Intelligent light photovoltaic array cleaning Vehicle
The present invention relates to a kind of solar panel cleaning Vehicle, especially a kind of for light in extensive ground photovoltaic plant
The Intelligent light photovoltaic array cleaning Vehicle of photovoltaic array assembly surface cleaning.
Install in an array manner by outdoor inclination for the solar panel of photovoltaic plant, sand grains, dust in air, debris
It is easy to be attached to its surface with some corrosive deposits.Especially in the desertificated area that arid, windy and vegetation is rare, 1～2
Full sand and dust will be covered week on cell panel, its photoelectric transformation efficiency is had a strong impact on, or even damaged cell panel, therefore, it is regular or suitable
When solar panel is cleaned just become photovoltaic plant day-to-day operation safeguard in requisite important step.
The cleaning of photovoltaic battery panel generally there is is artificial shower to clean, fixes pipe network spray and mechanization cleaning etc. three automatically
The mode of kind.Wherein, the attachment travelling that mechanization automatic cleaning equipment can be divided into again based on cell panel frame or surface traveling is clear
The independent travelling cleaning equipment washed equipment and advanced based on ground, from efficiency and cost angle, the latter is more suitable for rule
The larger ground photovoltaic plant of mould.
Currently, cleaning of the domestic large-sized photovoltaic power station to solar panel is still mainly cleaned using artificial bath
Mode.For the large-scale photovoltaic power station for being located in arid desert, which highlights that water consumption is serious, efficiency is low, high cost
The external especially European countries such as Italy are clear to the mechanization of photovoltaic plant solar panel compared with early realizing
Wash, the independent travelling cleaning equipment of various different models by 2011, on foreign market, just occurred.These cleaning equipment pins
To local climate, orographic condition and photovoltaic plant scale, crawler body, tractor chassis or truck bottom in structure, is typically adopted
Disk, self-contained water reservoir are provided with and are hinged and telescopic working arm, clean Pose Control also adopting of having of the executive module with respect to plate face
Based on range finding or the adjust automatically mode of load cell, adopting pressure Water spray, brush roll its cleaning more（Or brush）Rotation
Turn the mode scrubbed or the two combines, also have by the way of blowing, dust suction even steam clean.Various automation degree of equipment
Differ with work efficiency, some employing global designs, integrated level and automaticity it is higher, such as Italy
The Solar Cleaner F1750C of B.P.Metalmeccanica companies, the SOLARCLEAN of Hymach companies of Italy, victory
HOLZMANN of gram PowerFuture companies etc.；Then simply installing additional on tractor even engineering machinery body for having partly sets
It is standby to realize, thus adaptability, operability and work efficiency are not so good as the former, the such as Solar of B.P.Metalmeccanica companies
Cleaner F1750T etc..
It is domestic for the research of independent travelling photovoltaic array cleaning equipment see disclosed in 2011 earliest three parts it is Chinese
Patent application：201120150445th, 201120345033 and 201110287189, from the beginning of 2012, corresponding patent application
Start to increase with mandate.Scheme disclosed in these patents function setting on the whole and unit composition are big with aforementioned external product
Cause identical, it is characterised in that the difference in each unit layout and corresponding units functional realiey mode.For example：Grant number is
The patent of invention of CN102773224B propose that a kind of employing steel wire rope drawing reinforces can pitching and deflection cantilever and two ends slide
The brush of dynamic pull-type dust removal head attitude-adjusting system inhales the anhydrous cleaning solution of convolution；Grant number be CN203076278U and
The utility model patent of CN203764603U proposes the water tank pull-type based on excavator and water tank fork formula totality cloth respectively
Office's scheme；The application for a patent for invention of Application No. 201310251524 and 201410246655 is successively disclosed based on automobile bottom
Disk, with electromotor as cleaning power source, to be symmetrically arranged in the wing brush that door frame both sides and liftable and pitching are launched after headstock
Frame is cleaning executive module, scrubs to rinse to combine with jet head sets before and after brush holder with brush group in the middle of brush holder and implements the side of cleaning
Case；Grant number proposes one kind based on agricultural crawler bulldozer bicycle for the utility model patent of CN203911860U, arranges pull-type
Water tank, and preposition installation with deflectable vertical column, lifting telescopic horizontal boom, can pitching end arms, float positioning
Formula cleans the boom type cleaning structure of executive module, the cleaning side for purging using high-pressure water gas blending agent and striking off with reference to scraping blade
Case；For the utility model patent of CN203900061U and CN203917212U, grant number proposes that root is deflectable, end respectively
Three sections of scalable rolling are hinged pitching type working arm scheme and have baffle plate seal bootr, fluid motor-driven round brush and dust collecting port
Anhydrous cleaning executive module scheme；Grant number for CN203526115U utility model patent propose it is a kind of only using two groups
Vertical rack-and-pinion pull-type servo action mechanism for implementing pose adjusts, using end hydraulic motor Driven by Coaxial round brush, monolateral
If the cleaning executive module scheme of range finding probe；Grant number proposes one kind for the utility model patent of CN203540966U and is based on
Using lifting oil cylinder end guide pin bushing slide construction, crawler body, realizes that cleaning executive module floats positioning, double round brush to rotation, between brush
Dust suction and the anhydrous cleaning program of the outer drifting dust of brush；The application for a patent for invention of Application No. 201310745189 and 201410164280
Successively disclose and be based respectively on mobile chassis and fixed support, realize spray boom inclination angle from surely using counterweight by quadric chain
Fixed spraying-rinsing scheme；Grant number proposes a kind of being based on for the utility model patent of CN203470370U and has weeding function concurrently
Crawler body, using hydraulic lifting support and hydraulically extensible bar realize brush positioning anhydrous cleaning program；Grant number is
