CN103084360A - Full-automatic intelligent cleaning device of photovoltaic power station modules - Google Patents

Full-automatic intelligent cleaning device of photovoltaic power station modules Download PDF

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Publication number
CN103084360A
CN103084360A CN2013100461198A CN201310046119A CN103084360A CN 103084360 A CN103084360 A CN 103084360A CN 2013100461198 A CN2013100461198 A CN 2013100461198A CN 201310046119 A CN201310046119 A CN 201310046119A CN 103084360 A CN103084360 A CN 103084360A
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China
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cleaning
unit
power station
photovoltaic power
automatic
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CN2013100461198A
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Chinese (zh)
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CN103084360B (en
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武立轩
刘京京
张玉栋
陈万通
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北京安必信能源设备有限公司
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Abstract

The invention relates to a full-automatic intelligent cleaning device of photovoltaic power station modules, in particular to a high-efficiency dust-cleaning device for various long or short square photovoltaic modules of a large-scale photovoltaic power station. The full-automatic intelligent cleaning device of the photovoltaic power station modules comprises a cleaning car, an electromechanical braking system and an intelligent control system. The electromechanical braking system comprises a power supply unit, a support arm unit and a cleaning unit. The electromechanical braking system has the functions of cleaning and dust-cleaning with a plurality of degrees of freedom according to the surfaces of the photovoltaic modules. The intelligent control system comprises a perception unit, a processing unit and a remote control unit and can achieve full-automatic, real-time and remote controlled high-accuracy control of the cleaning car and a cleaning mechanism. The full-automatic intelligent cleaning device of the photovoltaic power station modules enables the cleaning device to be intelligentized, can carry out one-time high-accuracy dust-cleaning to the various long or short square under different road conditions, is safe, stable, reliable and full-automatic, and effectively solves the technical problems that cleaning is excessively dependent on manpower to supervise and the cleaning efficiency of the large-scale photovoltaic power station is low in the prior art.

Description

A kind of photovoltaic power station component fully-automatic intelligent cleaning equipment
Technical field
The present invention relates to a kind of equipment that photovoltaic power station component is carried out fully-automatic intelligent cleaning, relate in particular to a kind of high-effective dust-removing equipment that can be applicable to the various length square formation photovoltaic modulies in large-sized photovoltaic power station.
Background technology
Solar energy is as a kind of green energy resource, with its never exhaustion, Environmental Safety, be widely used in every field without advantages such as regional limits.In the practical application of solar energy power generating, photovoltaic module is as the most important unit of generating, and its power output is subjected to directly affecting of sunlight intensity of illumination.After dust storm, dust, accumulated snow etc. are fallen the surface of photovoltaic module, reduce light transmittance, cause photoelectric transformation efficiency significantly to reduce, this problem is particularly serious in dust storm larger central and west regions.Therefore, most important to the cleaning of photovoltaic components in photovoltaic plant in order to keep the generating efficiency of photovoltaic plant, the cleaning of photovoltaic components in photovoltaic plant becomes photovoltaic plant and builds an indispensable key link.
Still with artificial cleaning, artificial cleaning mode comprises that water rushes cleaning and mop cleaning to the clear light photovoltaic assembly mostly at present, and its shortcoming is to be subject to the environmental condition restriction, and workload is heavy, and cleaning efficiency is low, and cleaning effect is poor, and operation cost is high.Particularly in China central and west regions, windy and a little arid, the water source is deficient, and manpower lacks, and artificial cleaning is difficult to carry out.
Drawback for artificial cleaning, at present more existing photovoltaic module automatic cleaning apparatus, can be divided into two classes according to its work characteristics: the first kind belongs to single group photovoltaic module cleaning equipment, it is installed on single group photovoltaic module surface, carry out the timing cleaning, Chinese patent " solar photovoltaic cell panel assembly surface cleaning device (CN102303025A) " for example, its rinse part is in single component surface reciprocating motion, spray simultaneously the high-pressure water vapor dedusting, therefore this equipment is also inapplicable in the water-deficient area, due to expensive, be difficult to promote in photovoltaic plant simultaneously.Equations of The Second Kind belongs to group's photovoltaic module cleaning equipment, and it to many groups photovoltaic module surface enforcement cleaning, is the preferred option of photovoltaic components in photovoltaic plant cleaning take mobile vehicle as carrier in the locomotive walking process.Chinese patent " a kind of solar panel cleaning equipment (CN202105809U) " for example, but this patent is installed cleaning mechanism take the mobile vehicle front portion as carrier, has amplified rough topographical surface, can't Assurance component safety.Therefore, security, stability are the key issues that group's photovoltaic module cleaning equipment must be considered.
For tens and even large-scale photovoltaic power station more than hundreds of megawatt, photovoltaic module quantity is huge, site area is wide, therefore also more harsh to the requirement of group's photovoltaic module cleaning equipment, leading indicator has three: the firstth, and operating efficiency, be can clean the photovoltaic module of much numbers in the unit interval, operating efficiency is higher, and economic benefit is larger; The secondth, intelligent degree, be the ability of equipment safety automation work under complex environment, for example can carry out the self adaptation adjustment for rough topographical surface, and can carry out perception, identification, judgement and adjustment to the photovoltaic module surface, intelligent degree is higher, and artificial interference is fewer; The 3rd is reliability standard, namely equipment sometime the section in degree of reliability.Reliability is higher, but the ability of equipment continuity work is stronger, and the number of times of artificial maintenance is fewer.Present existing group photovoltaic module cleaning equipment automatic capability is lower, manyly need manual intervention and manually keep an eye on, there is no full-automatic type device product, intelligent degree is obviously lower, the phenomenon of photovoltaic module often occurs in cleaning course damaging, and its operating efficiency has much room for improvement still for the large-sized photovoltaic power station.
