A control system of new-type cleaning robots for photovoltaics was desighed, which was used for cleaning the photovoltaic panels in large-scale PV plant.The control system was applied to realize the automatic cleaning operation, such as chassis leveling, straight moving, manipulator arm cleaning, dust cleaning and absorbing, and so on.A special motion controller TTC60 was adopted as the controlling core component.Using the hydraulic system composed of electro-hydraulic proportional valves, sequential operations in accordance with cleaning procedures were realized by robots.Moreover, combined with mechanical leveling mechanism, automatic cleaning and dust-absorbing operations on the planar photovoltaics were completed while the robots were moving on the bumpy ground.When the moving speed is 1 km/h,the cleaning speed could reach 3 000 m2/h.%设计了一种新型的用于大型太阳能光伏电站光伏板清洁工作的机器人控制系统,实现机器人底盘调平、直线行走、机械臂清洁、清扫和吸尘等全自动化作业.控制系统采用专用运动控制器TTC60作为控制核心,利用电控比例阀组成的液压系统,使机器人按清洗工序顺序动作,结合机械调平机构,能够在地面不平时对平面光伏板进行自动清扫和吸尘,以1 km/h可以实现3 000 m2/h的清扫.
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