CN103084360B - Full-automatic intelligent cleaning device of photovoltaic power station modules - Google Patents
Full-automatic intelligent cleaning device of photovoltaic power station modules Download PDFInfo
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- CN103084360B CN103084360B CN201310046119.8A CN201310046119A CN103084360B CN 103084360 B CN103084360 B CN 103084360B CN 201310046119 A CN201310046119 A CN 201310046119A CN 103084360 B CN103084360 B CN 103084360B
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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
Technical field
The present invention relates to and a kind of the clean equipment of fully-automatic intelligent is carried out to photovoltaic power station component, particularly relate 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, as a kind of green energy resource, with its never exhaustion, Environmental Safety, is widely used in every field without advantages such as region restrictions.In the practical application of solar energy power generating, photovoltaic module is as the most important unit of generating, and its power output directly affects by solar illumination intensity.After dust storm, dust, accumulated snow etc. fall the surface of photovoltaic module, reduce light transmittance, cause photoelectric transformation efficiency significantly to reduce, this problem is particularly serious in the central and west regions that dust storm is larger.Therefore, in order to keep the generating efficiency of photovoltaic plant, clean most important to photovoltaic components in photovoltaic plant, the cleaning of photovoltaic components in photovoltaic plant becomes photovoltaic plant and builds an indispensable key link.
Current clear light photovoltaic assembly mostly or with artificial clean, artificial cleaning mode comprises water and rushes clean and mop cleaning, and its shortcoming is subject to 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, water source is deficient, and manpower lacks, and artificial cleaning is difficult to carry out.
For artificial clean drawback, more existing photovoltaic module automatic cleaning apparatus at present, two classes can be divided into: the first kind belongs to single group photovoltaic module cleaning equipment according to its work characteristics, it is installed in single group photovoltaic module on the surface, carry out timing to clean, such as Chinese patent " solar photovoltaic cell panel assembly surface cleaning device (CN102303025A) ", its rinse part moves back and forth on single component surface, spray high-pressure water vapor dedusting simultaneously, therefore this equipment is inapplicable in water-deficient area, simultaneously due to high cost, be difficult to promote in photovoltaic plant.Equations of The Second Kind belongs to group's photovoltaic module cleaning equipment, and it take mobile vehicle as carrier, to how group photovoltaic modulies surface is implemented clean in locomotive walking process, is the preferred option that photovoltaic components in photovoltaic plant cleans.Such as Chinese patent " a kind of solar panel cleaning equipment (CN202105809U) ", but this patent is exaggerated rough topographical surface so that mobile vehicle is anterior for carrier installation cleaning mechanism, cannot Assurance component safety.Therefore, security, stability are the key issues that group's photovoltaic module cleaning equipment must be considered.
For large-scale photovoltaic power stations more than tens and even hundreds of megawatt, photovoltaic module substantial amounts, site area is wide, therefore also more harsh to the requirement of group's photovoltaic module cleaning equipment, leading indicator has three: the first to be operating efficiency, namely can clean the photovoltaic module of much numbers in the unit interval, operating efficiency is higher, and economic benefit is larger; Second is intelligence degree, the i.e. ability of equipment safety automation work under complex environment, such as, can carry out self-adaptative adjustment for rough topographical surface, and can carry out perception, identification, judgement and adjustment to photovoltaic module surface, intelligence degree is higher, and artificial interference is fewer; 3rd is reliability standard, i.e. the degree of reliability of equipment in section sometime.Reliability is higher, equipment can the ability of continuity work stronger, the number of times of manual maintenance is fewer.Current 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, intelligence degree is obviously lower, often occur the phenomenon damaging photovoltaic module in cleaning course, and its operating efficiency still has much room for improvement for large-sized photovoltaic power station.
