CN104324913B - Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof - Google Patents
Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof Download PDFInfo
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- CN104324913B CN104324913B CN201410503864.5A CN201410503864A CN104324913B CN 104324913 B CN104324913 B CN 104324913B CN 201410503864 A CN201410503864 A CN 201410503864A CN 104324913 B CN104324913 B CN 104324913B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 116
- 238000000034 method Methods 0.000 title claims abstract description 14
- 240000002836 Ipomoea tricolor Species 0.000 title abstract description 5
- 238000004891 communication Methods 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000010926 purge Methods 0.000 claims description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 210000003850 cellular structure Anatomy 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000002452 interceptive effect Effects 0.000 claims description 7
- 238000005201 scrubbing Methods 0.000 claims description 2
- 238000010408 sweeping Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 abstract 1
- 210000004027 cell Anatomy 0.000 description 29
- 238000003825 pressing Methods 0.000 description 12
- 238000003860 storage Methods 0.000 description 11
- 238000012423 maintenance Methods 0.000 description 4
- 239000003599 detergent Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 241000269799 Perca fluviatilis Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000002516 radical scavenger Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/04—Cleaning by suction, with or without auxiliary action
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a flying saucer type photovoltaic cell panel cleaner and a cleaning method thereof, which belong to the field of remotely controlled flying cleaning. The flying saucer type photovoltaic cell panel cleaner comprises a cleaning system, a power system, a control system, a flying system, a communication system and a remote control system; the flying system, the cleaning system, the power system, the control system and the communication system compose a control and actuation mechanism, i.e. a cleaner host, the remote control system composes a remote control mechanism alone, signals are transmitted and received between the remote control system and the cleaner host through wireless communication modules in signal transceiver ports, the remote control system is utilized to set a route and transmit control signals, and the cleaner flies to a target cleaning position (i.e. a photovoltaic cell module to be cleaned) to perform corresponding action to fulfill a sweeping, sucking or wiping process. The flying saucer type photovoltaic cell panel cleaner has a simple structure, is convenient to maintain, is low in cost, and can conveniently clean solar photovoltaic cell panels placed at high positions.
Description
Technical field
The invention belongs to remote purge field, specifically, it is related to a kind of flying disc type photovoltaic battery panel washer and its clear
Washing method.
Background technology
With the development of new energy, also fast development is got up for solar energy power generating, and the construction of solar power plant is also got over
Come more.Large solar photo-voltaic power generation station generally build the place that physical features is higher, sunshine is sufficient, but this kind of local dust storm in
Greatly, water resources shortage, is easy to accumulation sand and dust, birds droppings, insect bodies and other organic and inorganic constituents on solar panel
Pollutant.As shown by data, the theoretical generating efficiency of solar panel is 25%, and actual is 23%, the contaminated rear effect that generates electricity
Rate is reduced to 17%-18%, and energy loss reaches 22%-30%.So the clean level of solar panel is to generating efficiency and warp
Ji Efficiency is very big.Therefore, solve the problems, such as that the cleaning of solar panel is imperative.The automatic scavenger of current solar energy
Tool more falls behind, and still using artificial cleaning, the cleaning Vehicle of import is also required to pilot steering to majority of case.
Chinese Patent Application No.：201220112798.5, the applying date is on March 22nd, 2012, discloses a kind of practical new
Type patent " a kind of solar panel intelligence automatic cleaning system ".The system provide one kind possess dry-cleaning, washing, water quality do
Only, the automatic cleaning system of simple structure, practical, intelligent automaticization degree a kind of solar panel intelligence all higher
System.Solar panel side is provided with shampooing machine, sprinkler, hair-dryer and camera, and shampooing machine can horizontally slip, water storage box
Level sensor is inside provided with, water storage box is rainwater automatically taking water water storage box, and water generator, the water outlet of water generator are housed on support
Mouth is connected with water storage box, and controller connects with shampooing machine, sprinkler, hair-dryer, level sensor, water generator and camera respectively
Connect.