Summary of the invention
Technical problem to be solved by this invention is: for the deficiency that exists in existing group photovoltaic module cleaning equipment, a kind of full-automation, intelligence, efficient, safe photovoltaic power station component fully-automatic intelligent cleaning equipment are provided, solved that cleaning equipment of the prior art is intelligent and automaticity is not high enough, cleaning cart road pavement adaptive ability is poor, the technical problem of inefficiency, poor stability, be specially adapted to the cleaning of various length square formation photovoltaic modulies in the large-sized photovoltaic power station.
The technology of the present invention solution: a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment comprises: full-automatic remote-controlled cleaning cart 1, the full-automatic remote-controlled cleaning mechanism that is connected with described full-automatic remote-controlled cleaning cart 1; Described full-automatic remote-controlled cleaning mechanism comprises electromechanical braking system and intelligence control system, and described electromechanical braking system comprises power supply unit 2, an arm unit 3, cleaning unit 4, is the mechanical implementation section of cleaning function; Described intelligence control system comprises perception unit 5, processing unit 6, RCU 7, processing unit 6 respectively with arm unit 3, cleaning unit 4, perception unit 5 be connected cleaning cart 1 and be connected, for the automatic control of full-automatic remote-controlled cleaning cart 1 and full-automatic remote-controlled cleaning mechanism; Described cleaning unit 4 is connected with an arm unit 3; Described perception unit 5 is fixed on cleaning unit 4; Described arm unit 3 possesses three degree of freedom, namely horizontally rotates, vertical rotary and flexible; Described cleaning unit has two frees degree, adjust in real time self rotation direction and with the parallel direction on photovoltaic power station component surface; Described power supply unit 2 distributes required voltage and power to an arm unit 3, cleaning unit 4, perception unit 5 and processing unit 6 respectively;
When the remote control mode of RCU 7 is fully automatic mode, automatic remote control cleaning cart 1 drives to desired location after receiving by processing unit 6 telecommand that RCU 7 sends, align with the photovoltaic power station component direction, carry out cleaning, described fully automatic mode, in the cleaning course of one group of photovoltaic power station component, need not manual intervention; In cleaning course, perception unit 5 will perceive cleaning unit 4 the angle of inclination and with the distance on photovoltaic power station component surface, and real-time Transmission is to processing unit 6; The angle of inclination of 6 pairs of cleaning units 4 of processing unit and cleaning unit 4 are processed with the distance value on photovoltaic power station component surface, send instruction and control duty and the operating frequency of an arm unit 3 and cleaning unit 4, control arm unit 3 and cleaning unit 4 collaborative works; Processing unit 6 comprises intelligent control algorithm simultaneously, intelligent control algorithm is according to the perception data of perception unit 5, whether real-time judge cleaning unit 4 keeps with photovoltaic power station component the distance that works, when if full-automatic remote-controlled cleaning cart 1 runs into Uneven road generation fluctuating in the process of moving, control arm unit 3 and the real-time automatic adjusting position of cleaning unit 4 and an angle, assurance does not damage the photovoltaic power station component surface; Use simultaneously roller brush and two kinds of cleaning modes of dust suction in cleaning unit 4 courses of work, need not the water source.
The remote control mode of described RCU 7 also comprises manual mode and fault self-checking pattern; Described manual mode, the duty of whole arm unit of backer's wage adjustment and cleaning unit; Described fault self-checking pattern refers to connection status, running parameter, the running status of arm unit 3, cleaning unit 4, perception unit 5 and processing unit 6 are carried out self check, after self check is complete by processing unit to the user feedback self-detection result.
Whether described intelligent control algorithm real-time judge cleaning unit 4 keeps the normal operation distance to comprise with photovoltaic power station component: whether real-time judge cleaning unit 4 keeps matching cover with the photovoltaic power station component width, whether real-time judge cleaning unit 4 is crossed closely with the photovoltaic power station component surface or is excessively far away, and whether real-time judge cleaning unit 4 aligns with parallel with the photovoltaic power station component surface.
Described arm unit 3 and cleaning unit 4 all are installed on the middle part of full-automatic remote-controlled cleaning cart 1.
Described full-automatic remote-controlled cleaning cart 1 comprises locomotive chassis 1.3, walking mechanism control system 1.4, walking mechanism and rotating disc 1.5, and wherein said walking mechanism comprises locomotive crawler belt 1.1, locomotive centipede belt drive 1.2; Locomotive chassis 1.3 middle parts are provided with can 360 ° of rotating discs that horizontally rotate 1.5; Locomotive chassis 1.3 is arranged with walking mechanism, is provided with walking mechanism control system 1.4 on locomotive chassis 1.3.