The utility model patent of CN202893749 proposes one kind and water and compressed air is converted to gas by venturi-type ejector
The cleaning program of mist mixing jet, combination can drive the lifting of spray clean head, the working arm of flexible and rolling, to realize to battery
The up and down reciprocatingly flushing of plate；The application for a patent for invention of Application No. 201310046119 discloses one kind and is based on crawler body, adopts
Remote manipulation mode, wiper mechanism is used to perceive cleaning using obliquity sensor and 2 × 4 supersonic sounding arrays single by driven by power
The pose on the relative photovoltaic module surface of unit simultaneously can be swept and mutually be tied with dust suction by control system and an arm unit automatic deviation correction, round brush brush
The anhydrous cleaning program for closing；It is similar to therewith, cleaning program disclosed in the application for a patent for invention of Application No. 201410319011 is same
Sample is based on crawler body and adopts remote manipulation mode, but chassis and wiper mechanism are hydraulic power, is adjusted by manual remote control
Whole leg extremities position hinge position and by photovoltaic module surface to the supporting role of round brush adjusting connecing for round brush and plate face
Touch and the depth of parallelism, cleaning mode are then swept for round brush brush and are combined with fan dust discharge；The invention of Application No. 201310656755
Patent application discloses a kind of auto-navigation vehicle-carrying cleaning device scheme, can be by the feature mark for being arranged on photovoltaic array scene in advance
Will thing, realizes unpiloted mobile cleaning using conventional Wormhole routing automatically, oblique using end lift hinged-support and middle part
Realize that hairbrush roller support two-freedom span formula is positioned to Expansible carrying pull bar, using six directional wheels and the pressure thereon of both sides
The relative pose that force transducer is monitored between brush roll and photovoltaic panel changes and gives real-time adjustment by control system.
Various technical schemes about independent travelling photovoltaic array cleaning equipment or even commercialized product, respectively have spy above
Point, effect, efficiency, cost, environmental suitability, reliability, automaticity in photovoltaic array washing and cleaning operation and easy to operate
Property etc. different aspect mostly have a respective, different degrees of improvement, but this improvement is one-side, local, and
Technical scheme there is also in itself or complex structure or practicality not enough, or various deficiencies such as operation inconvenience, and generally speaking,
The intelligence degree of prior art is not ideal enough, therefore, also do not occur a type practical use in the market
The intelligent automatic cleaning product of large-sized photovoltaic power station solar panel array.
The content of the invention
The present invention is to overcome the deficiencies in the prior art, there is provided a kind of Intelligent light photovoltaic array cleaning Vehicle that can be practical so as to
Have good intelligent and high-efficiency, operating flexibility, cleaning performance, strong adaptability concurrently, the consumption of easy to operate, simple for structure, profit is low, safety can
By the advantages of.
The purpose of the present invention is realized in the following manner：
Intelligent light photovoltaic array cleaning Vehicle, is made up of crawler body and equipment, and crawler body contains a pair of crawler belt rows
Motor is walked, equipment supports positioning unit, hydraulic control unit, hydraulic oil module, confession comprising cleaning head unit, cleaning head
Water unit, water storage unit, power unit and operation control unit, clean head unit and are arranged on the end that cleaning head supports positioning unit
End, containing cleaning brush, jetting member and for measuring cleaning head unit to the distance measuring sensor of solar panel distance, hydraulic pressure control
Unit processed contains hydraulic control valve, and water supplying unit contains water pump, and power unit contains hydraulic pump, water storage unit, water supplying unit with
Cleaning head unit is sequentially connected by hydraulic pipeline, and the jetting member after making cleansing medium pressurization from cleaning head unit sprays；
Cleaning head supports positioning unit, hydraulic control unit, hydraulic oil module, water supplying unit, water storage unit, power list
Unit and operation control unit are installed on crawler body, and wherein, power unit is arranged in the afterbody of crawler body, water storage unit
Arrange close to power unit, hydraulic oil module and operation control unit arrange that close to water storage unit operation control unit is located at
Crawler body side, hydraulic control unit are located at the front of hydraulic oil module, and cleaning head supports positioning unit to be arranged on crawler belt
The stem on chassis；
Cleaning head supports positioning unit to include mobile base and work group arm group, and mobile base contains slewing equipment and traversing dress
Put, working arm group contains principal arm, end arms, principal arm pitching hydraulic cylinder and end arms posture adjustment hydraulic cylinder, working arm group is fixed on dump bottom
On the slewing equipment of seat；
Water supplying unit contains water pump hydraulic motor and water valve, water pump fluid motor-driven pump operation；
Operation control unit includes main control module, operating parts and feedback of the information part, and main control module is with computer as controlling core
The heart, the built-in control software comprising cleaning head Pose Control program, operation control unit is by cable and cleaning head unit, power
The connection of unit, hydraulic control unit and water supplying unit, receives the information from above each unit, and to power unit, hydraulic pressure control
Unit processed and water supplying unit send instruction, control its operation；
Proportional reversing valve of the hydraulic control unit comprising two correspondence two chassis crawler travel motors of control, hydraulic control list
Other reversal valves contained by first are solenoid directional control valve, and each solenoid directional control valve is by cable and operation control unit main control module
Power output drive circuit connects and receives the control of main control module, hydraulic control unit and power unit, hydraulic oil module,
Crawler body, water supplying unit, cleaning head are supported between positioning unit, and pass through liquid between power unit and hydraulic oil module
Pressure pipeline connection, forms hydraulic system, drives crawler body traveling, water supplying unit pump water and cleaning head to support positioning unit respectively
Pose is converted.
