Method for adjusting attitude of three-axis sensor of photovoltaic cleaning robot

Abstract

The invention is applicable to the technical field of photovoltaic cleaning robots, and provides a three-axis sensor attitude adjustment method for a photovoltaic cleaning robot, which comprises the following steps: two motors are respectively arranged on walking wheels on the upper side and the lower side of the photovoltaic cleaning robot for independent operation, and the two motors are respectively controlled by two motor drives of a controller; the speed of the motor is adjustable, and the speed regulation of the motor is realized by an internal software algorithm of the controller; an angle sensor is additionally arranged on the photovoltaic cleaning robot and used for measuring the angle change and transmitting the measured data; the effect of correcting the posture of the cleaning robot can be achieved by controlling the rotating speeds of the two motors when the photovoltaic cleaning robot inclines at an angle on a photovoltaic module, so that the equipment stability is improved, the equipment fault is reduced, the influence on power generation of a photovoltaic power station during inclination is reduced, and the power generation efficiency is improved. The service life of the robot is prolonged, and the operation and maintenance frequency is reduced.

Description

technical field [0001] The invention belongs to the technical field of photovoltaic cleaning robots, and in particular relates to a method for adjusting the attitude of a three-axis sensor of a photovoltaic cleaning robot. Background technique [0002] Photovoltaic cleaning robot is a photovoltaic cleaning device based on ARM controller. The main structure includes: motor drive, brush, embedded control system, solar power generation system, etc. During normal operation, the equipment is placed on the surface of the component, the upper, middle and lower travel wheels are connected through rigid synchronization, and run along the frame of the component, and the brush motor drives the brush to roll to remove dust on the surface of the component. [0003] Ideally, the robot runs in a straight line along the modules, but in reality the photovoltaic modules are not neatly arranged, there will be up and down misalignment, surface protrusions, etc., which will cause the robot to b...

AI Technical Summary

Problems solved by technology

[0003] Ideally, the robot runs in a straight line along the modules, but in reality the photovoltaic modules are not neatly arranged, there will be up and down misalignment, surface protrusions, etc., which will cause the robot to be partially blocked during operation and cause the equipment to tilt. When the tilt is serious or cause slipping, jamming, etc., such as image 3 and Figure 4 It is a situation that may be encountered in the operation of cleaning robots, so it is necessary to design a three-axis sensor attitude adjustment method for photovoltaic cleaning robots to solve this problem

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