CN103599907B - A kind of photovoltaic battery panel Full-automatic of auto-navigation - Google Patents
A kind of photovoltaic battery panel Full-automatic of auto-navigation Download PDFInfo
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- CN103599907B CN103599907B CN201310656755.2A CN201310656755A CN103599907B CN 103599907 B CN103599907 B CN 103599907B CN 201310656755 A CN201310656755 A CN 201310656755A CN 103599907 B CN103599907 B CN 103599907B
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- 238000004140 cleaning Methods 0.000 claims abstract description 41
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 29
- 238000013461 design Methods 0.000 claims abstract description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000000428 dust Substances 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000011897 real-time detection Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 abstract description 3
- 238000010926 purge Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003203 everyday effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B08B1/32—
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- B08B1/12—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/04—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by a combination of operations
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- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a kind of photovoltaic battery panel Full-automatic of auto-navigation, this device has self-navigation walking, and adjustment cleaning state, automatically selects cleaning modes, automatically carry out the full-automatic function of charge in batteries automatically.The carrying dolly of this device utilizes self-navigation sensor-based system, by detecting the characteristic indication thing placed at the scene in advance, realizes the automatic running function of route; The lifting platform of this device, expansion link, brush roll support and rigid bearing thereof, according to pressure sensing data, can substitute the design of mechanical arm completely, realizes automatically controlling in real time the angle height of brush roll support, realize the function of adjustment cleaning state automatically; Photoelectric sensor system can the dirty degree of Real-time Feedback photovoltaic panel surface dirt, accordingly adjustment carrying dolly travel speed, brush roll rotating speed and whether adopt water spray cleaning mode.Structure of the present invention is simple, and not only cost-saving, can also improve cleaning efficiency, suit large area to popularize use very much.
Description
Technical field
The invention belongs to a kind of cleaning equipment, relate to the photovoltaic battery panel Full-automatic of a kind of auto-navigation being applied to photovoltaic plant more precisely.
Background technology
Along with going from bad to worse and the intensification of energy crisis of environment, photovoltaic generation, as one of dominate green energy, is more and more applied, and the Quantity of photovoltaic plant and scale are also increasing.And photovoltaic plant is once build up, its generated energy is lived at the mercy of the elements substantially, manpower can control except avoiding electrical equipment malfunction and bringing loss, main path cleans surface of photovoltaic cell panel exactly, and this point is particularly important in the place that northern sand and dust are larger and short of rain.Therefore when conditions permit, regularly clean the assembly of photovoltaic plant, comprising sweeps away snow is necessary and effective.
Auxiliary cleaning program is proposed in the pre-application for developing of certain power plant formulated by certain Electric Power Design Institute Engineering Co., Ltd.One is high pressure water cleaning system, and calculate according to photovoltaic battery panel gross area 14000m2, water for cleaning measures 2(L/m2 time), single wash water total amount then reaches 280m3; Within 3 hours, calculate according to operation every day, need just can complete cleaning task in 10 days.Another is then strength pressure-vaccum, adopts portable hair dryer by attendant, carries out wind-force purging to surface of photovoltaic cell panel.If every day, actual purge time was in 6 hours, within every 20 days, be a purge cycles, to 20MWp Capacity Optical overhead utility, need portable hair dryer six, purge staff six, the annual gasoline consumed is 10000 liters.In sum, although high pressure water cleaning system cleaning performance is pretty good, water consumption is very big, and is unsuitable for the northern frore area in winter; Although wind-force purges and can apply in winter, cleaning performance is bad, and the dust blown away easily forms secondary pollution, and efficiency is not high, and consumes larger.
At present, all there are some devices that photovoltaic panel is cleaned both at home and abroad, these cleaning devices, greatly mainly with the form of mechanical arm, fixed and control cleaning unit.This kind of device, equipment cost is higher, and operation easier is comparatively large, and operator need through special training, and cost of equipment maintenance is higher, is difficult to apply on a large scale.
Summary of the invention
The present invention seeks to the photovoltaic battery panel Full-automatic proposing a kind of auto-navigation, improve the efficiency of photovoltaic panel cleaning, water and electric saving, full season is suitable for, realize high-quality cleaning performance, while promoting photovoltaic power station power generation efficiency, also reduce the cost of original clean and maintenance.
The present invention adopts following technical scheme to realize.