As optimization：Crawler body fills two lateral range units per side near the position of initial and end on differing heights,
Form 2 × 2 lateral range finding arrays；Crawler body front part sides are respectively provided with the accelerometer that can survey vertical acceleration；Track bottom
The both sides of disk are respectively arranged with crawler belt speed measuring device；The lateral range unit, accelerometer and crawler belt speed measuring device are by letter
Number cable is connected with operation control unit main control module；The two ratios commutation of two crawler travel motors is controlled in hydraulic control unit
Valve is solenoid-operated proportional reversal valve, and the magnetic proportional reversing valve is driven with operation control unit main control module power output by cable
Galvanic electricity road connects and receives the control of main control module；The built-in control software of operation control unit main control module also includes chassis row
Carry appearance control program.
As optimization：The operation control unit also includes remote control and wireless receiving module, the operation control unit
Contain remote control selecting switch in operating parts；The built-in supplying cell of the remote control and radio transmitter, are provided with phase outside which
The operation handle answered and button；The wireless receiving module contains reception antenna and module bodies, leads between antenna and module bodies
Cross cable connection；Communicated by modulated electromagnetic wave between remote control and wireless receiving module, wireless receiving module and master control
Connected by signal cable between module.
As optimization：The operation control unit also includes driver's cabin, is arranged on operation bench, seat and the liquid for driving interior
Brilliant screen, main control module are arranged in operation bench, and liquid crystal display screen, operating parts and feedback of the information part are arranged on the upper face of operation bench；
The control core of main control module adopts single-chip microcomputer；Operating parts includes handle and button；Feedback of the information part includes gauge outfit and display lamp.
As optimization：The crawler body front end is also equipped with a set of front shovel, and front shovel is hingedly mounted on shoe by its shovel arm
Front end with chassis, is hinged with a perching knife lifting hydraulic cylinder between body frame and the perching knife back of the body on crawler body.
As optimization：Crawler body both sides crawler travel motor is hydraulic control double speed crawler travel hydraulic motor.
As optimization：For the cleaning head unit, also containing a rolling brush rack；Cleaning brush is a rotary round brush,
Using flexible light weight swipe, round brush is arranged in the bearing block at rolling brush rack two ends by its end axle, by installed in rolling brush rack one end
Round brush fluid motor-driven；Jetting member has two, is the spray boom that interval is provided with multiple nozzles, parallel roller brush shaft cloth
Put in rolling brush rack both sides；Distance measuring sensor has four, is arranged in position of the rolling brush rack both sides near its two ends by 2 × 2 layouts
Put；Round brush shield is also equipped with rolling brush rack；Position near round brush end is provided with round brush speed probe；The range finding sensing
Device and round brush speed probe are connected with operation control unit main control module by signal cable.
As further optimizing：The solenoid directional control valve for controlling round brush hydraulic motor in hydraulic control unit is changed for solenoid-operated proportional
To valve, the solenoid-operated proportional reversal valve is connected and is connect with operation control unit main control module power output drive circuit by cable
Controlled by main control module.
As further optimizing：In the water supplying unit, water pump water outlet is divided into two-way, is delivered in cleaning head unit respectively
Two jetting members, be respectively arranged with flow control valve and the effusion meter with communication module on two hydraulic pipelines；Pump outlet sets
It is equipped with output hydraulic pressure sensor；The effusion meter and output hydraulic pressure sensor are by signal cable and operation control unit master control mould
As further optimizing：In the water supplying unit, the flow control valve on two hydraulic pipelines is Electromagnetic Flow
Control valve, the electromagnetic flow control valve are connected with operation control unit main control module power output drive circuit by cable,
Receive the control of main control module.
As further optimizing：For the power unit, also containing power unit underframe, engine assembly, transfer case,
Fuel tank and accumulator；Engine assembly includes electromotor and the intake and exhaust component with electromotor integrated installation, starts motor, sends out
Motor and cooling water tank；Electromotor, cooling water tank, transfer case, fuel tank and accumulator are installed on power unit underframe；Point
Dynamic case has 2～4 power output mouths；Hydraulic pump has 2～4, and direct connection is on the power output mouth of transfer case；Transfer case input
Couple with engine flywheel end, engine output power Jing transfer cases are transferred to hydraulic pump, drive hydraulic pump operating；Fuel tank leads to
Cross pipeline road to be connected with engine assembly, between accumulator and engine assembly, pass through cable connection；It is additionally provided with and operation
The oil box level sensor of control unit connection, engine oil pressure sensor, engine water temperature sensor and electromotor
Speed probe, each sensor pass through signal cable or to be connected with the main control module in operation control unit, or with operation
Presentation of information part connection in control unit, or while be connected with the main control module in operation control unit and presentation of information part；
The motor that starts in engine assembly is connected with the operating parts in operation control unit by cable, receives operation control unit
On off control.
As further optimizing：In the power unit, between power unit underframe and crawler body, pass through bolt group
Connection；Chassis perimeter is provided with special hanging piece；Each oil pump and the hydraulic tube for leading to hydraulic control unit and hydraulic oil module
Coupled using readily removable hydraulic fitting between road；In unit relevant device and its lead to
There is electric connector.