Chinese application number：201120215500.9, the applying date is on June 23rd, 2011, discloses a kind of utility model special
Sharp " a kind of solar panel of automatic cleaning ", the utility model can be realized cleaning battery plate surface automatically there is provided one kind
LED solar street lights cell panel.The cell panel device is included on cell panel and is provided with wiper and scrubber system；Rain
Curette includes control and transmission mechanism and wiper arm assembly, and control and transmission mechanism are connected with wiper arm, and wiper arm assembly is located at
Above cell panel；Scrubber system includes captation, storage tank, water pump, storage detergent box, liquid mixing box and shower nozzle；Catchment
The outlet of device is connected with the entrance of storage tank, and the outlet of storage tank is connected on an entrance of water pump, water pump another
Entrance is connected with the outlet of storage detergent box, and the outlet of water pump is connected with the entrance of liquid mixing box, and outlet and the shower nozzle of liquid mixing box connect
Connect；Shower nozzle is located at cell panel marginal surface.The first electromagnetic valve switch is provided between storage tank and water pump, storage detergent box with
The second electromagnetic valve switch is provided between water pump.
Above-mentioned two patent is that cleaning means is directly installed on solar panel, and needs to set up much to set
It is standby.Such complication system not only high cost, and the maintenance of equipment is big, uneconomical practicality.
The full automatic solar cell panel cleaning Vehicle developed external recently can by the program finished in advance along fixation locus from
It is dynamic to go and back running, it is automatically performed all compulsory exercises of cleaning.System drives round brush using flexible cantilever structure, and it is fixed easily to realize
Position and the distance stable with cell panel holding, this cleaning systems efficiency high can reach more than 10 times of artificial cleaning speed.This
System reliability is high, and cleaning quality is good, and maintenance cost is low, and the investment payback time is short, is comprehensive sexual valence solar cell higher
Plate cleaning program.But for the solar panel for being placed in roof and eminence, this cleaning Vehicle can not be reached, complete not
The cell panel cleaning of eminence, clean range has a limitation.
The content of the invention
1. the technical problem to be solved
Equipment is more the need for for existing in the prior art, system complex, plant maintenance amount greatly, high cost, positioned at eminence
The problem that cannot clean of cell panel, the invention provides a kind of flying disc type photovoltaic battery panel washer and its cleaning method.It
Simple structure, simple maintenance, low cost, the solar photovoltaic cell panel to eminence setting can be cleaned conveniently and efficiently.
2. technical scheme
The purpose of the present invention is achieved through the following technical solutions.
A kind of flying disc type photovoltaic battery panel washer, it includes purging system, power-supply system and control system, and its feature exists
In：Also include flight system, communication system and remote control system.
Described flight system, purging system, power-supply system, control system and communication system composition control and executing agency
That is washer main frame, remote control system is separately formed remote-control gear, and signal is passed through between described remote control system and washer main frame
The intraoral wireless communication module put in sending and receiving end carries out sending and receiving for signal.
Described flight system is connected with power-supply system, control system, communication system by circuit respectively.
Described purging system is connected with power-supply system, control system, communication system by circuit respectively.
Described control system is connected with flight system, purging system, power-supply system, communication system by circuit respectively.
Described communication system is connected with flight system, purging system, power-supply system, control system by circuit respectively.
Further, described washer main frame is tray type structure, and described purging system is made up of two parts：One
Point, power is constituted by power-supply system, control system and the communication system and described control system that are arranged in tray type structure
With control section；Another part, is arranged on the cleaning means on the domain of washer main frame, i.e. corner hairbrush, squeegee, sweeps
Scrubbing brush, suction port and mop and domain burnisher fixture；Described corner hairbrush, squeegee, sweep brush and mop
Dismounting.
Further, purging system is additionally included in washer main frame top and is provided with battery case, water inlet and charge port,
Running gear is provided with domain, running gear is made up of universal wheel, ground monitoring inductor, wheel and anti-collision ring；It is described
Washer main frame tray type structure, thick middle, outer ring is thin, and there is certain thickness outer ring；Top is provided with front panel, washer master
Pusher side face is provided with side mask, and the structure of outer ring includes camera, sensing lamp, bump bar, and bump bar is provided projectingly on outer ring,
Camera, sensing lamp are arranged in outer ring.
Further, described flight system is arranged on the top of washer main frame, and it includes that four wings of flight, buffering are protected
The drive mechanism and actuating unit of dangerous thick stick and the wing of flight four being arranged on inside washer main frame.
Further, described communication system includes being arranged on the camera outside washer main frame everywhere, is arranged on
Ground monitoring inductor on washer main frame domain and be arranged on washer top signal transmitting and receiving port and be arranged on
Wireless communication module inside washer main frame.