A kind of photovoltaic battery panel Full-automatic of auto-navigation, comprise carrying dolly, be arranged on the brush roll support on carrying dolly, the adjusting device of brush roll support, vehicle-mounted bracket, master control system and power supply, brush roll support is provided with brush roll, brush roll drive motors, it is characterized in that the adjusting device of described brush roll support comprises the lifting platform realizing its Height Adjustment and the expansion link realizing its angle adjustment, the bottom of lifting platform is fixedly connected on carrying dolly, top is connected with brush roll support, the fixed bar of expansion link is connected on vehicle-mounted bracket, expansion link is fixedly connected on brush roll support, brush roll support is provided with at least three groups totally six directional wheels, between each directional wheel and brush roll support, pressure sensor is installed, during cleaning, pressure sensor is to master control system transmission of pressure signal, and master control system regulates lifting platform and expansion link automatically in real time, Full-automatic also comprises navigation sensor-based system, navigation sensor-based system is arranged on on-the-spot characteristic indication thing in advance by detection, utilize conventional Wormhole routing automatically, in unmanned situation, drive carrying dolly by presetting route running by master control system.
Preferably, described characteristic indication thing is be arranged on radio electronic label photovoltaic cell board mount storing different route indication information, and navigation sensor-based system utilizes the route indication information read to drive carrying dolly by presetting route running by master control system in unmanned situation.
Further, the brush roll support of the photovoltaic battery panel Full-automatic of auto-navigation of the present invention is provided with high-pressure nozzle, photoelectric sensor system, vehicle-mounted bracket is provided with water tank, water tank is connected by pipeline with high-pressure nozzle, photoelectric sensor system comprises micro photo electric camera and light-sensitive element, application conventional photo sensing technology, the dirty degree of real-time detection photovoltaic panel surface dirt, and send to master control system, master control system is according to the filthy rank preset, and adjustment carries the keying of the travel speed of dolly, the rotating speed of brush roll and high-pressure hydraulic pump automatically.
The photovoltaic battery panel Full-automatic of auto-navigation of the present invention has the following advantages:
One, according to the pressure data dropping on the directional wheel in photovoltaic panel detected, in conjunction with highly integrated automation module, comprise lifting platform and expansion link, can to the attitude of the brush roll for cleaning photovoltaic panel surface, comprise height and angle adjusts automatically, the differing heights of adaptation photovoltaic panel support and angle.
Two, realize automatic seeking footpath by navigation sensor-based system to travel, carrying dolly in unmanned situation, can travel according to the fixed route reserved in advance, alleviates operations staff's labour intensity, improve operating efficiency, save human cost.
Three, feedback mechanism is introduced, photoelectric sensor system is utilized to analyze the dirty degree of photovoltaic panel dust, feed back to control system, the travel speed of automatic adjustment carrying dolly, brush roll is cleaned dynamics and is carried out water spray cleaning the need of unlatching high-pressure nozzle and water tank, guarantee that photovoltaic panel cleaning is clean, effectively improve the cleaning performance of photovoltaic panel performance, and save great lot of water resources.
Four, brush roll adopts detachable design, plants cant formula and brush silk hardness and adjusts according to cleaning object, really realize application in full season, overcome the inadaptability in season of indivedual cleaning program.
Five, adopting charging accumulator as power supply, by arranging photovoltaic generating module on vehicle-mounted bracket top, can charge to charging accumulator.
Six, the present invention realizes the mechanical action of relative complex with the simplest frame for movement, compared to the device of mechanical arm type, greatly reduces holistic cost, and suit large area to popularize use very much.
Accompanying drawing explanation
Accompanying drawing 1 is the photovoltaic battery panel Full-automatic overall structure figure of auto-navigation.
Accompanying drawing 2 is brush roll, brush roll support and accessory structure schematic diagram.
Accompanying drawing 3 is helical form brush roll schematic diagram.
In figure, each label definition is as follows: carrying dolly 1, navigation sensor-based system 2, lifting platform 3, L-type junction steel plate 4, expansion link 5, brush roll support 6, brush roll 7, high-pressure nozzle 8, photoelectric sensor system 9, water tank 10, photovoltaic generating module 11, brush roll drive motors 12, directional wheel 13, pressure sensor 14, vehicle-mounted bracket 15, master control system 16, bearing A17, bearing B18, helical form brush roll 19, safeguard protection spring 20, power supply 21.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail.