As further optimizing：In the power unit, hydraulic pump has three, is respectively used to drive the institute of crawler body
The hydraulic motor and cleaning head having in hydraulic pressure executive item, cleaning head unit and water supplying unit supports all in positioning unit
Hydraulic pressure executive item.
As further optimizing：For the hydraulic control unit, each control valve is according to control object and connected moves
In power unit, the difference of hydraulic pump is integrated into three different valve groups, and valve group one is used for controlling each hydraulic pressure execution on crawler body
Part, valve group two are used for controlling round brush hydraulic motor and water pump hydraulic motor, and valve group three is used for controlling cleaning head support positioning unit
In each hydraulic pressure executive item, the corresponding hydraulic pump of each group, valve group and hydraulic pressure executive item by fluid pressure line constitute three discrete liquid
Road is pushed back, each hydraulic circuit is in addition to only fuel tank is shared, completely independent from one another；The system that each valve group is provided with place hydraulic circuit
Pressure transducer, is connected by signal cable between the system pressure sensor and operation control unit main control module.
As optimization：For the cleaning head supports the slewing equipment of positioning unit, its mobile base to be returned by base for one
The pivoting support that rotating hydraulic motor drives, moving-coil are connected firmly with working arm group base, and fixed circle and housing are connected firmly on traversing base, bottom
Seat rotary fluid motor drives the revolution of pivoting support moving-coil, so as to drive whole working arm group revolution；Four are equipped with traversing base
Individual roller, can move left and right along a pair of guide rails of crawler body front end lateral arrangement；Along horizontal between traversing base and crawler body
To the traversing hydraulic cylinder of base is hinged with, the traversing hydraulic cylinder of base is traversing by the traversing base of its telescopic drive, whole so as to drive
Working arm group transverse shifting；Arm group rotary position measurement apparatus are provided with slewing equipment, between traversing base and crawler body
The traversing position-measurement device of arm group is provided with, rotary position measurement apparatus and traversing position-measurement device pass through signal cable and behaviour
Make the connection of control unit main control module.
As optimization：For the cleaning head supports positioning unit, its working arm group to include arm group base, a master
Arm, end arms, a set of switching rocker assembly, a push-pull bar, a principal arm pitching hydraulic cylinder and an end arms posture adjustment hydraulic pressure
Cylinder, principal arm root are hinged on arm group base, and end is hinged with end arms, and middle part is hinged with switching rocker assembly, rocking bar group of transferring
Push-pull bar is hinged between part and end arms, principal arm pitching hydraulic cylinder is hinged between principal arm and arm group base, stretched by which and can be driven
Dynamic principal arm pitching, end arms posture adjustment hydraulic cylinder are hinged between arm group base and switching rocker assembly, and being stretched by which can drive end
Arm swing；The end arms angle displacement measuring device and the master for principal arm pitching swung for end arms is respectively arranged with working arm group
Arm angle displacement measuring device, end arms angle displacement measuring device and principal arm angle displacement measuring device pass through signal cable and operational control
Unit main control module connects.
As further optimizing：For the cleaning head supports the working arm group of positioning unit, its principal arm is one in two sections
The openable hollow structural members of bent, web, its inner chamber can be used to lay corresponding soft or hard pipeline and cable；Switching rocker assembly
It is hinged on principal arm corner；Switching rocker assembly, push-pull bar, end arms and principal arm flat segments constitute a parallel-crank mechanism；Switching
The oblique straight section of rocker assembly, end arms posture adjustment hydraulic cylinder, arm group base and principal arm constitutes a quadric chain, when end arms and cleaning head list
When the flange face of unit's connection attitude inclination angle relative to the earth is equal to photovoltaic array plate face inclination angle, end arms posture adjustment hydraulic cylinder piston rod is just
Benefit is converted into parallel-crank mechanism in its stroke middle position, the quadric chain.
As optimization：The hydraulic control unit also includes a water-cooled cooler, hydraulic oil in hydraulic control unit
Road oil return pipe is connected with cooler oil circuit entrance, and cooler oil circuit outlet Jing oil return pipes are connected with hydraulic oil module oil return opening,
The cooling water channel of cooler is connected in the hydraulic pipeline from water storage unit to water supplying unit, i.e. the water inlet of cooler and water supply
Unit outlet is connected, and the outlet of cooler is connected with the water sucking mouth of water pump.
As optimization：The water storage unit, is made up of two same water tanks, and left and right is arranged side by side；Each water tank goes out
The mouth of a river is respectively arranged with keying water valve, then converges to a three-way piece by respective water-supply-pipe, and another mouth of pipe of three-way piece is used as water storage
The outlet of unit is connected with the suction hose for leading to water supplying unit.