Summary of the invention
Technical problem to be solved by this invention is: for the deficiency existed 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, solve 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 cleaning of various length square formation photovoltaic module in 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 be 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, arm unit, cleaning unit, is the mechanical implementation section of cleaning function; Described intelligence control system comprises perception unit, processing unit, RCU, processing unit is connected with arm unit, cleaning unit, perception unit and a full-automatic remote-controlled cleaning cart respectively, for the automatic control of full-automatic remote-controlled cleaning cart and full-automatic remote-controlled cleaning mechanism; Described cleaning unit is connected with an arm unit; Described perception unit is fixed on cleaning unit; Described arm unit possesses three degree of freedom, namely horizontally rotates, vertical rotary and flexible; Described cleaning unit has two frees degree, in real time the adjustment rotation direction of self and the parallel direction with photovoltaic power station component surface; Described power supply unit distributes required voltage and power respectively to arm unit, cleaning unit, perception unit and processing unit;
When the remote control mode of RCU is fully automatic mode, automatic remote control cleaning cart drives to desired location after receiving by processing unit the telecommand that RCU sends, align with photovoltaic power station component direction, carry out cleaning, described fully automatic mode, in the cleaning course of one group of photovoltaic power station component, without the need to manual intervention; In cleaning course, perception unit will perceive the angle of inclination of cleaning unit and the distance with photovoltaic power station component surface, and real-time Transmission is to processing unit; The distance value of processing unit to the angle of inclination of cleaning unit and cleaning unit and photovoltaic power station component surface processes, and sends duty and operating frequency that instruction controls an arm unit and cleaning unit, controls arm unit and a cleaning unit collaborative work; Processing unit comprises intelligent control algorithm simultaneously, intelligent control algorithm is according to the perception data of perception unit, whether real-time judge cleaning unit and photovoltaic power station component keep normal operating distance, if when full-automatic remote-controlled cleaning cart runs into Uneven road generation fluctuating in the process of moving, then control arm unit and the real-time automatic adjusting position of cleaning unit and angle, ensure not damage photovoltaic power station component surface; Use roller brush and dust suction two kinds of cleaning modes, without the need to water source in the cleaning unit course of work simultaneously.
The remote control mode of described RCU also comprises manual mode and fault self-checking pattern; Described manual mode, supports the duty of an artificial adjustment arm unit and cleaning unit; Described fault self-checking pattern refers to that connection status to arm unit, cleaning unit, perception unit 5 and processing unit, running parameter, running status carry out self-inspection, after self-inspection by processing unit to user feedback self-detection result.
Whether described intelligent control algorithm real-time judge cleaning unit keeps normal operating distance to comprise with photovoltaic power station component: whether real-time judge cleaning unit keeps matching cover with photovoltaic power station component width, whether real-time judge cleaning unit is crossed closely with photovoltaic power station component surface or excessively far away, and whether real-time judge cleaning unit aligns with parallel with photovoltaic power station component surface.
Described arm unit and cleaning unit are all installed on the middle part of full-automatic remote-controlled cleaning cart 1.
Described full-automatic remote-controlled cleaning cart 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; Being provided with in the middle part of locomotive chassis 1.3 can 360 ° of rotating disc horizontally rotated 1.5; Locomotive chassis 1.3 is arranged with walking mechanism, locomotive chassis 1.3 is provided with walking mechanism control system 1.4.
Described arm unit possesses three degree of freedom specifically the horizontally rotating of cantilever 3.1, the vertical rotary of cantilever 3.1 and the flexible of secondary cantilever 3.6, and it comprises cantilever 3.1, horizontally rotates motor 3.2, vertical rotation motor 3.3, bi-directional rotary support reductor 3.4, cantilever pneumatic support 3.5, secondary cantilever 3.6, secondary cantilever motor 3.7, secondary cantilever reductor 3.8 and secondary cantilever pneumatic support 3.9; Cantilever 3.1 respectively with horizontally rotate motor 3.2, vertical rotation motor 3.3, bi-directional rotary 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 cantilever pneumatic support 3.5, is furnished with secondary cantilever pneumatic support 3.9 between secondary cantilever 3.6 and cantilever 3.1 between cantilever 3.1 and full-automatic remote-controlled cleaning cart 1.