Embodiment one
As Fig. 1, the photovoltaic battery panel Full-automatic of auto-navigation comprises carrying dolly 1, the adjusting device of the sensor-based system 2 that navigates, brush roll support 6, brush roll support 6, vehicle-mounted bracket 15, master control system 16 and power supply 21, brush roll support 6 is provided with brush roll 7, brush roll drive motors 12.Carrying dolly 1 carries above-mentioned all devices.
The adjusting device of brush roll support 6 comprises lifting platform 3 and expansion link 5.The bottom of lifting platform 3 is fixedly connected on carrying dolly 1, and top is connected with brush roll support 6 by L-type junction steel plate 4, and wherein brush roll support 6 is connected with L-type junction steel plate 4 by bearing A17 near one end of car body.Brush roll support 6 is followed lifting platform 3 and is risen or decline, for adapting to the situation that photovoltaic panel array differs apart from ground level.The fixed bar of expansion link 5 is connected on vehicle-mounted bracket 15 by bearing B18, expansion link is fixed on (near medium position) on brush roll support 6, by the stretching motion of expansion link 5, the angle adjustment of brush roll support 6 can be realized, drive the synchronous angle adjustment of the brush roll 7 be arranged on brush roll support 6, adapt to the photovoltaic panel assembly of cleaning differing tilt angles.Lifting platform 3, expansion link 5 and brush roll support 6, the three-legged structure of three degree of freedom is constituted in conjunction with bearing A17 and bearing B18, can the height of free adjustment brush roll support 6 and angle, the photovoltaic panel that Matching installation is good, guarantees same angle that the hairbrush of brush roll 7 can be uniform and stable and co-altitude cleaning photovoltaic panel.The power mode of lifting platform 3 and expansion link 5 can adopt the type of drive of electric drive or oil pump hydraulic-driven or both combinations.
Navigation sensor-based system 2 is arranged on on-the-spot characteristic indication thing in advance by detection, utilizes conventional Wormhole routing automatically to drive carrying dolly 1 by presetting route running by master control system 16 in unmanned situation.Characteristic indication thing can adopt the radio electronic label storing different route indication informations, these radio electronic labels are arranged on photovoltaic cell board mount, navigation sensor-based system 2 utilizes conventional RFID REID, read the route indication information on radio electronic label, in unmanned situation, drive carrying dolly 1 by presetting route running by master control system 16.Radio electronic label content includes but not limited to keep straight on, turn left 90 degree, turn right 90 degree, stop, keeping straight on 10 meters that turning left 90 degree afterwards keeps straight on again and to turn left again after 5 meters 90 degree, craspedodrome 10 meters afterwards right-hand bend 90 degree keep straight on again and to turn right 90 degree etc. after 5 meters again.
As Fig. 2, brush roll support 6 bottom surface is provided with at least three groups in totally six directional wheels 13, six directional wheels, is set to one group for a pair near vehicle body, brush roll mid-stent position be set to one group for a pair, brush roll top be set to one group for a pair.Between each directional wheel 13 and brush roll support 6, pressure sensor 14 is installed.When cleaning, by the pressure data that pressure sensor 14 transmits to master control system 16, master control system 16 regulates lifting platform 3 and expansion link 5 automatically in real time, the pressure sensor 14 on each directional wheel 13 is made to have close convenient pressure, guarantee brush roll support 6 all the time with photovoltaic panel height to be cleaned and angle all consistent, and in brush roll 7 hairbrush contact uniformly photovoltaic panel surface and to photovoltaic panel surface produce damage.
The detachable design that the brush roll 7 be fixed on brush roll support 6 adopts bolt fixing, conveniently directly changes when hairbrush loss.Planting cant formula and brush silk hardness and can adjust according to cleaning object in brush roll 7, replaceable difform brush roll 7 realizes different cleaning function, such as, use helical form brush roll 7(to see Fig. 3) carry out the cleaning of accumulated snow.Snow scraping plate can also be installed in the front end of brush roll support 6, when there is accumulated snow on photovoltaic panel surface in the winter time, can clean accumulated snow, avoids accumulated snow and causes damage and decrease of power generation to photovoltaic module.
Power supply 21 can adopt chargeable storage, and photovoltaic generating module 11 is installed on vehicle-mounted bracket 15 top, and photovoltaic generating module 11, primarily of photovoltaic battery panel and commutation system composition thereof, can charge to chargeable storage.