Further, described remote control system includes the wireless communication module set inside remote control, display circuit, presses
Key circuit and remote control hardware control circuit；It also includes LCDs, remote keying, interactive voice on telecontrol panel
End, voice use button, remote control charging end, start indicator lamp, automatic cleaning model button.
A kind of cleaning method of flying disc type photovoltaic battery panel washer, its step is：
(1) based on described flying disc type photovoltaic battery panel washer, believed by remote control system set path, and emission control
Number, the signal transmitting and receiving port at the top of described washer main frame receives signal, by the wireless communication module in machine, is delivered to control
System processed, control flight system work drives cleaning main frame to take off and flown according to the path for setting；
(2) after cleaning main frame flies to target cleaning positions on the photovoltaic cell component for needing cleaning, can be according to light
The shape of photovoltaic cell components, the cleaning step and mobile route set in adaptive control system, meanwhile, control system control
Squeegee, sweep brush, suction port and mop on cleaning main frame are acted accordingly, complete journey of sweeping, inhale or nuzzle up；
(3) after completing step (2), control system in cleaning main frame will automatically control taking off and flying to next for washer
Position.
Further, a kind of three steps of the cleaning method of described flying disc type photovoltaic battery panel washer can also
Operated by remote control system single step, after every single stepping is complete, remote control system can all receive the completion letter that cleaning main frame is sent
Breath, operator carries out next step operation, until completing to operate.
3. beneficial effect
Compared to prior art, the advantage of the invention is that：
(1) present invention uses modular construction, and flight system and remote control system are added on the original basis, is to cleaning
System and dependency structure improved, be provided with the cleaning model and offline mode of various modes, can complete it is various in the case of
Cleaning task, overcome the problem of original washer cleaning area limitation, in-position is rapid, and cleaning is quick；
(2) present invention uses tray type structure, simple and compact for structure, structure cleaning part, and detachably, tray type structure is flying
When row and work, stability is strong, it is easy to advance, and detachable block can in time be changed and cleaned, and convenient and swift, product is easy
In being manufactured, replicability is strong；
(3) present invention has flight module and remote control module, and can be flown to remote control needs the photovoltaic cell component of cleaning, special
Shi Yongyu not perch or roof photovoltaic cell component, solve prior art for positioned at eminence photovoltaic cell very
The problem of hardly possible cleaning；
(4) remote monitoring device is embedded with remote control system, camera is provided with purging system.Remote monitoring device leads to
The work on the spot picture that camera obtains executing agency is crossed, for real-time feedback control, the washer for far distance controlled can
Situation is cleaned with Real-time Feedback, it is directly perceived quick, can be found in time when producing failure, feedback efficiency is high, safeguards simple；
(5) present invention uses the flight system of four wing formulas, and relative to single-blade formula, flight system is more stablized, and can carry weight
Amount is higher, and various adjustment can be carried out to flight in flight, highly reliable；
(6) present invention has interactive voice port, can carry out voice remote control main frame and be operated, it is possible to use voice pair
Carry out remote control at where aircraft, be easy to carry out real-time voice operation when cleaning task is performed, eliminate it is cumbersome by
The mode of operation of key, it is easy to use；
(7) present invention has good photovoltaic cell component automatic remote control cleaning function.Without operating personnel to scene, just
Energy Remote washer, makes its automatic flight reach on photovoltaic cell component of needs cleaning.This washer is in photovoltaic cell
After being come to a complete stop on component, automatic can start to clean cell panel according to certain path, and can convert and sweep, inhale and even wipe as needed
Cleaned etc. mode, eliminated the distance of personnel, saved scavenging period and cost；
(8) present invention has various control function.Can realize being automatically brought into operation, it is straighforward operation, automatically many with straighforward operation etc.
Operator scheme is planted, while also supporting the long-range monitoring and control of mobile phone or computer, being directed to different operating mode can have various
Mode is carried out, and selection is extensive, and easy to use, cost performance is higher.
Brief description of the drawings
Fig. 1 is the electrical principle block diagram of flying disc type photovoltaic cell washer；
Fig. 2 is the domain structural representation of flying disc type photovoltaic cell washer；
Fig. 3 is the positive structure schematic of flying disc type photovoltaic cell washer；
Fig. 4 is the side structure schematic diagram of flying disc type photovoltaic cell washer；
Fig. 5 is the remote control structural representation of flying disc type photovoltaic cell washer.