Described cleaning unit 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 fixed by support 4.9 between clearer 4.1 and protective cover 4.2, protective cover 4.2 tail side is provided 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.
Described clearer 4.1 is single roller, is furnished with several different size, detachably, can fill and change, and can carry out element width list roller matching cover to the surface of different size photovoltaic module.
Described perception unit comprises obliquity sensor 5.1 and ultrasonic ranging array 5.2, and described obliquity sensor 5.1 is fixed on the surface of cleaning unit, and described ultrasonic ranging array 5.2 is fixed on the both sides of cleaning unit.
Described ultrasonic ranging array 5.2 mounting means is four lines two row configurations, and namely respectively there are four pieces of range cells the both sides of cleaning unit 4, and another two pieces are arranged on the upper and lower of cleaning unit.
The hardware of described processing unit 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 and each motor of cleaning unit and the duty of each reducing motor; Described frequency converter 6.3 receives the operating frequency of an instruction control arm unit of flush bonding processor 6.1 and each reducing motor of cleaning unit; Wireless transceiver 6.5 and controller communication interface 6.6 are for communicating with RCU; Display screen 6.4 is for showing work state information and the sensor information of flush bonding processor 6.1 transmission.
Described RCU adopts coded system one to one, and multiple fully-automatic intelligent cleaning equipment, when same scene works simultaneously, does not disturb mutually not general mutually between each RCU each other.
Described power supply unit comprises locomotive electricity generation system, voltage-stabilizing system and power-supply management system; Above-mentioned three systems ensure supply voltage and the power division of all the other each unit; Locomotive electricity generation system 2.1 is responsible for changing into electric energy by locomotive, or locomotive electricity generation system 2.1 directly introduces photovoltaic plant external power source interface, voltage-stabilizing system 2.2 is responsible for nursing one's health voltage, distributes required voltage and power by power-supply management system 2.3 respectively to arm unit, cleaning unit, perception unit and processing unit.
Described full-automatic remote-controlled cleaning cart uses this mode of locomotive self generating, also can use the external power source of photovoltaic power station component.
The present invention's advantage is compared with prior art:
(1) the present invention is by full-automatic remote-controlled cleaning cart and the organic structure of full-automatic remote-controlled cleaning mechanism, adopts intelligent algorithm to control simultaneously, automatically can adjust arm unit and a cleaning unit in real time according to self attitude of full-automatic remote-controlled cleaning cart; There is RCU simultaneously, therefore can full-automatic work, without the need to manual intervention in the course of work, save manpower, there is full-automation, intelligence, efficient, safe advantage, various uneven road environment can be widely used in and can clean for the photovoltaic module that various surface is smooth not.
(2) in the present invention, cleaning unit possesses two frees degree, and one can move horizontally direction adjustment rotation direction according to clearer, and the dust that clearer is removed is convenient to fully be absorbed by dust catcher; Its two, in real time the angle of adjustment clearer is parallel with photovoltaic module surface, avoids clearer tiltedly to touch photovoltaic module surperficial.
(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 cantilever vertical rotation, and it three is that secondary cantilever can vertical rotary, and multiple degrees of freedom makes the flexibility of cleaning equipment entirety significantly promote.
(4) clearer in cleaning unit of the present invention is single roller, carry out element width matching cover in real time, a pass coding assembly surface can be realized clean, avoid repeatedly the moving and clean of lower regions of some equipment on photovoltaic module surface, efficiency, far above a non-pass coding cleaning equipment, is specially adapted to the cleaning device of large-sized photovoltaic power station various length square formation photovoltaic module.
(5) clearer of the cleaning unit in the present invention possesses plurality of specifications, detachably, can fill and change, and can mate all specification standards of existing photovoltaic module.
(6) use roller brush and dust suction two kinds of cleaning modes in cleaning course of the present invention simultaneously, without the need to water source, be applicable to Desert Area, Midwest, possess locomotive electricity generation system, voltage-stabilizing system, power management distribution system, when photovoltaic plant exists external power source, external power source can be adopted, with cost-saving, when there is not external power source, self generating also can be utilized normally to work.
