by means of longitudinal and transverse motions of NSV on the sea for a long time; a Heat Energy Collector (HEC) for collecting Heat around the solar panel, wherein the Heat energy collector and the HEC are complementary to each other to form a dual-mode driving source; a Cleaning judger (Cle-Judge) calculates and outputs control signals according to the light radiation intensity of the surroundings, the ambient temperature and the voltage of the solar panel, and controls HEC, OEC and SPC; the Solar panel cleaning module (SPC) performs a driving operation by receiving a control signal of the cleaning determiner, and if the signal feedback is performed, the Solar panel cleaning module performs a repetitive motion on the Solar panel of the NSV. If the signal feedback is not executed, the mechanism is in a standby state: the cleaning judger continuously detects the surrounding environment to drive the solar panel cleaning module mechanism to move in a circulating reciprocating mode.
An installation schematic diagram of a solar panel passive dual-mode automatic cleaning device (OSPC) for a natural energy driven robot is shown in fig. 1 and 2; firstly, a solar energy capturing device bracket of a natural energy driven robot (NSV) is used for supporting a solar panel, and the bracket can be independent of the system, is arranged at the position shown in figure 2 and is arranged on a grid beam frame of the NSV; a motion track for a Solar panel cleaning module (SPC) to perform a cleaning motion; connecting modules for connecting the NSV support and the SPC motion track, wherein the connecting modules are connected in a sealing riveting mode, and at least one rivet hole is required to be drilled; the round through holes (at least eight) can be customized according to the requirements of users and are used for fixedly connecting the solar panel and the NSV solar energy capturing device bracket; an inclined energy collector (OEC) is arranged at a place where NSV pitching and rolling are obvious, is generally arranged near an NSV superstructure, and is a device for collecting NSV pitching and rolling energy; a rain water collector for collecting rain water in the sea, mounted at the uppermost part of the NSV, in the position shown in fig. 2; a Heat Energy Collector (HEC) is a device that collects Heat near the solar panel, and is installed near the solar capture device, as shown in fig. 2; a Cleaning judger (Cle-Judge) is installed near the solar energy capturing device, as shown in fig. 2, for monitoring the working condition of the solar panel and sending a Cleaning control signal.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The utility model provides a natural energy drive robot with passive bimodulus self-cleaning device of solar panel which characterized in that: comprises an integral frame; floating bodies are arranged below the left side and the right side of the integral frame, hydrofoils are arranged below the head end and the tail end of the integral frame, and a rainwater collector and an inclined energy collector are arranged at the top of the integral frame; the floating bodies below the left side and the right side of the integral frame are provided with brackets, and the brackets are provided with gas storage bottles, control modules and solar cleaning modules; the hydrofoils are connected with the floating bodies on the two sides and the supports carried on the floating bodies through connecting rods; tracks are arranged on two sides of the support, and a solar panel is laid between the tracks on the two sides; the solar cleaning module comprises a support beam, two sides of the support beam are arranged on a track through pulleys, a driving motor, a fresh water cabin and a cleaning agent cabin are arranged above the support beam, a brush is arranged below the support beam, and the brush is tightly attached to the solar panel; the fresh water cabin is connected with a rainwater collector through a hose; the inclined energy collector is connected with the motor through a cable; the output end of the driving motor is connected with the output end of the pneumatic actuator; the rainwater collector, the gas storage bottle and the pneumatic actuator are connected through a rainwater collecting pipeline; the rainwater collecting pipeline is connected with the solar panel through the heat transfer pipe, a rainwater collecting valve is arranged at the joint of the rainwater collecting pipeline and the rainwater collector, an air storage valve is arranged at the joint of the rainwater collecting pipeline and the air storage bottle, and the rainwater collecting valve and the air storage valve are controlled by the control module; when the sun irradiates the solar panel, a large amount of heat is distributed around the solar panel, the solar panel starts to heat, the heat heats water in the rainwater collection pipeline through the heat transfer pipe, the water is changed into vapor, the pressure in the pipe is increased, the rainwater collection valve is closed at the moment, and the gas storage valve is opened to store gas; when the solar cleaning module is required to work, the gas storage raft is opened, the rain collecting valve is closed, and gas enters the pneumatic actuator to drive the solar cleaning module to work together with the driving motor.
2. The natural energy driven robot with the solar panel passive dual-mode automatic cleaning device as claimed in claim 1, wherein: the control module is internally provided with a voltage monitor, an optical radiation sensor and a thermometer; the voltage monitor monitors the voltage V generated by the solar panelFruit of Chinese wolfberry(ii) a The optical radiation sensor monitors the intensity R of solar radiationFruit of Chinese wolfberry(ii) a The thermometer measures the temperature T of the environmentFruit of Chinese wolfberry(ii) a When V isFruit of Chinese wolfberry≥VTheory of thingsWhen the solar cleaning module does not work, the inclined energy collector and the heat energy collector capture inclined energy and heat energy near the solar panel respectively and store the energy; when V isFruit of Chinese wolfberry＜VTheory of thingsWhen the solar cleaning module works, the solar panel is cleaned; tilting the energy collector and the thermal energy collector to release the previously captured energy to provide energy for the movement of the solar cleaning module up to VFruit of Chinese wolfberry≥VTheory of things(ii) a Wherein, VTheory of things＝fTheory of things(RFruit of Chinese wolfberry,TFruit of Chinese wolfberry)，fTheory of thingsThe fitting function of the solar panel power generation voltage is obtained by testing and fitting the solar panel under different temperature and light radiation intensity conditions.
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| JP2016082763A (en) * | 2014-10-20 | 2016-05-16 | 株式会社日立製作所 | Solar panel washing system |
| CN208924180U (en) * | 2018-01-31 | 2019-05-31 | 阳光电源股份有限公司 | Float photovoltaic plant and its cleaning device |
| AU2019213466A1 (en) * | 2018-02-05 | 2020-09-17 | H3 Dynamics Holdings Pte. Ltd. | Landing platform with improved charging for unmanned vehicles |
| CN108528668A (en) * | 2018-06-05 | 2018-09-14 | 吉林大学 | A kind of multi power source underwater robot |
| CN210214859U (en) * | 2019-05-06 | 2020-03-31 | 浙江大学 | Solar photo-thermal seawater desalination device |
| CN210101937U (en) * | 2019-05-22 | 2020-02-21 | 江苏海事职业技术学院 | Be used for unmanned ship detection equipment |
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