In figure：
1st, flight system；2nd, purging system；3rd, power-supply system；4th, control system；5th, communication system；6th, remote control system；7、
Universal wheel；8th, corner hairbrush；9th, ground monitoring inductor；10th, wheel；11st, battery case；12nd, squeegee；13rd, sweep brush；
14th, suction port；15th, mop；16th, anti-collision ring；17th, signal transmitting and receiving port；18th, fly four wings；19th, buffer bumper；20th, add water
Hole；21st, charge port；22nd, front panel；23rd, camera；24th, lamp is sensed；25th, bump bar；26th, side mask；27th, domain is clear
Clean tool holder；28th, LCDs；29th, remote keying；30th, interactive voice end；31st, voice uses button；32nd, remote control
Charging end；33rd, start indicator lamp；34th, automatic cleaning model button.
Specific embodiment
With reference to Figure of description and specific embodiment, invention is described in detail.
Embodiment 1
A kind of flying disc type photovoltaic battery panel washer of the invention, as shown in figure 1, it includes purging system 2, power-supply system
3 and control system 4, it is characterised in that：Also include flight system 1, communication system 5 and remote control system 6.
Described flight system 1, purging system 2, power-supply system 3, control system 4 and the composition control of communication system 5 with hold
Row mechanism is washer main frame, and washer main frame is tray type structure, also referred to as dish-style structure.As shown in Fig. 2 purging system 2
It is made up of two parts, a part is by the power-supply system 3, control system 4 and the communication system 5 that are arranged in tray type structure and described
Control system 4 composition power and control section；Another part is the cleaning means being arranged on the domain of purging system 2, i.e.,
Corner hairbrush 8, squeegee 12, sweep brush 13, suction port 14 and mop 15 and domain burnisher fixture 27；Described corner
Hairbrush 8, squeegee 12, sweep brush 13 and mop 15 are detachable, and described mop 15 is dry-wet mop.
Washer main frame outward appearance is thin as flying saucer, thick middle, outer ring, and there is certain thickness outer ring.Washer main frame top covers
There is front panel 22, washer main frame side is provided with side mask 26.The structure of outer ring include camera 23, sensing lamp 24,
Bump bar 25.Bump bar 25 is provided projectingly on outer ring, and camera 23, sensing lamp 24 are in outer ring.The video recording of camera 23 can be with
Operation interface is real-time transmitted to, for operating personnel's remote monitoring.Sensing lamp 24 brings night to flying disc type photovoltaic cell washer
Flight display.
Purging system 2 is additionally included in washer main frame top and is provided with battery case 11, water inlet 20 and charge port 21, on ground
Running gear is provided with disk, running gear is made up of universal wheel 7, ground monitoring inductor 9, wheel 10 and anti-collision ring 16.Ground
Face monitoring inductor 9 can be sensed and be detected to surface state, judge to move and cleaning situation with this.
As shown in figure 3, flight system 1 is arranged on the top of washer main frame, it includes four wings 18, buffer bumper of flight
19 and the drive mechanism and actuating unit of the wing 18 of flight four being arranged on inside washer main frame, buffer bumper 19 is prominent
Washer main frame outer ring, hardware program includes the mission program of various modes in flight system 1, has：
(1) by the offline mode of original route auto-returned；
(2) along the equidistant offline mode of object；
(3) offline mode is ramped；
The program bag of flight system 1 contains with barrier avoiding function and man-machine contact function.
As shown in figure 4, communication system 5 includes being arranged on the camera 23 outside washer main frame everywhere, cleaning is arranged on
Ground monitoring inductor 9 on device main frame domain and be arranged on washer top signal transmitting and receiving port 17 and be arranged on clear
The wireless communication module washed inside device main frame, communication system 5 not only can by these system detectios to information be sent to remote control
System 6, can also carry out data message and interact and long-distance monitor and control by wireless network with mobile phone, computer terminal.