Described arm unit 3 possesses the specifically vertical rotary of the horizontally rotating of cantilever 3.1, cantilever 3.1 and secondary cantilever 3.6 flexible of three degree of freedom, and it comprises cantilever 3.1, horizontally rotates motor 3.2, vertical rotation motor 3.3, bi-directional rotary support reductor 3.4, the pneumatic support component 3.5 of cantilever, secondary cantilever 3.6, secondary cantilever motor 3.7, secondary cantilever reductor 3.8 and the pneumatic support component 3.9 of secondary cantilever; Cantilever 3.1 respectively with horizontally rotate motor 3.2, vertical rotation motor 3.3, bi-directional rotary and support reductor 3.4 and be connected; Secondary cantilever 3.6 is connected with secondary cantilever motor 3.7 by secondary cantilever reductor 3.8, is furnished with the pneumatic support component 3.5 of cantilever between cantilever 3.1 and full-automatic remote-controlled cleaning cart 1, is furnished with the pneumatic support component 3.9 of secondary cantilever between secondary cantilever 3.6 and cantilever 3.1.
Described cleaning unit 4 comprises clearer 4.1, protective cover 4.2, air inlet 4.3, clearer motor 4.4, deep bead 4.5), conduit 4.6, roller brush inclination angle reductor 4.7, roller brush inclination angle motor 4.8, support 4.9 and dust catcher 4.10; Clearer 4.1 is connected with clearer motor 4.4; Conduit 4.6 is connected with clearer 4.1 ends, and dust catcher 4.10 is placed in an arm unit 3; Air admission hole 4.3 enters into dust catcher 4.10 by conduit 4.6; Clearer 4.1 outsides are covered with protective cover 4.2, and fixing by support 4.9 between clearer 4.1 and protective cover 4.2, protective cover 4.2 tail sides are equipped with clearer motor 4.4; Be provided with deep bead 4.5 in space between clearer 4.1 and protective cover 4.2, deep bead 4.5 rear defence cover 4.2 middle parts are provided with air inlet 4.3 and are connected with conduit 4.6.
Described clearer 4.1 is single roller, is furnished with several different sizes, and is detachable, can fill and change, and can carry out the single roller matching cover of element width to the surface of different size photovoltaic module.
Described perception unit 5 comprises obliquity sensor 5.1 and ultrasonic ranging array 5.2, and described obliquity sensor 5.1 is fixed in the surface of cleaning unit 4, and described ultrasonic ranging array 5.2 is fixed in the both sides of cleaning unit 4.
Described ultrasonic ranging array 5.2 mounting means are four lines two row configurations, and namely respectively there are four pieces of range cells the both sides of cleaning unit 4, another two pieces of up and down that are arranged on cleaning unit 4.
The hardware of described processing unit 6 comprises flush bonding processor 6.1, relay switch array 6.2, frequency converter 6.3, display screen 6.4, wireless transceiver 6.5 and controller communication interface 6.6; Described relay switch array 6.2 receives the instruction that flush bonding processor 6.1 sends, and controls arm unit 3 and each motor of cleaning unit 4 and a duty of each reducing motor; The operating frequency of each reducing motor of an arm unit and cleaning unit is controlled in the instruction that described frequency converter 6.3 receives flush bonding processor 6.1; Wireless transceiver 6.5 is used for communicating by letter with RCU with controller communication interface 6.6; Display screen 6.4 is used for showing work state information and the sensor information of flush bonding processor 6.1 transmissions.
Described RCU 7 adopts coded system one to one, when a plurality of fully-automatic intelligent cleaning equipments are worked simultaneously at same scene, does not disturb mutually not general mutually between each RCU 7 each other.
Described power supply unit 2 comprises the locomotive electricity generation system, voltage-stabilizing system and power-supply management system; Supply voltage and the power division of above-mentioned three System Assurance all the other each unit; Locomotive electricity generation system 2.1 is responsible for and will can be changed into electric energy in locomotive, perhaps locomotive electricity generation system 2.1 is directly introduced photovoltaic plant external power source interface, voltage-stabilizing system 2.2 is responsible for voltage is done conditioning, distributes required voltage and power to an arm unit 3, cleaning unit 4, perception unit 5 and processing unit 6 respectively by power-supply management system 2.3.
Described full-automatic remote-controlled cleaning cart 1 uses this mode of locomotive self generating, also can use the external power source of photovoltaic power station component.
The present invention's advantage compared with prior art is:
(1) the present invention with full-automatic remote-controlled cleaning cart and the organic structure of full-automatic remote-controlled cleaning mechanism, adopts intelligent algorithm to control simultaneously, can automatically adjust in real time arm unit and a cleaning unit according to full-automatic remote-controlled cleaning cart self attitude; Has simultaneously RCU, therefore can full-automatic work, need not manual intervention in the course of work, save manpower, have advantages of full-automation, intelligence, efficient, safe, can be widely used in various uneven road environments and can clean for the smooth not photovoltaic module in various surfaces.
(2) in the present invention, cleaning unit possesses two frees degree, and one can move horizontally direction according to clearer and adjust rotation direction, and the dust that makes clearer remove is convenient to fully be absorbed by dust catcher; Its two, the angle of adjusting in real time clearer is parallel with the photovoltaic module surface, avoids clearer tiltedly to touch the photovoltaic module surface.
(3) the arm unit in the present invention possesses three degree of freedom, and one is that cantilever can horizontally rotate, and it two is the cantilever vertical rotary, and it three is that secondary cantilever can vertical rotary, and multiple degrees of freedom significantly promotes the flexibility of cleaning equipment integral body.