(7) the arm unit in the present invention and cleaning unit are all installed in the middle part of cleaning cart, avoid to be installed on the locomotive of locomotive head caused by lever principle and acutely to rock problem, more stable time in working order.
(8) multiple fully-automatic intelligent cleaning equipment of the present invention can be adopted, RCU adopts coded system one to one, multiple fully-automatic intelligent cleaning equipment is when same scene works simultaneously, do not disturb mutually not general mutually between each RCU each other, add cleaning efficiency and practicality.
Accompanying drawing explanation
Fig. 1 is photovoltaic power station component fully-automatic intelligent cleaning equipment locomotive partial schematic diagram of the present invention;
Fig. 2 is photovoltaic power station component fully-automatic intelligent cleaning equipment Arm portion schematic diagram of the present invention;
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 that photovoltaic power station component fully-automatic intelligent cleaning equipment clearer list roller of the present invention covers operating diagram;
Fig. 7 is photovoltaic power station component fully-automatic intelligent cleaning equipment RCU schematic diagram of the present invention.
Reference numeral: 1.X represents cleaning cart associated components, and 2.X represents power supply unit associated components, and 3.X represents an arm unit associated components, 4.X represents cleaning unit associated components, 5.X represents perception unit associated components, and 6.X represents processing unit associated components, and 7.X represents RCU associated components.Concrete Reference numeral is:
1.1 locomotive crawler belts; 1.2 locomotive centipede belt drives; 1.3 locomotive chassis; 1.4 walking mechanism control systems; 1.5 rotating disc;
2.1 locomotive electricity generation systems; 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 rotaries support reductor; 3.5 cantilever pneumatic support portions; 3.5.1 support bar; 3.5.2 support set; 3.6 secondary cantilevers; 3.7 secondary cantilever motor; 3.8 secondary cantilever reductor; 3.9 secondary cantilever pneumatic support portions;
4.1 clearer; 4.2 protective cover; 4.3 air inlet; 4.4 clearer motors; 4.5 deep bead; 4.6 conduit; 4.7 roller brush inclination angle reductors; 4.8 roller brush inclination angle motors; 4.9 support; 4.10 dust catcher;
5.1 obliquity sensor; 5.2 ultrasonic ranging arrays;
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 interfaces;
7.1 remote controller casing; 7.2 remote controller key districts; 7.3 remote controller signal indicator lamps; 7.4 power supply of remote controller indicator lamps; 7.5 remote controller signal transmitters; 7.6 remote controller battery; 7.7 remote control circuitry plates;
Detailed description of the invention
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
As shown in figs. 1-7, the present invention includes: full-automatic remote-controlled cleaning cart and the full-automatic remote-controlled cleaning mechanism be connected with full-automatic remote-controlled cleaning cart; Full-automatic remote-controlled cleaning mechanism comprises electromechanical braking system and intelligence control system, and electromechanical braking system comprises power supply unit, arm unit, cleaning unit, is the mechanical implementation section of cleaning function; Intelligence control system comprises perception unit, processing unit and RCU; Arm unit and cleaning unit are all installed on the middle part of full-automatic remote-controlled cleaning cart.Full-automatic remote-controlled cleaning cart 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 and possess three degree of freedom, the i.e. vertical rotary of the horizontally rotating of cantilever 3.1, cantilever 3.1 and the flexible of secondary cantilever 3.6, comprises cantilever 3.1, horizontally rotates motor 3.2, vertical rotation motor 3.3, bi-directional rotary support reductor 3.4, cantilever pneumatic support 3.5, secondary cantilever 3.6, secondary cantilever motor 3.7, secondary cantilever reductor 3.8 and secondary cantilever pneumatic support 3.9.Cleaning unit has two frees degree, the rotation direction of real-time adjustment self and the parallel direction with photovoltaic power station component surface, use roller brush and dust suction two kinds of cleaning modes in the cleaning unit course of work simultaneously, without the need to water source, cleaning unit specifically 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.Perception unit comprises obliquity sensor 5.1 and ultrasonic ranging array 5.2.The hardware of processing unit 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 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, action command is sent to locomotive centipede belt drive 1.2 by walking mechanism control system 1.4, then desired location is driven to by locomotive crawler belt 1.1, whirler chassis 1.3 and photovoltaic power station component direction align, and enter work ready state.