As shown in figure 5, remote control system 6 is separately formed remote-control gear, lead between described remote control system 6 and washer main frame
Crossing the built-in wireless communication module in signal transmitting and receiving port 17 carries out sending and receiving for signal.Remote control system 6 is included in remote control
Wireless communication module, display circuit, key circuit and remote control hardware control circuit that portion is set；It also includes telecontrol panel
On LCDs 28, remote keying 29, interactive voice end 30, voice using button 31, remote control charging end 32, startup refer to
Show lamp 33, automatic cleaning model button 34.
The control that control system 4 includes cleaning control software program, travelling control software program, wheel 10 is liftoff to fly is soft
Part program and Flight Control Software program, wherein Flight Control Software program include flight path control algolithm, target identification
Algorithm, avoidance obstacle program, include communications control software program in communication module, remote control hardware controls electricity in remote control system 6
Road includes remote control software program.The long-range monitoring portion being embedded inside the various software and hardwares and washer main frame of the setting of remote control inside
Part, wireless communication module and related circuit and remote control software program can all carry out the docking one by one of signal by radio communication,
This control system contains automatic line feed, Automatic-searching cell panel datum mark, automatic watering, automated cleaning, automatic return function, can
To realize that remote control starts and shutdown, the function of automatic failure alarm.
Described flight system 1 is connected with power-supply system 3, control system 4, communication system 5 by circuit respectively；
Described purging system 2 is connected with power-supply system 3, control system 4, communication system 5 by circuit respectively；
Described control system 4 passes through circuit with flight system 1, purging system 2, power-supply system 3, communication system 5 respectively
Connection；
Described communication system 5 passes through circuit with flight system 1, purging system 2, power-supply system 3, control system 4 respectively
Connection.
Washer has various operating methods, and particular type is as follows：
Washer can carry out long-range remote manual control in real time, it is also possible to carry out remote portion and automatically control and automatically control
System, it is automatically controlled covers Based Intelligent Control, and operator can according to actual needs, with the automatic cleaning model on telecontrol panel
Button 34 sets the automatic control mode of washer, and start and application control system 4 in automatically or semi-automatically control
Algorithm, flight course and cleaning process to washer partly automatically control and Automatic Control, described control model
Have：
(1) the first from left key of automatic cleaning model button 34 is pressed, washer is performed from trend target flight；
(2) the second from left key of automatic cleaning model button 34 is pressed, washer performs auto-returned flight；
(3) right two key of automatic cleaning model button 34 is pressed, washer performs automatic cleaning；
(4) a right key of automatic cleaning model button 34 is pressed, washer performs automatic to next target flight；
(5) the first from left key plus the second from left key of automatic cleaning model button 34 are pressed, washer is performed from trend target flight, from
It is dynamic to return to flight；
(6) the first from left key for pressing automatic cleaning model button 34 adds right two key, washer to perform from trend target flight, from
Dynamic cleaning；
(7) the first from left key for pressing automatic cleaning model button 34 adds a right key, washer to perform from trend target flight, from
The next target flight of trend；
(8) the second from left key for pressing automatic cleaning model button 34 adds right two key, washer to perform auto-returned flight, automatically
Cleaning；
(9) the second from left key for pressing automatic cleaning model button 34 adds a right key, washer to perform auto-returned flight, automatically
To next target flight；
(10) right two key for pressing automatic cleaning model button 34 adds a right key, washer to perform automatic cleaning, from
The next target flight of trend；
(11) the first from left key plus the second from left key for pressing automatic cleaning model button 34 add right two key, washer to perform from trend again
Target flight, auto-returned flight, washer performs automatic cleaning；
(12) the first from left key plus the second from left key for pressing automatic cleaning model button 34 add a right key, washer to perform from trend again
Target flight, auto-returned flight, washer performs automatic to next target flight；
(13) the second from left key for pressing automatic cleaning model button 34 adds right two key to add a right key, washer to perform and return automatically again
Return flight, automatic cleaning, automatically to next target flight；
(14) the first from left key plus the second from left key for pressing automatic cleaning model button 34 add right two key to add a right key, washer again again
Perform from trend target flight, auto-returned flight, the automatic cleaning of washer execution, automatically to next target flight；
Automatic cleaning model button 34 is used for setting the automatic control mode of washer；By startup under remote manual control pattern
Flight button, flight sets effective, and by cleaning button is started, cleaning sets effective；Flown by startup under automatic remote control pattern
After button, flight sets effective, and after whole wheels 10 of washer touch photovoltaic cell component, cleaning sets and opens automatically
Effect, after cleaning terminates, the rear single stepping of setting comes into force automatically.