The course of work and operation principle of photovoltaic array cleaning Vehicle of the present invention be：
a）When implementing washing and cleaning operation, the positioning that cleaning Vehicle arranges end in array is first completed, make car body keep flat with array row
Going and maintain a certain distance, then complete cleaning head supports the work of positioning unit to launch, and makes working arm group carry cleaning head list
To photovoltaic array side, arm group trend moves towards with array that holding is substantially vertical to first beat, and cleaning brush is uniform with photovoltaic array plate face
Contact and keep certain and eat plate depth；b）Cleaning brush works, and jetting member is sprayed water to photovoltaic array plate face, and crawler body is along current
One row's photovoltaic array speed stabilizing is advanced, so as to implement mobile cleaning to current array；In cleaning process, cleaning head distance measuring sensor is held
Distance and parallel degrees of data of the continuous detection cleaning head unit with respect to photovoltaic array plate face, and transmitted to operation control unit in real time,
Operation control unit is processed to this information, when rising and falling or road bump causes to clean the relative photovoltaic of head unit because of array plate face
When the distance of array plate face and the depth of parallelism deviate setting value to a certain degree, according to the mode of operation of setting, or by main control module root
Automatically corresponding control instruction is sent according to default cleaning head Pose Control strategy and algorithm（During automatic operation mode）, or by grasping
Author sends instruction according to the information and itself visual observations of operation control unit by corresponding operating part（Manual work mould
During formula）, and then drive the principal arm of working arm group and end arms to convert the angle of pitch and attitude angle, cleaning head unit is made with respect to photovoltaic array
The distance and the depth of parallelism of plate face is returned to perfect condition；c）After a row array row cleaning is finished, cleaning brush and jetting member stop work
Make, working arm group is received to storage position, former array row is rolled on chassis away from, or return to and park position, or go to next row array to continue to implement
By the optimization multi-level to technical solution of the present invention, its function is further perfect, and intelligence degree is further carried
Height, relevant work principle is：
a）During washing and cleaning operation, the traveling on chassis has pilot steering and automatic Pilot both of which.When selection pilot steering
During pattern, operator need to be according to oneself visual observations or the information of operation control unit, by the operation on operation bench
The rotating speed of part real-time adjustment crawler body both sides running motor, so as to adjust direction and the speed of chassis traveling, makes cleaning Vehicle exist
The depth of parallelism and distance of speed and facing arrays in traveling process is maintained at perfect condition.When automatic driving mode is selected,
Operation control unit main control module is following to photovoltaic array towards the car body that the range unit array of array side is measured to chassis
The distance parameter on edge carries out real-time processing and resolving, obtains pose parameter of the car body facing arrays in ground level（Distance and flat
Row degree）, when the parameter drift-out setting value to a certain degree when, main control module is according to default chassis traveling Pose Control strategy and calculation
Method, automatically generates corresponding control instruction, adjusts the rotating speed of both sides crawler travel motor, and to eliminate, car body attained pose is relative to be set
The deviation of positioning appearance；Meanwhile, main control module obtains data to chassis both sides accelerometer side and carries out real-time processing and resolving, obtains car
The time serieses of the real-time catenary motion parameter of body, with this and roughness work of the binding chassis gait of march parameter to current road
Go out assessment, then assessment result and preset road conditions coping strategy accordingly, in good time the average speed that chassis is advanced made adjustment,
It is when road conditions are deteriorated, appropriate to reduce chassis gait of march, to ensure the safety of washing and cleaning operation, when road conditions recover normal, then again
Chassis gait of march is returned to into setting value, to guarantee the efficiency of washing and cleaning operation.Chassis is driven in both of which, artificial mode
Priority is higher than automatic mode, and under automatic driving mode, operator can also be entered the operating instructions by operating parts, now,
Main control module temporarily interrupts corresponding automatic control process, directly in response to manual command, the travel condition on chassis is made and is met
The adjustment that operator is intended to, after artificial operation is released, then returns to automatic control process.
b）When washing and cleaning operation is in automatic operation mode, control module is not only wrapped to cleaning automatically controlling for head unit pose
Distance and the depth of parallelism of the cleaning head unit with respect to photovoltaic array plate face is included, is also included to cleaning head unit longitudinal axis facing arrays trend
Perpendicularity and cleaning brush automatically controlling with respect to photovoltaic array plate face width side-play amount.Main control module is according to based on car side
The calculated car body facing arrays attained pose parameter of range unit real time data（Distance and the depth of parallelism）It is inclined with setting value
Difference, according to default cleaning head unit Pose Control strategy and algorithm, sends automatically corresponding control instruction in good time, and then drives
The mobile base of cleaning head unit supports positioning unit produces whole lateral moving and/or top deflection（Pivoting support moving-coil is deflected）,
The deviation that transfinites for cleaning head unit facing arrays perpendicularity and side-play amount caused because of car body deflection is eliminated with quick.In addition,
In two kinds of mode of operations of washing and cleaning operation, the priority of manual mode is higher than automatic mode, i.e. under automatic operation mode, behaviour
Author can also be entered the operating instructions by operating parts, and now, main control module temporarily interrupts corresponding automatic control process, directly
Response manual command, the pose to cleaning head unit make the adjustment for meeting operator's intention, after artificial operation is released, then weigh
It is new to return automatic control process.
c）Cleaning head unit and its support positioning unit need to be expanded to working position by storage position before washing and cleaning operation starts,
Then need to be recycled to storage position by working position after washing and cleaning operation terminates.Which launches and removal process is also with manually and automatically two
Plant mode of operation.During Automatic-expanding, operation control unit main control module is pressed according to the initial pose of facing arrays after Location vehicle
According to preset procedures control algolithm, support on positioning unit for end arms swing, principal arm pitching, the revolution of arm group in combination with cleaning head
The feedback information of the position-measurement device traversing with arm group, chronologically exports corresponding control instruction, makes cleaning head unit with most
Shortest path continuously moves to home above photovoltaic array cell panel, then by manual operation or by automatic cleaning model, most
Complete eventually to clean positioning of the head unit in photovoltaic array plate face.Automatic Recovery Process is substantially the inverse mistake of Automatic-expanding process
d）The operation bench of operation control unit is the control terminal of car load.Operator is by handle, button, touch screen thereon
Etc. the input, the equipment parameters that complete manual hand manipulation's instruction（Such as setting flow of flow control valve etc.）Setting, with
And automatically control parameter（As brush board it is inclined away from control away from, sweep away from control deviation, brush board depth of parallelism control deviation, sweep away from, brush board
Difference, sweep depth of parallelism control deviation, road bump amplitude control threshold value etc.）Setting；Directly from the actual measurement of each road sensor
Equipment running status information input main control module, implements the foundation that automatically controls as main control module, meanwhile, these information and
Via main control module process after car load and cell operation status information, system operation information, security alarm information and
System fault diagnosis information etc. is exported by the touch display screen on operation bench, gauge outfit, display lamp and speaker etc., used as people
The reference frame of work operation.