The photovoltaic battery panel Full-automatic of auto-navigation is also provided with safeguard protection spring 20, and one end of safeguard protection spring 20 is arranged near the bearing B18 of vehicle-mounted bracket 15 top, and the other end is arranged on brush roll support 6 one end away from car body.When expansion link 5 breaks down, safeguard protection spring 20 can prevent brush roll support 6 out of hand.
Master control system is made up of technical grade PLC and high speed digital signal processor DSP.Technical grade PLC is mainly used in controlling the keying etc. of flexible, water pump water tank 10 of the lifting of lifting platform 3, expansion link 5, controls the start and stop of carrying dolly 1 and brush roll drive motors 12 simultaneously; The image that high-speed dsp gathers for the treatment of photoelectric sensor system 9, by the Digital Signal Processing of routine, judges the filthy rank of photovoltaic panel, required mechanical device trigger message is fed back to technical grade PLC simultaneously.
Embodiment two
On the basis of embodiment one, brush roll support 6 bottom surface is provided with multiple photoelectric sensor system 9 and high-pressure nozzle 8, and vehicle-mounted bracket 15 is provided with water tank 10, water tank 10 is connected by water pump and pipeline with high-pressure nozzle 8, provides water for cleaning.Photoelectric sensor system 9 is primarily of micro photo electric camera and array light-sensitive element composition.Camera in real time by the image transmitting that collects to master control system 16, master control system 16 pairs of images carry out two-value analysis, utilize normal image treatment technology, the gray value standard according to setting in advance judges dirty degree (point light pollution, middle pollution, heavily contaminated three ranks).Light-sensitive element is dispersed in the both sides of brush roll support 6, detect the reflection ray intensity of photovoltaic surface and feed back to master control system 16, master control system 16 just judges dirty degree (point light pollution, middle pollution, heavily contaminated three ranks) according to the light intensity standard of setting in advance.The data processed result of the comprehensive camera of master control system 16 and light-sensitive element, adopts difference cleaning tactful, automatically adjusts the carrying travel speed of dolly 1, the rotating speed of brush roll 7 in real time and cleans the need of utilizing high-pressure nozzle 8 and water tank 10 to carry out water spray.
Photoelectric sensor system 9 utilizes micro photo electric camera obtain the realtime graphic of photovoltaic panel surface cleaning situation and send to master control system 1, realtime graphic is sent to remote control terminal by wireless sending module by master control system 16, and remote terminal operating personnel determine whether to need to carry out secondary cleaning according to photovoltaic panel surface cleaning situation and effect.
Apparatus of the present invention occupation mode is as follows, first rises to the highest by lifting platform 3, and expansion link 5 is reduced to the shortest, and carrying dolly 1 follows radio electronic label to travel to photovoltaic panel side.Reduce lifting platform 3, when brush roll support 6 touches surface of photovoltaic cell panel near one group of directional wheel of car body, pressure sensor 14 detects the change of numerical value, feeds back to master control system 16.Now, lifting platform 3 stops, and expansion link 5 stretches automatically, the angle of adjustment brush roll support 6.When brush roll cantilever tip one group of directional wheel touches surface of photovoltaic cell panel, pressure sensor 14 detects numerical value change again, and expansion link 5 stops stretching.So far, brush roll support adjusted is to suitable position and angle, and system starts brush roll drive motors 12 automatically, and brush roll 7 starts to rotate, and cleaning works starts.Photoelectric sensor system 9 detects in real time dust dirt degree, and by testing result and image feedback to master control system 16, controls the carrying travel speed of dolly 1 and the velocity of rotation of brush roll 7 accordingly, guarantee the quality of cleaning.If photovoltaic panel surface dirt adheres to serious, system opens water pump automatically, and high-pressure nozzle 8 ejects clear water and rinses.When detecting without the need to clear water flushing, system automatic closing water pump, using water wisely.Carrying dolly 1 follows characteristic indication thing (radio electronic label) automatic running laid in advance, until cleaning works completes.After having worked, photovoltaic generating module 11 starts to charge to the accumulating system of this device, ready for cleaning task next time.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of application claims.