Locomotive electricity generation system 2.1 is responsible for changing into electric energy by locomotive, or locomotive electricity generation system 2.1 directly introduces photovoltaic plant external power source interface, voltage-stabilizing system 2.2 is responsible for nursing one's health voltage, distributes required voltage and power by power-supply management system 2.3 respectively to an arm unit, cleaning unit, perception unit, processing unit.
As shown in Figure 2-5, after each module energising, the angle of inclination of obliquity sensor 5.1 real-time detection clearer 4.1, the distance on the array 5.2 of ultrasonic ranging simultaneously real-time detection clearer 4.1 and photovoltaic power station component surface, the angle of inclination that perception unit perceives and the distance real-time Transmission that ultrasonic ranging array unit perceives are to processing unit.The detection range value of flush bonding processor 6.1 pairs of angles of inclination and ultrasonic ranging array 5.2 unit carries out analyzing and processing, send instruction to relay switch array 6.2 and frequency converter 6.3, send work state information and the sensor information such as angle of inclination and range finding to show to display screen 6.4, flush bonding processor 6.1 and being connected by controller communication interface 6.6 between relay switch array 6.2, frequency converter 6.3 and walking mechanism control system 1.4 simultaneously.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 be connected respectively, whether controls the work of each motor component; Frequency converter 6.3 and bi-directional rotary support reductor 3.4, secondary cantilever reductor 3.8, roller brush inclination angle reductor 4.7 are connected, and control the operating frequency of each reductor parts.Each motor component and each reductor parts are worked in coordination, the on-position of adjustment cantilever 3.1, secondary cantilever 3.6, clearer 4.1, dust catcher 4.10.
Specifically, the angle value of obliquity sensor 5.1 real-time detection show it and photovoltaic module air spots is capable time, flush bonding processor 6.1 is by relay switch array 6.2 and frequency converter 6.3 control roll brush inclination angle motor 4.8 and roller brush inclination angle reductor 4.7, make the angle of clearer 4.1 adjustment in real time oneself, keep parallel with photovoltaic module surface.Simultaneously, the distance on ultrasonic ranging array 5.2 real-time detection clearer 4.1 and photovoltaic module surface, flush bonding processor 6.1 judges that whether clearer 4.1 covers with photovoltaic module surface matching and apart from moderate, if matching cover and apart from moderate, clearer motor 4.4 and dust catcher 4.10 is opened by relay switch array 6.2, clearer motor is responsible for cleaning dust, dust catcher is responsible for reclaiming dust, control full-automatic remote-controlled cleaning cart by walking mechanism control system 1.4 at the same time and keep walking states, clearer motor 4.4 can adjust roller brush rotation direction automatically with direction of travel, the dust that clearer is removed is convenient to fully be absorbed by dust catcher 4.10.If matching cover but hypotelorism or excessively far away, or not matching cover but apart from moderate, or not matching cover and distance not moderate yet, then by relay switch array 6.2 and frequency converter 6.3, level of control rotating motor 3.2, vertical rotation motor 3.3, secondary cantilever motor 3.7 and bi-directional rotary support reductor 3.4 to flush bonding processor 6.1 respectively, secondary cantilever reductor 3.8 carries out a series of actions, make clearer 4.1 realize covering with photovoltaic module surface matching and apart from moderate.