e）Remote control is the assist control terminal of car load.When operation bench remote control selecting switch selects remote control, by remote control
Corresponding operating parts on device, teleoperator can with manual operation mode or automatic control mode complete to include chassis drive,
Round brush rotation and the keying sprayed water and cleaning head unit Pose Control etc. are in interior washing and cleaning operation basic function；When remote control is selected
When selecting switch and selecting local control, operational control power is retracted to operation bench by remote control.
Beneficial effects of the present invention show：
a）As car load is integrated using modular mode, cleaning head unit, power unit, water storage unit etc. are provided with function
Complete, shape is regular, interface is simple, be easy to dismounting etc. modular characteristics, so cleaning Vehicle of the present invention be not only convenient for manufacture,
Be easy to keep in repair, be easy to decompose after transport, and the seriation for product provides condition, and especially cleaning head unit module can be
The long serial or even swipe material series of brush is formed in the case that holding is constant with cleaning head positioning support element interface, to improve this
Adaptability and operation flexibility of the invention to manipulating object and operating condition.
b）Based on the total arrangement mode of car load, as cleaning head supports positioning unit preposition so that operator on car
Cleaning process can be carried out directly perceived, comprehensive and clearly be observed, be easy to the deleterious situation to occurring in cleaning to be processed in time；
Due to putting in water storage unit so that in cleaning process, the longitudinal center of gravity of car load can be still kept in the case where pondage significantly changes
It is basicly stable, so that chassis maintains good driving performance all the time；Due to power unit it is rearmounted, not only so that the unit has
More preferable maintainability, is also more beneficial for engine radiating, and can avoid electromotor vibration and high temperature to hydraulic oil container, hydraulic pressure control
Unit processed, water supplying unit and operation control unit are adversely affected.
c）Due to adopting crawler body, steel crawler belt or rubber belt track, and chassis can be selected according to specific use environment
Stem is furnished with front shovel, quickly can remove the small-scale obstacle fragmentary on operation road surface in cleaning process, so, it is of the present invention clear
Carwash landform strong adaptability, is operable with the various terrain environments such as desert, Gobi desert, wasteland, snowfield, arable land, mire, hillside.Its
Secondary, using stem front shovel and crawler belt, cleaning Vehicle of the present invention can be also temporarily used for the simple flat of photovoltaic DC field road surface enforcement
Whole and compacting so as to possess function with a greater variety.Thirdly, the driving oil circuit passing ratio reversal valve of track motor is adjusting stream
The size and Orientation of amount, therefore can subtly be adjusted in the interior speed advanced to chassis and direction in a big way, make bottom
Disk has good driving performance.In addition, track motor is hydraulic control double-speed motor, in the outer transition of array, can be selected according to road conditions
Select and adopt fast mode, improve working performance.
d）Cleaning head unit configuration round brush and spray module, hydraulic control unit and water supplying unit function and control are discrete,
And the former can eat plate depth and implement control adjustment respectively to the setting of round brush rotating speed, round brush rotation direction and round brush, the latter can be sprayed to two-way
Discharge implements control adjustment respectively, therefore, cleaning Vehicle of the present invention possesses the cleaning mechanism of flexibility, can be for different right
As, environment and requirement, on the premise of cleaning quality, efficiency and cost is taken into account, by parameter setting, flexibly form different clear
Technique is washed, so as to further improve its object adaptability and operating flexibility.Cleaning brush adopts flexible light weight swipe, using rotation
Centrifugal force forms brush spine, removes residual liquid with reference to water curtain pre-flush in front of round brush and round brush rear water curtain, can both ensure cleaning quality,
Again will not be to photovoltaic module Watch glass and coating（Such as antireflective coating, hydrophobic membrane etc.）Cause to damage.
e）Cleaning head supports positioning unit that there is principal arm pitching, end arms pitching, arm group transverse moving left and right and arm group to turn round four
Degree of freedom, one so as to possess left lateral position work, right lateral position work and middle position and store three kinds of pose patterns, and between three stations
Convenient can change, enable cleaning Vehicle of the present invention to work in a more flexible way, in actual washing and cleaning operation, can be at array end
Portion's pivot turn turns to arrange and be rapidly completed the initial alignment of cleaning head unit, saves time, improves work efficiency；Second,
Make its locus and attitude to cleaning head unit that there is sufficient ability of regulation and control, it is ensured that in cleaning process, to clean head unit phase
Position and attitude to photovoltaic array plate face is stablized.
f）Based on the movement transferring of working arm group end arms, when end arms flange attitude angle is near setting value or its
When, the pitching of principal arm and the pitching of end arms without couple or it is only slight couple, clean the roll adjustment of head unit to its attitude angle without shadow
Ring or impact that is only slight, approximately can ignoring, therefore, when cleaning head supports positioning unit to work pose in side position, behaviour
Make position and attitude that control unit substantially can be to cleaning head unit and implement independent control, when only being adjusted by working arm pitching
Whole cleaning head unit to the battery space of a whole page apart from when, the parallel orientation for cleaning head unit opposite plate face keeps constant, it is to avoid perhaps
Notable coupling of the arm group when pose is adjusted between two degree of freedom in many similar technique schemes so that cleaning head unit pose is adjusted
When whole, operation under manual mode is easier, and under automatic mode, then system real time, stability and uniformity are more preferable.