Claims (10)
1. the photovoltaic battery panel Full-automatic of an auto-navigation, comprise carrying dolly (1), be arranged on the brush roll support (6) on carrying dolly, the adjusting device of brush roll support (6), vehicle-mounted bracket (15), master control system (16) and power supply (21), brush roll support (6) is provided with brush roll (7), brush roll drive motors (12), it is characterized in that the adjusting device of described brush roll support (6) comprises the lifting platform (3) realizing its Height Adjustment and the expansion link (5) realizing its angle adjustment, the bottom of lifting platform (3) is fixedly connected in carrying dolly (1), top is connected with brush roll support (6), the fixed bar of expansion link (5) is connected on vehicle-mounted bracket (15), expansion link is fixedly connected on brush roll support (6), brush roll support (6) is provided with at least three groups totally six directional wheels (13), pressure sensor (14) is installed between each directional wheel (13) and brush roll support (6), during cleaning, pressure sensor (14) is to master control system (16) transmission of pressure signal, and master control system (16) regulates lifting platform (3) and expansion link (5) automatically in real time, Full-automatic also comprises navigation sensor-based system (2), navigation sensor-based system (2) is arranged on on-the-spot characteristic indication thing in advance by detection, utilize conventional Wormhole routing automatically, in unmanned situation, drive carrying dolly (1) by presetting route running by master control system (16).
2. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 1, it is characterized in that described characteristic indication thing is be arranged on radio electronic label photovoltaic cell board mount storing different route indication information, navigation sensor-based system (2) utilizes the route indication information read to drive carrying dolly (1) by presetting route running by master control system (16) in unmanned situation.
3. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 2, it is characterized in that route indication information include but not limited to keep straight on, turn left 90 degree, turn right 90 degree, stop, keep straight on 10 meters afterwards turn left 90 degree keep straight on again 5 meters afterwards turn left 90 degree, craspedodrome 10 meters afterwards right-hand bend 90 degree keep straight on again 5 meters afterwards right-hand bends 90 degree.
4. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 1, it is characterized in that brush roll support (6) is provided with high-pressure nozzle (8), photoelectric sensor system (9), vehicle-mounted bracket (15) is provided with water tank (10), water tank (10) is connected with high-pressure nozzle (8), photoelectric sensor system (9) comprises micro photo electric camera and light-sensitive element, application conventional photo sensing technology, the dirty degree of real-time detection surface of photovoltaic cell panel dust, and send to master control system (16), master control system (16) is according to the filthy rank preset, the travel speed of automatic adjustment carrying dolly (1), the rotating speed of brush roll (7) and the keying of water pump.
5. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 4, it is characterized in that photoelectric sensor system (9) utilizes micro photo electric camera obtain the realtime graphic of surface of photovoltaic cell panel cleaning situation and send to master control system (16), realtime graphic is sent to remote control terminal by wireless sending module by master control system (16), remote terminal operating personnel clean situation according to surface of photovoltaic cell panel, determine whether to carry out secondary cleaning.
6. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 1, it is characterized in that power supply (21) adopts chargeable storage, vehicle-mounted bracket (15) top is provided with photovoltaic generating module (11) for charging to chargeable storage.
7. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 1, it is characterized in that the top of lifting platform (3) is connected with brush roll support (6) by L-type junction steel plate (4), brush roll support (6) passes through bearing A(17 near one end of car body) be connected with L-type junction steel plate (4), the fixed bar of expansion link (5) is by bearing B(18) be connected to vehicle-mounted bracket (15) top.
8. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 1, is characterized in that the detachable design that brush roll (7) adopts bolt fixing.
9. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 1, is characterized in that plant cant formula and the brush silk hardness in brush roll (7) adjusts according to cleaning object.
10. the photovoltaic battery panel Full-automatic of auto-navigation according to claim 1, is characterized in that brush roll support (6) is provided with a safeguard protection spring (20) away between one end of car body and the top of vehicle-mounted bracket (15).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310656755.2A CN103599907B (en) | 2013-12-06 | 2013-12-06 | A kind of photovoltaic battery panel Full-automatic of auto-navigation |
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| CN201310656755.2A CN103599907B (en) | 2013-12-06 | 2013-12-06 | A kind of photovoltaic battery panel Full-automatic of auto-navigation |
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| CN103599907A CN103599907A (en) | 2014-02-26 |
| CN103599907B true CN103599907B (en) | 2016-03-30 |
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| CN201310656755.2A Expired - Fee Related CN103599907B (en) | 2013-12-06 | 2013-12-06 | A kind of photovoltaic battery panel Full-automatic of auto-navigation |
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| CN103599907A (en) | 2014-02-26 |
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