Washer can carry out intelligent sound remote control, and it is by the intelligent sound hardware module that is arranged on inside washer main frame
Constituted using button 31, interactive voice end 30 with the voice on remote control software program and telecontrol panel；Voice is pressed to use
Button 31, after sending commander's voice against interactive voice end 30, by communication system 5, makes washer main frame receive this voice
Order, it can immediately make and perform reaction afterwards；After washer main frame goes wrong at operation scene, it also can be automatically by
Communication system 5, is reported with voice to operator；Not pressing voice uses button 31, intelligent sound distant control function to disappear, and works as cleaning
When operation scene goes wrong, washer main frame can only be converged device main frame with data, word by communication system 5 to operator
Report.
Remote manual control operation, remote control are carried out by the LCDs 28 that is set on telecontrol panel, remote keying 29
29 points of front two rows buttons of button, often arranging has five buttons, and front-seat button is used to flight straighforward operation, and heel row button is used to
Cleaning straighforward operation, according to putting in order from left to right, can be by this ten keypad numerals:Preceding 1~preceding 5, afterwards 1~rear 5；
Wherein：Preceding 1 key be start stop flight button, preceding 2 key be forward flight button backward, preceding 3 key be to the left to
Right flight button, preceding 4 key be raise reduce flight button, preceding 5 key is to press former flight path to return to button, afterwards 1 key be open
Stop cleaning button, afterwards 2 keys be it is horizontal longitudinal direction cleaning button, afterwards 3 keys be line feed cleaning button, afterwards 4 keys be selection squeegee
12nd, sweep brush 13, suction port 14 and mop 15 any one cleaning means, 5 keys are that whole cleaning means and elder generation are put in selection afterwards
Operation is sequentially afterwards.After pressing startup flight button, other buttons are just effective；After pressing stopping flight button, other keys deactivations.
LCDs 28 has touch function, can add the remote manual control of touch during straighforward operation washer using button
Mode, i.e.,：
(1) by the startup flight button of remote keying 29, Qi Feihou slides the washer on LCDs 28 with finger
Fly in figure, the direction that now actual washer can also be slided with finger；
(2) find after target stands firm, slided on LCDs 28 with finger by the stopping flight button of remote keying 29
Washer figure, now actual washer can also be cleaned with the direction that finger is slided；
(3) after cleaning terminates, button is cleaned by the stopping of remote keying 29, then by startup flight button, Qi Feihou hands
Refer to the washer figure slided on LCDs 28, the direction that washer can be slided with finger returns to flight.
One section of photovoltaic electric of highway multiple solar street light is cleaned using one flying disc type photovoltaic cell washer of the present apparatus
Pond, corresponds to cleaning method, and its step is：
(1) a kind of flying disc type photovoltaic battery panel washer, administrative staff are used computer operation, are set by remote control system 6
Determine path, operator scheme is set from top to bottom, by left-to-right cleaning using remote control distributor and the automatic operator scheme cleaned
Each 3 minutes cleaning ways of wiping are swept in path and suction.After administrative staff set operator scheme, then press and open winged button, flying disc type light
Volt battery washer is flown out by road lamp management center.Wireless communication module in described flight system 1 receives signal, by control
Flight system processed 1 works, and then drives executing agency to take off and according to the path flight of setting.
(2) circumferential images are passed to management centre computer by the camera 23 of dish-style photovoltaic cell washer side outer ring
On, the information such as picture that administrative staff send back according to flying disc type photovoltaic cell washer, orientation judge and target contrast locating compared with
Afterwards, the heading of Remote control flying small plate formula photovoltaic cell washer, until flying to the photovoltaic cell of the solar street light for needing cleaning
On component, according to the shape of photovoltaic cell component, the mobile route of executing agency is set on described remote-control gear, and pass through
Control system 4 controls the movement of purging system 2, meanwhile, the squeegee 12, sweep brush on the control purging system 2 of control system 4
13rd, suction port 14 and mop 15 are acted accordingly, complete journey of sweeping, inhale or nuzzle up, and complete the cleaning task of this block cell panel.