(4) clearer in cleaning unit of the present invention is single roller, carry out in real time the element width matching cover, can realize formula assembly surface cleaning one time, avoided some equipment repeatedly moving and cleaning in the zone up and down on photovoltaic module surface, efficient is specially adapted to the cleaning device of large-sized photovoltaic power station various length square formation photovoltaic module far above a non-formula cleaning equipment.
(5) clearer of the cleaning unit in the present invention possesses plurality of specifications, and is detachable, can fill and change, and can mate existing all specification standards of photovoltaic module.
(6) use simultaneously roller brush and two kinds of cleaning modes of dust suction in cleaning course of the present invention, need not the water source, be applicable to the Midwest Desert Area, possess locomotive electricity generation system, voltage-stabilizing system, power management distribution system, in the situation that there is external power source in photovoltaic plant, can adopt external power source, to save cost, in the situation that there is not external power source, also can utilize the self generating normal operation.
(7) arm unit in the present invention and cleaning unit all are installed in the middle part of cleaning cart, have avoided being installed on the locomotive head because the caused locomotive of lever principle acutely rocks problem, and be more stable in the time of in working order.
(8) can adopt a plurality of fully-automatic intelligent cleaning equipment of the present invention, RCU adopts coded system one to one, when a plurality of fully-automatic intelligent cleaning equipments are worked simultaneously at same scene, do not disturb mutually not generally mutually between each RCU each other, increased cleaning efficiency and practicality.
Description of drawings
Fig. 1 is photovoltaic power station component fully-automatic intelligent cleaning equipment locomotive part schematic diagram of the present invention;
Fig. 2 is that photovoltaic power station component fully-automatic intelligent cleaning equipment of the present invention props up the arm portion schematic diagram;
Fig. 3 is photovoltaic power station component fully-automatic intelligent cleaning equipment clearer longitudinal profile schematic diagram of the present invention;
Fig. 4 is photovoltaic power station component fully-automatic intelligent cleaning equipment clearer horizontal section schematic diagram of the present invention;
Fig. 5 is photovoltaic power station component fully-automatic intelligent cleaning equipment clearer plan structure schematic diagram of the present invention;
Fig. 6 is photovoltaic power station component fully-automatic intelligent cleaning equipment clearer list roller covering work schematic diagram of the present invention;
Fig. 7 is photovoltaic power station component fully-automatic intelligent cleaning equipment RCU schematic diagram of the present invention.
Reference numeral: 1.X represents the cleaning cart associated components, and 2.X represents the power supply unit associated components, and 3.X represents an arm unit associated components, 4.X expression cleaning unit associated components, 5.X expression perception unit associated components, 6.X represents the processing unit associated components, and 7.X represents the RCU associated components.Concrete Reference numeral is:
1.1 locomotive crawler belt; 1.2 locomotive centipede belt drive; 1.3 locomotive chassis; 1.4 walking mechanism control system; 1.5 rotating disc;
2.1 locomotive electricity generation system; 2.2 voltage-stabilizing system; 2.3 power-supply management system;
3.1 cantilever; 3.2 horizontally rotate motor; 3.3 vertical rotation motor; 3.4 bi-directional rotary supports reductor; 3.5 the pneumatic support portion of cantilever; 3.5.1 support bar; 3.5.2 support set; 3.6 secondary cantilever; 3.7 secondary cantilever motor; 3.8 secondary cantilever reductor; 3.9 the pneumatic support portion of secondary cantilever;
4.1 clearer; 4.2 protective cover; 4.3 air inlet; 4.4 clearer motor; 4.5 deep bead; 4.6 conduit; 4.7 roller brush inclination angle reductor; 4.8 roller brush inclination angle motor; 4.9 support; 4.10 dust catcher;
5.1 obliquity sensor; 5.2 ultrasonic ranging array;
6.1 flush bonding processor; 6.2 relay switch array; 6.3 frequency converter; 6.4 display screen; 6.5 wireless transceiver; 6.6 controller communication interface;
7.1 remote controller casing; 7.2 remote controller key district; 7.3 remote controller signal indicator lamp; 7.4 power supply of remote controller indicator lamp; 7.5 remote controller signal transmitter; 7.6 remote controller battery; 7.7 remote control circuitry plate;
The specific embodiment
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
As shown in Fig. 1-7, the present invention includes: full-automatic remote-controlled cleaning cart 1 and the full-automatic remote-controlled cleaning mechanism that is connected with full-automatic remote-controlled cleaning cart 1; Full-automatic remote-controlled cleaning mechanism comprises electromechanical braking system and intelligence control system, and the electromechanical braking system comprises power supply unit 2, an arm unit 3, cleaning unit 4, is the mechanical implementation section of cleaning function; Intelligence control system comprises perception unit 5, processing unit 6 and RCU 7; Arm unit 3 and cleaning unit 4 all are installed on the middle part of full-automatic remote-controlled cleaning cart 1.Full-automatic remote-controlled cleaning cart 1 comprises locomotive chassis 1.3, walking mechanism control system 1.4, walking mechanism and rotating disc 1.5, and described walking mechanism comprises locomotive crawler belt 1.1 and locomotive centipede belt drive 1.2.Prop up arm unit 3 and possess three degree of freedom, be the flexible of the vertical rotary of the horizontally rotating of cantilever 3.1, cantilever 3.1 and secondary cantilever 3.6, comprise cantilever 3.1, horizontally rotate motor 3.2, vertical rotation motor 3.3, bi-directional rotary support reductor 3.4, the pneumatic support component 3.5 of cantilever, secondary cantilever 3.6, secondary cantilever motor 3.7, secondary cantilever reductor 3.8 and the pneumatic support component 3.9 of secondary cantilever.Cleaning unit 4 has two frees degree, adjust in real time self rotation direction and with the parallel direction on photovoltaic power station component surface, use simultaneously roller brush and two kinds of cleaning modes of dust suction in cleaning unit 4 courses of work, need not the water source, cleaning unit comprises that specifically clearer 4.1, protective cover 4.2, air inlet 4.3, clearer motor 4.4, deep bead 4.5, conduit 4.6, roller are brushed inclination angle reductor 4.7, roller is brushed inclination angle motor 4.8, support 4.9 and dust catcher 4.10.Perception unit 5 comprises obliquity sensor 5.1 and ultrasonic ranging array 5.2.The hardware of processing unit 6 comprises flush bonding processor 6.1, relay switch array 6.2, frequency converter 6.3, display screen 6.4, wireless transceiver 6.5 and controller communication interface 6.6; RCU 7 comprises remote controller casing 7.1, remote controller key district 7.2, remote controller signal indicator lamp 7.3, power supply of remote controller indicator lamp 7.4, remote controller signal transmitter 7.5, remote controller battery 7.6 and remote control circuitry plate 7.7.Power supply unit 2 comprises locomotive electricity generation system 2.1, voltage-stabilizing system 2.2 and power-supply management system 2.3.