g）Based on the openable hollow structure of working arm group principal arm abdominal part, the various soft or hard umbilicals towards cleaning head unit can
Lay in principal arm inner chamber, make the outward appearance of cleaning Vehicle of the present invention more clean and tidy.
h）Water storage unit is using double water tank or so juxtaposed compound mode, and independently can supply water, so, by inequality
Using both sides water source, can artificially adjust the transverse center of gravity position of cleaning machine to a certain extent, with reversely offset cleaning head and its
Support positioning unit be in lateral working position when to car body tilting moment effect, so as to chassis is mitigated or eliminated to a certain extent
The tilting of car body and traveling that work is caused due to both sides crawler belt grounding pressure difference in advancing wanders off, and makes chassis keep more preferable row
i）Based on hydraulic control unit and the structure of power unit, in cleaning Vehicle of the present invention, chassis drives hydraulic pressure system
It is three complete and discrete hydraulic pressure systems that system, cleaning head support positioning hydraulic system and round brush and water pump drive hydraulic system principle
System, each system load and the change of running status in washing and cleaning operation will not be interfered to other systems, so that the work of whole machine
It is stable, safe and reliable.
j）Hydraulic control unit fluid cooler is using the cleaning current from water supplying unit as cooling medium, high-temperature liquid
Pushing back oil carries out heat exchange with Low-temperature cleaning water supply by hydraulic cooler, has both improved the service behaviour of hydraulic system, and
The surface activity of cleansing medium is improve to a certain extent, and without the need for arranging other radiatings, firing equipment in addition, does not need to carry
For extra power and medium, cold and hot complementation is energy-saving.
k）Based on the main control module using computer controls, the sensing detection device for blazoning, integrated visual operation
Control terminal and the intelligent control software of special exploitation, cleaning Vehicle of the present invention can to the cleaning head pose in washing and cleaning operation and
Chassis is advanced and is automatically controlled in real time, make the relative photovoltaic array plate face of cleaning head unit position and attitude all the time in ideal shape
State, to guarantee that cleaning quality is stable, cleaning process is safe and efficient, can also implement automatically to clean head unit and its support positioning unit
Expansion and recovery, with save cleaning time, and then improve working performance.And, the raising of intelligence degree can be significantly
The working strength of operator is reduced, makes easy to operate, and human cost can be saved.
l）Cleaning Vehicle of the present invention has manually and automatically two kinds of mode of operations, and flexible operation mode is various, both can be
It is manipulated by unit operation bench directly to operate on car, also can be operated by remote control device in the outer certain distance of car, it is right
In the expansion and recovery of chassis traveling, cleaning head Pose Control and cleaning head and its support positioning unit, both can be by operator
Manual operation, also can be after respective automatic mode selecting switch be respectively started, by operation control unit main control module to corresponding
Implementation Process is automatically brought into operation, and, whether operation bench, or remote control can both implement manual operation, can also start automatically
m）Based on cleaning Vehicle of the present invention the aspect such as operating type and cleaning motility, concrete washing and cleaning operation
In, can be arranged according to specific photovoltaic array, the factor of soil type and level of coverage, cleaning requirement and environmental condition,
Fully optimize operational method, on the premise of task object is guaranteed, it is to avoid meaningless profit consumption, both economized on resources consumption, and
Reduce use cost.
Description of the drawings
Fig. 1 is composition frame chart of the present invention.
Fig. 2 is each composition intermodule control information stream of the present invention, hydraulic fluid flow and cleansing medium stream transitive relation block diagram.
Stereo appearance figure when Fig. 3 is one embodiment of the invention cleaning photovoltaic array.
Fig. 4 is embodiment of the present invention front end sectional perspective outside drawing.
Fig. 5 is embodiment of the present invention cleaning head unit three-dimensional structure composition figure.
Fig. 6 is that embodiment of the present invention cleaning head supports positioning unit working arm group stereochemical structure composition figure.
Fig. 7 is that embodiment of the present invention cleaning head supports positioning unit mobile base stereochemical structure composition figure（Office containing chassis
Fig. 8 is embodiment of the present invention power unit stereochemical structure composition figure.
Composition and oil circuit connection block diagrams of the Fig. 9 for embodiment of the present invention hydraulic control unit.
Stereochemical structure composition schematic diagrams of the Figure 10 for embodiment of the present invention water supplying unit.
Stereochemical structure composition schematic diagrams of the Figure 11 for embodiment of the present invention operation control unit.
Figure 12 is embodiment of the present invention operation control unit control planning block diagram.