(3) after completing step (2), executing agency is controlled to take off by remote control system 6, and send front direction Bei Yan highways 50
Rice at solar street light photovoltaic cell component, after the completion of be moved to the next position, cleaned, cleaned until all
Into.
Improvement of the invention is to combine purging system 2 with flight system 1, forms more powerful function.
To those skilled in the art, to solve photovoltaic cell eminence cleaning problem, by purging system 2 and flight system 1
The maximum problem that both combine is to be related to the high-technology of unmanned plane during flying；Because flight system of the invention 1 is base
In one kind application of unmanned air vehicle technique, in the unmanned air vehicle technique still immature past, unmanned flight is unattainable, with nothing
Reaching its maturity for man-machine technology, purging system 2 is combined with flight system 1 and is possible to come true.
Embodiment 2
The present embodiment carrys out five pieces of roof photovoltaic electrics of building where remote purge from flying disc type photovoltaic battery panel washer
Pond component, any floor that washer can be built by this is let fly away.
User uses remote controller operation, and operator scheme adds the remote manual control offline mode of touch using button, clear with automatic
The operator scheme being combined is washed, and is set from top to bottom, the cleaning side wiped each 2 minutes is swept by left-to-right cleaning path and suction
Formula.Concrete operations are as follows：
(1) right two key and a right key of the automatic cleaning model button 34 of remote control are pressed, washer performs automatic cleaning work(
Can be with automatic to next target flight function；
(2) press remote keying 29 startup stop flight button and by former flight path return button, washer just by
Certain floor of this building flies out；
(3) after washer is opened and flown, with the washer figure on rubber sleeve hydrodynamic crystal display screen 28, now actual washer
As the glide direction of finger is flown.
(4) after washer main frame flies to target cleaning positions on the photovoltaic cell component for needing cleaning, washer
It is issued to up to information, washer will focus photovoltaic cell components automatically and cleaned according to the cleaning way for setting.
(5) after completing step 4, washer can be moved to next block of roof light by the control automatic takeoff of remote control system 6
On volt cell panel.
After (6) five pieces of roof photovoltaic cell components have all been cleaned, washer can be by former flight path auto-returned.
Claims (5)
1. a kind of flying disc type photovoltaic battery panel washer, it includes purging system (2), power-supply system (3) and control system (4),
It is characterized in that：Also include flight system (1), communication system (5) and remote control system (6)；
The composition control of described flight system (1), purging system (2), power-supply system (3), control system (4) and communication system (5)
System is washer main frame with executing agency, and remote control system (6) is separately formed remote-control gear, described remote control system (6) and cleaning
Sending and receiving for signal is carried out by signal transmitting and receiving port (17) built-in wireless communication module between device main frame；
Described flight system (1) is connected with power-supply system (3), control system (4), communication system (5) by circuit respectively；Institute
The flight system (1) stated is arranged on the top of washer main frame, and it includes four wings of flight (18), buffer bumper (19) and sets
Put the drive mechanism and actuating unit of the wing of flight four (18) inside washer main frame；
Hardware program includes the mission program module of various modes in flight system (1), has：
(1) by the offline mode module of original route auto-returned；
(2) along the equidistant offline mode module of object；
(3) offline mode module is ramped；
Washer main frame is tray type structure, and washer main frame bottom is domain, and described purging system (2) is made up of two parts：
A part, by the power-supply system (3), control system (4) and the communication system (5) that are arranged in tray type structure constitute power with
Control section；
Another part is the cleaning means being arranged on washer main frame domain, i.e., corner hairbrush (8), squeegee (12), sweep
Scrubbing brush (13), suction port (14), mop (15) and domain burnisher fixture (27) composition cleaning part；Described corner hairbrush
(8), squeegee (12), sweep brush (13) and mop (15) are detachable；Described purging system (2) is additionally included in washer
Main frame top is provided with battery case (11), water inlet (20) and charge port (21), running gear is provided with described domain, OK
Part is walked to be made up of universal wheel (7), ground monitoring inductor (9), wheel (10) and anti-collision ring (16)；Washer main frame disc type knot
Structure, thick middle, outer ring is thin, and there is certain thickness outer ring；Top is provided with front panel (22), and washer main frame side is provided with side
Face mask (26), the structure of outer ring includes camera (23), sensing lamp (24), bump bar (25), and bump bar (25) is provided projectingly
In outer ring, camera (23), sensing lamp (24) are arranged in outer ring；
Described purging system (2) is connected with power-supply system (3), control system (4), communication system (5) by circuit respectively；
Described control system (4) is led to flight system (1), purging system (2), power-supply system (3), communication system (5) respectively
Oversampling circuit is connected；Control system (4) is comprising cleaning control software program module, travelling control software program module, wheel is liftoff
I.e. winged control software program module and Flight Control Software program module；
Described communication system (5) is led to flight system (1), purging system (2), power-supply system (3), control system (4) respectively
Oversampling circuit is connected.