Full-automatic remote-controlled cleaning cart 1 receives by wireless transceiver 6.5 telecommand that remote controller 7 sends, send action command by walking mechanism control system 1.4 to locomotive centipede belt drive 1.2, then drive to desired location by locomotive crawler belt 1.1, whirler chassis 1.3 aligns with the photovoltaic power station component direction, enters the work ready state.
Locomotive electricity generation system 2.1 is responsible for and will can be changed into electric energy in locomotive, perhaps locomotive electricity generation system 2.1 is directly introduced photovoltaic plant external power source interface, voltage-stabilizing system 2.2 is responsible for voltage is done conditioning, distributes required voltage and power to 3 arm units, 4 cleaning units, 5 perception unit, 6 processing units respectively by power-supply management system 2.3.
As shown in Fig. 2-5, after each module energising, the angle of inclination of obliquity sensor 5.1 real-time detection clearers 4.1, the distance on ultrasonic ranging array 5.2 real-time detection clearers 4.1 and photovoltaic power station component surface simultaneously, the angle of inclination that perception unit 5 perceives and ultrasonic ranging array unit perceive apart from real-time Transmission to processing unit 6.The detection range value of 6.1 pairs of angles of inclination of flush bonding processor and ultrasonic ranging array 5.2 units is carried out analyzing and processing, send instruction to relay switch array 6.2 and frequency converter 6.3, send simultaneously work state information and the sensor informations such as angle of inclination and range finding to display screen 6.4 and show, connect by controller communication interface 6.6 between flush bonding processor 6.1 and relay switch array 6.2, frequency converter 6.3 and walking mechanism control system 1.4.Relay switch array 6.2 with horizontally rotate motor 3.2, vertical rotation motor 3.3, secondary cantilever motor 3.7, clearer motor 4.4, roller brush inclination angle motor 4.8, dust catcher 4.10 is connected respectively, whether controls the work of each motor component; Frequency converter 6.3 is brushed inclination angle reductor 4.7 and is connected with bi-directional rotary support reductor 3.4, secondary cantilever reductor 3.8, roller, controls the operating frequency of each reductor parts.Each motor component and each reductor parts are worked in coordination, and adjust the on-position of cantilever 3.1, secondary cantilever 3.6, clearer 4.1, dust catcher 4.10.
Particularly, the angle value of obliquity sensor 5.1 real-time detections shows when itself and photovoltaic module air spots are capable, flush bonding processor 6.1 is brushed inclination angle motors 4.8 by relay switch array 6.2 and frequency converter 6.3 control rolls and is brushed inclination angle reductor 4.7 with roller, make clearer 4.1 adjust in real time own angle, maintenance is parallel with the photovoltaic module surface.simultaneously, the distance on ultrasonic ranging array 5.2 real-time detection clearers 4.1 and photovoltaic module surface, flush bonding processor 6.1 judges whether clearer 4.1 covers with the photovoltaic module surface matching and distance is moderate, if matching cover and distance are moderate, open clearer motor 4.4 and dust catcher 4.10 by relay switch array 6.2, the clearer motor is responsible for cleaning dust, dust catcher is responsible for reclaiming dust, control full-automatic remote-controlled cleaning cart 1 by walking mechanism control system 1.4 at the same time and keep walking states, clearer motor 4.4 can be adjusted roller brush rotation direction automatically with the walking direction, the dust that makes clearer remove is convenient to fully be absorbed by dust catcher 4.10.If matching cover but hypotelorism or excessively far away, perhaps not matching cover but the distance moderate, perhaps matching cover and distance are not moderate yet, flush bonding processor 6.1 is controlled respectively by relay switch array 6.2 and frequency converter 6.3 and is horizontally rotated motor 3.2, vertical rotation motor 3.3, secondary cantilever motor 3.7 and bi-directional rotary supports reductor 3.4, secondary cantilever reductor 3.8 carries out a series of actions, make clearer 4.1 realize covering with the photovoltaic module surface matching and distance moderate.