As shown in Figure 2, cantilever front end 3.1 and secondary cantilever 3.6 end are hinged, and be furnished with secondary cantilever pneumatic support portion 3.9, cantilever 3.1 front end and locomotive chassis 1.3 are hinged, and are furnished with cantilever pneumatic support portion 3.5, comprise support bar 3.5.1 and support set 3.5.2.
As shown in Figure 2, dust catcher 4.10 is placed in the middle part of cantilever 3.1 lower end, runs through and have conduit 4.6 to be connected with clearer 4.1 end in cantilever 3.1, and the dirt that clearer 4.1 is cleared away is by 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, clearer motor can move horizontally direction adjustment rotation direction according to clearer 4.1, and the dust that clearer 4.1 is removed is convenient to fully be absorbed by dust catcher 4.10; Roller brush inclination angle reducing motor 4.8 coordinates roller brush inclination angle motor 4.7, and the angle of adjustment clearer 4.1 is parallel with photovoltaic power station component surface in real time, avoids clearer tiltedly to touch photovoltaic power station component surface.
Clearer 4.1 outside is covered with protective cover 4.2, is fixed between clearer 4.1 and protective cover 4.2 by support 4.9; In the middle part of protective cover 4.2 dorsal part, obliquity sensor 5.1 is installed, protective cover 4.2 tail side is provided with clearer motor 4.4, protective cover 4.2 forward edge is provided with ultrasonic ranging array 5.2, typical case's mounting means is four lines two row configurations, namely protective cover 4.2 left and right sides outer rim respectively has four pieces of range cells, wherein there are two pieces of upper limb and lower edges being arranged on protective cover 4.2 every side, so that detect and judge the whether single roller matching cover of clearer 4.1 and photovoltaic module surface.
As shown in Fig. 4 to 5, in the space between clearer 4.1 and protective cover 4.2, be provided with deep bead 4.5, 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.
As shown in Figure 6, clearer 4.1 is single roller, during normal work and photovoltaic module surface matching cover.Single roller design can realize a pass coding assembly surface and clean, avoid repeatedly the moving and clean of lower regions of some equipment on photovoltaic module surface, efficiency, far above a non-pass coding cleaning equipment, is specially adapted to the cleaning device of large-sized photovoltaic power station various length square formation photovoltaic module.Clearer 4.1 can be dismantled from support 4.9, and clearer 4.1 possesses plurality of specifications, detachably, can fill and change, and can mate all specification standards of existing photovoltaic module.
As shown in Figure 7, remote control circuitry plate 7.7 is packaged by remote controller casing 7.1, it adopts coded system one to one to send instruction, multiple fully-automatic intelligent cleaning equipment is when same scene works simultaneously, do not disturb mutually between RCU each other, namely the instruction that the RCU that fully-automatic intelligent cleaning equipment can only receive oneself sends, filters the instruction that the RCU of other fully-automatic intelligent cleaning equipment of surrounding sends.Remote controller key district 7.2 comprises fully automatic mode, manual mode, fault self-checking pattern three buttons, manual mode refers to the duty supporting an artificial adjustment arm unit 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, clearer motor 4.4 rotating campaign; Key command is sent by the signal projector 7.5 of RCU, sends successful remote controller signal indicator lamp 7.3 and glimmers once, send and unsuccessfully then do not glimmer; RCU 7 adopts remote controller battery 7.6 to power, and electricity is by indicated by power supply of remote controller indicator lamp 7.4, and electricity deficiency then power supply indicator 7.4 does not work.Fault self-checking pattern refers to carries out self-inspection to the connection status of propping up arm unit, cleaning unit, perception unit and processing unit, running parameter, running status, after self-inspection by processing unit to user feedback self-detection result, self-detection result is presented on display screen 6.4, user is according to fault self-checking result, just can promptly know whether that fault exists, and can position fault type and trouble unit exactly.If the display of fault self-checking result does not have fault, then user can carry out normal cleaning; If the display of fault self-checking result exists fault and provides the method for fixing a breakdown, then user can repair fast according to the information comprised in self-detection result; If the display of fault self-checking result exists fault and provides the running parameter of trouble unit, then belong to comparatively complex fault, need professional to keep in repair.
