【摘要】 研究一种针对具有5°～75°倾斜度光伏电池板的清扫机器系统，该系统利用电池板的倾斜度有效解决了行走装置的稳定性问题。采用单直流电机驱动模式，主副行走轮通过蜗轮减速机驱动保持同步运动，降低了制造费用。控制方式采用芯片-继电器方式，通过行程信号控制运动方向和位置，提高了系统的可靠性。系统供电采用自带光伏板充电，解决了系统的动力供应问题。更多还原

【Abstract】 In this paper, a PV(photovoltaic) panels cleaning robot that can adapt 5°～75° inclination is studied.The system effectively solved the stability of the walking device by utilizing the inclination of PV panels. The robot is driven by single-motor mode, and the two ends of the robot keep synchronous motion by the gear transmission, which also reduces the cost of manufacture. The control mode adopts chip-relay mode, and the reliability of system is improved through controlling the direction and position of motion with the stroke signal.The power supply of the system is charged by robot-own PV panels, which also permanently solves the problem of the power supply.更多还原