As shown in Figure 2, cantilever front end 3.1 is hinged with secondary cantilever 3.6 ends, is furnished with secondary cantilever pneumatic support portion 3.9, and cantilever 3.1 front ends and locomotive chassis 1.3 are hinged, and is furnished with cantilever pneumatic support portion 3.5, comprises support bar 3.5.1 and support set 3.5.2.
As shown in Figure 2, dust catcher 4.10 is placed in cantilever 3.1 lower ends middle parts, is penetrated with conduit 4.6 in cantilever 3.1 and is connected with clearer 4.1 ends, and the dirt of clearer 4.1 cleanings passes through deep bead 4.5, and air admission hole 4.3 and conduit 4.6 enter into dust catcher 4.10.
As shown in Figure 3-Figure 5, the clearer motor can move horizontally direction according to clearer 4.1 and adjust rotation direction, and the dust that makes clearer 4.1 remove is convenient to fully be absorbed by dust catcher 4.10; Roller brush inclination angle reducing motor 4.8 coordinates rollers brush inclination angle motor 4.7, and the angle of adjusting in real time clearer 4.1 is parallel with the photovoltaic power station component surface, avoids clearer tiltedly to touch photovoltaic power station component surperficial.
Clearer 4.1 outsides are covered with protective cover 4.2, and are fixing by support 4.9 between clearer 4.1 and protective cover 4.2; In the middle part of protective cover 4.2 dorsal parts, obliquity sensor 5.1 is installed, protective cover 4.2 tail sides are equipped with clearer motor 4.4, protective cover 4.2 forward edge are equipped with ultrasonic ranging array 5.2, typical case's mounting means is four lines two row configurations, be that protective cover 4.2 left and right sides outer rims respectively have four pieces of range cells, wherein every side has two pieces of upper limb and lower edges that are arranged on protective cover 4.2, so that survey and judge whether single roller matching cover of clearer 4.1 and photovoltaic module surface.
As shown in Fig. 4 to 5, be provided with deep bead 4.5 in the space between clearer 4.1 and protective cover 4.2, deep bead 4.5 rear defence cover 4.2 middle parts are provided with air inlet 4.3 and are connected with conduit 4.6.
As shown in Figure 6, clearer 4.1 is single roller, during normal operation and the photovoltaic module surface matching cover.Single roller design can realize formula assembly surface cleaning one time, avoided some equipment repeatedly moving and cleaning in the zone up and down on photovoltaic module surface, efficient is specially adapted to the cleaning device of large-sized photovoltaic power station various length square formation photovoltaic module far above a non-formula cleaning equipment.Clearer 4.1 can be from support 4.9 dismountings, and clearer 4.1 possesses plurality of specifications, and is detachable, can fill and change, and can mate existing all specification standards of photovoltaic module.
As shown in Figure 7, remote control circuitry plate 7.7 is packaged by remote controller casing 7.1, it adopts one to one, and coded system sends instruction, when a plurality of fully-automatic intelligent cleaning equipments are worked simultaneously at same scene, do not disturb mutually between RCU each other, namely fully-automatic intelligent cleaning equipment can only receive the instruction that oneself RCU sends, to around the instruction of sending of the RCU of other fully-automatic intelligent cleaning equipment filter.Remote controller key district 7.2 comprises fully automatic mode, manual mode, three buttons of fault self-checking pattern, manual mode refers to the duty of whole arm unit of backer's wage adjustment and cleaning unit, and under manual mode, each action button can control that cantilever 3.1 moves up and down, secondary cantilever 3.6 moves up and down, the 4.4 rotating campaigns of clearer motor; Key command sends by the signal projector 7.5 of RCU 7, sends successful remote controller signal indicator lamp 7.3 flickers once, sends unsuccessfully and does not glimmer; RCU 7 adopts remote controller battery 7.6 power supplies, and electric weight is indicated by power supply of remote controller indicator lamp 7.4, and electric weight deficiency power supply indicator 7.4 does not work.The fault self-checking pattern refers to connection status, running parameter, the running status of an arm unit 3, cleaning unit 4, perception unit 5 and processing unit 6 are carried out self check, self check complete after by processing unit to the user feedback self-detection result, self-detection result is presented on display screen 6.4, the user is according to the fault self-checking result, just can know whether promptly that fault exists, and can position fault type and trouble unit exactly.There is no fault if the fault self-checking result shows, the user can carry out normal cleaning; Have fault and provide the method for fixing a breakdown if the fault self-checking result shows, the user can repair fast according to the information that comprises in self-detection result; If the fault self-checking result shows the running parameter that has fault and trouble unit is provided, belong to than complex fault, need the professional to keep in repair.
during fully automatic mode, full-automatic remote-controlled cleaning cart 1 receives by wireless transceiver 6.5 telecommand that remote controller signal transmitter 7.5 sends, in case instruction is the fully automatic working pattern, the detection information of perception unit 5 passes to that processing unit 6 is controlled an arm unit 3 and cleaning unit 4 carries out collaborative work, during fully automatic working, in processing unit 6, whether intelligent control algorithm real-time judge cleaning unit 4 keeps the normal operation distance to comprise with photovoltaic power station component simultaneously: whether real-time judge clearer 4.1 keeps matching cover with the photovoltaic power station component width, whether real-time judge clearer 4.1 is crossed closely with the photovoltaic power station component surface or is excessively far away, whether real-time judge clearer 4.1 aligns with parallel with the photovoltaic power station component surface, be that real-time judge clearer 4.1 remains parallel with the photovoltaic module surface, align, the single shaft matching cover, keep the normal operation distance, when if full-automatic remote-controlled cleaning cart 1 runs into Uneven road generation fluctuating in the process of moving, control arm unit 3 and the real-time automatic adjusting position of cleaning unit 4 and an angle, guarantee not damage the photovoltaic module surface.