2. a kind of flying disc type photovoltaic battery panel washer according to claim 1, it is characterised in that：Described communication system
(5) including the camera (23) being arranged on outside washer main frame everywhere, it is arranged on the ground monitoring on washer main frame domain
Inductor (9) and it is arranged on the signal transmitting and receiving port (17) at the top of washer and is arranged on wireless inside washer main frame
Communication module and control circuit.
3. a kind of flying disc type photovoltaic battery panel washer according to claim 1, it is characterised in that：Described remote control system
(6) wireless communication module, display circuit, key circuit and the remote control hardware control circuit set including remote control inside；It
Also include that the LCDs (28) on telecontrol panel, remote keying (29), interactive voice end (30), voice use button
(31), remote control charging end (32), start indicator lamp (33), automatic cleaning model button (34).
4. the cleaning method of the flying disc type photovoltaic battery panel washer described in a kind of use claim 1, its step is：
(1) based on the flying disc type photovoltaic battery panel washer described in claim 1, by remote control system (6) set path, concurrently
Control signal is penetrated, after the signal transmitting and receiving port (17) at the top of washer main frame receives signal, by the channel radio in machine
Letter module, is transferred to control system (4), and control flight system (1) work drives cleaning main frame to take off and according to the path of setting
Flight；Wheel liftoff i.e. winged control software program module and Flight Control Software program module in control system (4), coordinates to fly
Move and the switching between flight row device bottom surface；
(2) after cleaning main frame flies to target cleaning positions on the photovoltaic cell component for needing cleaning, can be according to photovoltaic electric
The shape of pond component, the cleaning step and mobile route of setting in the control system (4) described in adjust automatically, meanwhile, control system
Squeegee (12), sweep brush (13), suction port (14) and mop (15) on system (4) control cleaning main frame are carried out accordingly
Action, completion sweeps, inhales or nuzzles up journey；
(3) after completing step (2), the control system (4) in cleaning main frame will automatically control washer main frame and take off, and be moved to
The next position.
5. the cleaning method of flying disc type photovoltaic battery panel washer according to claim 4, it is characterised in that：Described three
Individual step can also be operated by remote control system (6) single step, and after every single stepping is complete, remote control system (6) can all be received clearly
The completion information that main frame is sent is washed, operator carries out next step operation, until completing to operate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410503864.5A CN104324913B (en) | 2014-09-26 | 2014-09-26 | Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof |
| CN201611068328.2A CN106552782B (en) | 2014-09-26 | 2014-09-26 | A kind of cleaning method of flying disc type photovoltaic battery panel washer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410503864.5A CN104324913B (en) | 2014-09-26 | 2014-09-26 | Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611068328.2A Division CN106552782B (en) | 2014-09-26 | 2014-09-26 | A kind of cleaning method of flying disc type photovoltaic battery panel washer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104324913A CN104324913A (en) | 2015-02-04 |
| CN104324913B true CN104324913B (en) | 2017-05-24 |
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| CN201410503864.5A Active CN104324913B (en) | 2014-09-26 | 2014-09-26 | Flying saucer type photovoltaic cell panel cleaner and cleaning method thereof |
| CN201611068328.2A Active CN106552782B (en) | 2014-09-26 | 2014-09-26 | A kind of cleaning method of flying disc type photovoltaic battery panel washer |
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| CN201611068328.2A Active CN106552782B (en) | 2014-09-26 | 2014-09-26 | A kind of cleaning method of flying disc type photovoltaic battery panel washer |
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Also Published As
| Publication number | Publication date |
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| CN104324913A (en) | 2015-02-04 |
| CN106552782B (en) | 2019-09-27 |
| CN106552782A (en) | 2017-04-05 |
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