During fully automatic mode, full-automatic remote-controlled cleaning cart receives by wireless transceiver 6.5 telecommand that remote controller signal transmitter 7.5 sends, once instruction is fully automatic working pattern, then the detection information of perception unit passes to processing unit and controls arm unit and cleaning unit carries out collaborative work, during fully automatic working, in processing unit, whether intelligent control algorithm real-time judge cleaning unit keeps normal operating distance to comprise with photovoltaic power station component simultaneously: whether real-time judge clearer 4.1 keeps matching cover with photovoltaic power station component width, whether real-time judge clearer 4.1 is crossed closely with photovoltaic power station component surface or excessively far away, whether real-time judge clearer 4.1 aligns with parallel with photovoltaic power station component surface, namely real-time judge clearer 4.1 remains parallel with photovoltaic module surface, align, single shaft matching cover, keep normal operating distance, if when full-automatic remote-controlled cleaning cart 1 runs into Uneven road generation fluctuating in the process of moving, control arm unit and the real-time automatic adjusting position of cleaning unit and angle, ensure not damage photovoltaic module surface.
Non-elaborated part of the present invention belongs to the known technology of those skilled in the art.
Certainly; the present invention also can have other various embodiments; when not deviating from the present invention's spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the present invention; but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the present invention; such as ultrasonic ranging array 5.2 can adopt other Configuration Designs, and its range cells also can select 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, the full-automatic remote-controlled cleaning mechanism be connected with described full-automatic remote-controlled cleaning cart; Described full-automatic remote-controlled cleaning mechanism comprises electromechanical braking system and intelligence control system, and described electromechanical braking system comprises power supply unit, arm unit, cleaning unit, is the mechanical implementation section of cleaning function; Described intelligence control system comprises perception unit, processing unit, RCU, processing unit is connected with arm unit, cleaning unit, perception unit and a full-automatic remote-controlled cleaning cart respectively, for the automatic control of full-automatic remote-controlled cleaning cart and full-automatic remote-controlled cleaning mechanism; Described cleaning unit is connected with an arm unit; Described perception unit is fixed on cleaning unit; Described arm unit possesses three degree of freedom, namely horizontally rotates, vertical rotary and flexible; Described cleaning unit has two frees degree, in real time the adjustment rotation direction of self and the parallel direction with photovoltaic power station component surface; Described power supply unit distributes required voltage and power respectively to arm unit, cleaning unit, perception unit and processing unit;
When the remote control mode of RCU is fully automatic mode, automatic remote control cleaning cart drives to desired location after receiving by processing unit the telecommand that RCU sends, align with photovoltaic power station component direction, carry out cleaning, described fully automatic mode, in the cleaning course of one group of photovoltaic power station component, without the need to manual intervention; In cleaning course, perception unit will perceive the angle of inclination of cleaning unit and the distance with photovoltaic power station component surface, and real-time Transmission is to processing unit; The distance value of processing unit to the angle of inclination of cleaning unit and cleaning unit and photovoltaic power station component surface processes, and sends duty and operating frequency that instruction controls an arm unit and cleaning unit, controls arm unit and a cleaning unit collaborative work; Processing unit comprises intelligent control algorithm simultaneously, intelligent control algorithm is according to the perception data of perception unit, whether real-time judge cleaning unit and photovoltaic power station component keep normal operating distance, if when full-automatic remote-controlled cleaning cart runs into Uneven road generation fluctuating in the process of moving, then control arm unit and the real-time automatic adjusting position of cleaning unit and angle, ensure not damage photovoltaic power station component surface; Use roller brush and dust suction two kinds of cleaning modes, without the need to water source in the cleaning unit course of work simultaneously.
2. photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, is characterized in that: the remote control mode of described RCU also comprises manual mode and fault self-checking pattern; Described manual mode, supports the duty of an artificial adjustment arm unit and cleaning unit; Described fault self-checking pattern refers to that connection status to arm unit, cleaning unit, perception unit and processing unit, running parameter, running status carry out self-inspection, after self-inspection by processing unit to 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 keeps normal operating distance to comprise with photovoltaic power station component: whether real-time judge cleaning unit keeps matching cover with photovoltaic power station component width, whether real-time judge cleaning unit is crossed closely with photovoltaic power station component surface or excessively far away, and whether real-time judge cleaning unit aligns with parallel with 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 and cleaning unit are all installed on the middle part of full-automatic remote-controlled cleaning cart.
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 comprises locomotive chassis (1.3), walking mechanism control system (1.4), walking mechanism and rotating disc (1.5), 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 horizontally rotated (1.5); Locomotive chassis (1.3) is arranged with walking mechanism, locomotive chassis (1.3) is provided with walking mechanism control system (1.4).
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 possesses three degree of freedom specifically the horizontally rotating of cantilever (3.1), the vertical rotary of cantilever (3.1) and the flexible of 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), cantilever pneumatic support (3.5), secondary cantilever (3.6), secondary cantilever motor (3.7), secondary cantilever reductor (3.8) and secondary cantilever pneumatic support (3.9), cantilever (3.1) respectively with horizontally rotate motor (3.2), vertical rotation motor (3.3), bi-directional rotary 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 cantilever pneumatic support (3.5) between cantilever (3.1) and full-automatic remote-controlled cleaning cart (1), between secondary cantilever (3.6) and cantilever (3.1), be furnished with secondary cantilever pneumatic support (3.9).
7. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 1, is characterized in that: described cleaning unit 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), fixed by support (4.9) between clearer (4.1) and protective cover (4.2), protective cover (4.2) tail side is provided 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 part is provided with air inlet (4.3) and is 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 size, detachably, can fill and change, element width list roller matching cover can be carried out 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 comprises obliquity sensor (5.1) and ultrasonic ranging array (5.2), described obliquity sensor (5.1) is fixed on the surface of cleaning unit, and described ultrasonic ranging array (5.2) is fixed on the both sides of cleaning unit.
10. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipment according to claim 9, it is characterized in that: described ultrasonic ranging array (5.2) mounting means is four lines two row configurations, namely respectively there are four pieces of range cells the both sides of cleaning unit, and another two pieces are arranged on the upper and lower of cleaning unit.
11. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipments according to claim 1, is characterized in that: the hardware of described processing unit 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 flush bonding processor (6.1) instruction that sends, controls an arm unit and each motor of cleaning unit and the duty of each reducing motor; Described frequency converter (6.3) receives the operating frequency of an instruction control arm unit of flush bonding processor (6.1) and each reducing motor of cleaning unit; Wireless transceiver (6.5) and controller communication interface (6.6) are for communicating with RCU; Display screen (6.4) is for the work state information that shows flush bonding processor (6.1) and send and sensor information.
12. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipments according to claim 1, it is characterized in that: described RCU adopts coded system one to one, multiple fully-automatic intelligent cleaning equipment, when same scene works simultaneously, does not disturb mutually not general mutually between each RCU each other.
13. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipments according to claim 1, is characterized in that: described power supply unit comprises locomotive electricity generation system, voltage-stabilizing system and power-supply management system; Above-mentioned three systems ensure supply voltage and the power division of all the other each unit; Locomotive electricity generation system (2.1) is responsible for changing into electric energy by locomotive, or locomotive electricity generation system (2.1) directly introduces photovoltaic plant external power source interface, voltage-stabilizing system (2.2) is responsible for nursing one's health voltage, distributes required voltage and power by power-supply management system (2.3) respectively to arm unit, cleaning unit, perception unit and processing unit.
14. a kind of photovoltaic power station component fully-automatic intelligent cleaning equipments according to claim 1, is characterized in that: described full-automatic remote-controlled cleaning cart uses this mode of locomotive self generating, also can use the external power source of photovoltaic power station component.
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