The non-elaborated part of the present invention belongs to those skilled in the art's known technology.
Certainly; the present invention also can have other various embodiments; in the situation that do not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art are when making according to the present invention various corresponding changes and distortion; but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention; for example ultrasonic ranging array 5.2 can adopt other Configuration Designs, and its range cells also can be selected the other types range finder module.

Claims (14)

1. a photovoltaic power station component fully-automatic intelligent cleaning equipment, is characterized in that comprising: full-automatic remote-controlled cleaning cart (1), the full-automatic remote-controlled cleaning mechanism that is connected with described full-automatic remote-controlled cleaning cart (1); Described full-automatic remote-controlled cleaning mechanism comprises electromechanical braking system and intelligence control system, and described electromechanical braking system comprises power supply unit (2), an arm unit (3), cleaning unit (4), is the mechanical implementation section of cleaning function; Described intelligence control system comprises perception unit (5), processing unit (6), RCU (7), processing unit (6) is connected with an arm unit (3), cleaning unit (4), perception unit (5) and the cleaning cart (1) of being connected respectively, is used for the automatic control of full-automatic remote-controlled cleaning cart (1) and full-automatic remote-controlled cleaning mechanism; Described cleaning unit (4) is connected with an arm unit (3); Described perception unit (5) is fixed on cleaning unit (4); Described arm unit (3) possesses three degree of freedom, namely horizontally rotates, vertical rotary and flexible; Described cleaning unit has two frees degree, adjust in real time self rotation direction and with the parallel direction on photovoltaic power station component surface; Described power supply unit (2) distributes required voltage and power to an arm unit (3), cleaning unit (4), perception unit (5) and processing unit (6) respectively;
When the remote control mode of RCU (7) is fully automatic mode, automatic remote control cleaning cart (1) drives to desired location after receiving by processing unit (6) telecommand that RCU (7) sends, align with the photovoltaic power station component direction, carry out cleaning, described fully automatic mode, in the cleaning course of one group of photovoltaic power station component, need not manual intervention; In cleaning course, perception unit (5) will perceive cleaning unit (4) the angle of inclination and with the distance on photovoltaic power station component surface, and real-time Transmission is to processing unit (6); Processing unit (6) is processed the angle of inclination of cleaning unit (4) and cleaning unit (4) and the distance value on photovoltaic power station component surface, send instruction and control duty and the operating frequency of an arm unit (3) and cleaning unit (4), control arm unit (3) and cleaning unit (a 4) collaborative work; Processing unit (6) comprises intelligent control algorithm simultaneously, intelligent control algorithm is according to the perception data of perception unit (5), whether real-time judge cleaning unit (4) keeps with photovoltaic power station component the distance that works, when if full-automatic remote-controlled cleaning cart (1) runs into Uneven road generation fluctuating in the process of moving, control an arm unit (3) and cleaning unit (4) automatic adjusting position and angle in real time, assurance does not damage the photovoltaic power station component surface; Use simultaneously roller brush and two kinds of cleaning modes of dust suction in cleaning unit (4) course of work, need not the water source.
2. photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, it is characterized in that: the remote control mode of described RCU (7) also comprises manual mode and fault self-checking pattern; Described manual mode, the duty of whole arm unit of backer's wage adjustment and cleaning unit; Described fault self-checking pattern refers to connection status, running parameter, the running status of arm unit (3), cleaning unit (4), perception unit (5) and processing unit (6) are carried out self check, self check complete afterwards by processing unit to the user feedback self-detection result.
3. photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, it is characterized in that: whether described intelligent control algorithm real-time judge cleaning unit (4) keeps the normal operation distance to comprise with photovoltaic power station component: whether real-time judge cleaning unit (4) keeps matching cover with the photovoltaic power station component width, whether real-time judge cleaning unit (4) is crossed closely with the photovoltaic power station component surface or is excessively far away, and whether real-time judge cleaning unit (4) aligns with parallel with the photovoltaic power station component surface.
4. photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1 is characterized in that: described arm unit (3) and cleaning unit (4) all are installed on the middle part of full-automatic remote-controlled cleaning cart (1).
5. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, it is characterized in that: described full-automatic remote-controlled cleaning cart (1) comprises locomotive chassis (1.3), walking mechanism control system (1.4), walking mechanism and rotating disc (1.5), and wherein said walking mechanism comprises locomotive crawler belt (1.1), locomotive centipede belt drive (1.2); Locomotive chassis (1.3) middle part is provided with can 360 ° of rotating discs that horizontally rotate (1.5); Locomotive chassis (1.3) is arranged with walking mechanism, is provided with walking mechanism control system (1.4) on locomotive chassis (1.3).
6. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, it is characterized in that: described arm unit (3) possesses specifically horizontally rotating of cantilever (3.1) of three degree of freedom, stretching of the vertical rotary of cantilever (3.1) and secondary cantilever (3.6), it comprises cantilever (3.1), horizontally rotate motor (3.2), vertical rotation motor (3.3), bi-directional rotary supports reductor (3.4), the pneumatic support component of cantilever (3.5), secondary cantilever (3.6), secondary cantilever motor (3.7), secondary cantilever reductor (3.8) and the pneumatic support component of secondary cantilever (3.9), cantilever (3.1) respectively with horizontally rotate motor (3.2), vertical rotation motor (3.3), bi-directional rotary and support reductor (3.4) and be connected, secondary cantilever (3.6) is connected with secondary cantilever motor (3.7) by secondary cantilever reductor (3.8), be furnished with the pneumatic support component of cantilever (3.5) between cantilever (3.1) and full-automatic remote-controlled cleaning cart (1), be furnished with the pneumatic support component of secondary cantilever (3.9) between secondary cantilever (3.6) and cantilever (3.1).
7. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1 is characterized in that: described cleaning unit (4) comprises clearer (4.1), protective cover (4.2), air inlet (4.3), clearer motor (4.4), deep bead (4.5), conduit (4.6), roller brush inclination angle reductor (4.7), roller brush inclination angle motor (4.8), support (4.9) and dust catcher (4.10); Clearer (4.1) is connected with clearer motor (4.4); Conduit (4.6) is connected with clearer (4.1) end, and dust catcher (4.10) is placed in an arm unit (3); Air admission hole (4.3) enters into dust catcher (4.10) by conduit (4.6); Clearer (4.1) outside is covered with protective cover (4.2), and fixing by support (4.9) between clearer (4.1) and protective cover (4.2), protective cover (4.2) tail side is equipped with clearer motor (4.4); Be provided with deep bead (4.5) in space between clearer (4.1) and protective cover (4.2), be provided with air inlet (4.3) in the middle part of deep bead (4.5) rear defence cover (4.2) and be connected with conduit (4.6).
8. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 7, it is characterized in that: described clearer (4.1) is single roller, is furnished with several different sizes, and is detachable, can fill and change, can carry out the single roller matching cover of element width to the surface of different size photovoltaic module.
9. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, it is characterized in that: described perception unit (5) comprises obliquity sensor (5.1) and ultrasonic ranging array (5.2), described obliquity sensor (5.1) is fixed in the surface of cleaning unit (4), and described ultrasonic ranging array (5.2) is fixed in the both sides of cleaning unit (4).
10. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, it is characterized in that: described ultrasonic ranging array (5.2) mounting means is four lines two row configurations, respectively there are four pieces of range cells the both sides that are cleaning unit (4), another two pieces of up and down that are arranged on cleaning unit (4).
11. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1 is characterized in that: the hardware of described processing unit (6) comprises flush bonding processor (6.1), relay switch array (6.2), frequency converter (6.3), display screen (6.4), wireless transceiver (6.5) and controller communication interface (6.6); Described relay switch array (6.2) receives the instruction that flush bonding processor (6.1) sends, and controls arm unit (3) and each motor of cleaning unit (4) and a duty of each reducing motor; The operating frequency of each reducing motor of an arm unit and cleaning unit is controlled in the instruction of described frequency converter (6.3) reception flush bonding processor (6.1); Wireless transceiver (6.5) is used for communicating by letter with RCU with controller communication interface (6.6); Display screen (6.4) is used for showing work state information and the sensor information of flush bonding processor (6.1) transmission.
12. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, it is characterized in that: described RCU (7) adopts coded system one to one, when a plurality of fully-automatic intelligent cleaning equipments are worked simultaneously at same scene, do not disturb mutually not general mutually between each RCU (7) each other.
13. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, it is characterized in that: described power supply unit (2) comprises the locomotive electricity generation system, voltage-stabilizing system and power-supply management system; Supply voltage and the power division of above-mentioned three System Assurance all the other each unit; Locomotive electricity generation system (2.1) is responsible for and will can be changed into electric energy in locomotive, perhaps locomotive electricity generation system (2.1) is directly introduced photovoltaic plant external power source interface, voltage-stabilizing system (2.2) is responsible for voltage is done conditioning, distributes required voltage and power to an arm unit (3), cleaning unit (4), perception unit (5) and processing unit (6) respectively by power-supply management system (2.3).
14. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1 is characterized in that: described full-automatic remote-controlled cleaning cart (1) uses this mode of locomotive self generating, also can use the external power source of photovoltaic power station component.
CN201310046119.8A 2013-02-05 2013-02-05 Full-automatic intelligent cleaning device of photovoltaic power station modules CN103084360B (en)

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CN103599907A (en) * 2013-12-06 2014-02-26 邵俊松 Self-navigation full-automatic cleaning device for photovoltaic cell panel
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CN104128318A (en) * 2014-07-05 2014-11-05 北京安必信金属制品有限公司 Remote control hydraulic cleaning device of photovoltaic power station assembly
CN105326440A (en) * 2014-08-08 2016-02-17 山东鲁班智能装备有限公司 Bidirectional sweeping and dust cleaning device of photovoltaic solar panel cleaning machine
CN104209299B (en) * 2014-08-28 2018-12-14 金丹 Solar power station integrates cleaning device
CN104209299A (en) * 2014-08-28 2014-12-17 金丹 Comprehensive cleaning device for solar power station
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CN104722540A (en) * 2015-04-15 2015-06-24 上海电机学院 Solar panel cleaning device
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