In figure：1- crawler bodies；2- cleans head unit；3- cleaning heads support positioning unit；4- hydraulic control units；5- liquid
Force feed box unit；6- water supplying units；7- water storage units；8- power units；9- operation control units；10- photovoltaic array panels；
101- front shovels；The upper body frames of 102-；103- bogie frames；104- Ultrasonic ranging devices；107- perching knife lifting hydraulic cylinders；108- is digital
Accelerometer；201- cleans round brush；2011- mandrels；2012- swipes；202- rolling brush racks；2021- upper flanges；2022- girders；
203- guard shield plates；204- round brush motor hydraulic pressure flexible rubber hoses；205- sensor signal cables；206- jetting members；2061- spray booms；
2062- nozzles；207- round brush speed probes；208- round brush hydraulic motors；209- round brush motor connection seats；210- elasticity shaft couplings
Device I；211- round brush bearing blocks；212- ultrasonic range finder sensors；213- jetting member water delivery flexible rubber hoses；31- working arm groups；3101-
Arm group base；31011- arm group base lower shoes；3102- principal arms；3103- end arms posture adjustment hydraulic cylinders；3104- switching rocking bar groups
Part；31041- switching corner fittings；31042- connecting rods；31043- rocking bars；3105- push-pull bars；3106- end arms；31061- flange faces；
3107- principal arm pitching hydraulic cylinders；3108- hydraulic tube pieces；3109- rotary encoders I；3110- center-rotary joints；32- is movable
Base；3201- guide rails；The traversing bases of 3202-；32021- actuating arms；32022- legs；32023- cylindrical walls；32024- rollers；
3203- slewing equipments；32031- pivoting supports；32032- base rotary fluid motors；32033- rotary reducers；32034- revolves
Turn encoder II；3205- cylinder supports；3206- metal water-supply-pipes；3207- displacement transducers；3208- swivel joints；41- valves
Group one；42- valve groups two；43- valve groups three；44- water-cooled coolers；601- water pump supports；602- water pump hydraulic motors；603- bullets
Property shaft coupling II；604- water pumps；605- hydraulic pressure gauges；606- water pump water return outlets；607- pump outlets；608- switch valves；609-
The Pump Suction mouth of a river；610- electromagnetic flow control valves；Effusion meters of the 611- with communication module；801- power unit underframe；802- bavins
Oil turbine assembly；8021- engine bodies；8022- intake and exhaust components；8023- cooling water tanks；803- transfer cases；804- liquid
Press pump three；805- hydraulic pumps two；806- hydraulic pumps one；807- accumulator；808- fuel tanks；809- power unit shields；901-
Driver's cabin；902- operation bench；903- feedback of the information parts；904- operating parts；905- Touch-control liquid crystal display screens；906- antennas；907-
Seat；908- main control modules；909- radio receiving transmitting modules；910- remote controls.
Technical scheme proposed by the invention is described in further details with one embodiment below in conjunction with the accompanying drawings, but not
As limitation of the invention.
As shown in Figure 1, Figure 2 and Figure 3, a kind of Intelligent light photovoltaic array cleaning Vehicle, by crawler body 1 and equipment group
Into wherein, equipment supports positioning unit 3, hydraulic control unit 4, hydraulic oil module by head unit 2, cleaning head is cleaned
5th, the composition such as water supplying unit 6, water storage unit 7, power unit 8 and operation control unit 9.Car load is collected by modular method
Into：Cleaning head unit 2 is connected firmly at the end for supporting positioning unit 3 with bolt connection mode by its 202 upper flange 2021 of rolling brush rack
End, the oil circuit, water route and circuit between Unit two passes through pipe joint and electric connector connects；Cleaning head supports positioning unit 3, liquid
Pressure control unit 4, hydraulic oil module 5, water supplying unit 6, water storage unit 7, power unit 8 and operation control unit 9 are respectively mounted
On crawler body 1, wherein, power unit 8 is fixed on the afterbody of crawler body 1, and water storage unit 7 is arranged close to power unit 8,
Operation control unit 9 is fixed on 1 side of crawler body close to water storage unit 7, and cleaning head supports positioning unit 3 to be arranged on track bottom
The front end of disk 1.As shown in figure 3, operation control unit 9 supports fixed by cable with crawler body 1, cleaning head unit 2, cleaning head
Bit location 3, hydraulic control unit 4, hydraulic oil module 5, water supplying unit 6, water storage unit 7 and power unit 8 connect, and receive and
From the information of above each unit, and instruction is sent to power unit 8, hydraulic control unit 4 and water supplying unit 6, control its operation；
Hydraulic control unit 4 supports positioning unit 3, hydraulic oil module 5, water supply single with crawler body 1, cleaning head unit 2, cleaning head
Between unit 6, power unit 8, and connected by fluid pressure line between hydraulic oil module 5 and power unit 8, form hydraulic pressure system
System, driving crawler body 1 is advanced respectively, 6 pump water of water supplying unit, cleaning head support the conversion of 3 pose of positioning unit and cleaning head list
The cleaning round brush 201 of unit 2 rotates；Water storage unit 7, water supplying unit 6 are sequentially connected by hydraulic pipeline with cleaning head unit 2, are made
Nozzle 2062 after rinse water pressurization from the jetting member 206 of cleaning head unit 2 sprays.
As shown in Figure 3 and Figure 4, crawler body 1 includes a pair of crawler bogies, upper body frame 102, and the upper body frame of connection
102 and the suspension of both sides crawler bogie, include per side stage car bogie frame 103, driving wheel, hydraulic control double speed crawler travel motor 106,
Guide wheel, tensioner, thrust wheel, support sprocket wheel and crawler belt etc..1 front end of crawler body is also equipped with a set of front shovel 101, front shovel 101
The bottom of body frame 102 on crawler body 1 is hinged on by its shovel arm, 102 front lower portion of body frame and shovel on crawler body 1
A perching knife lifting hydraulic cylinder 107 is hinged between the knife back, and the hydraulic cylinder is retracted, and can lift perching knife, stretch out, then can put perching knife
Under.In addition, upper body frame 102 and bogie frame 103 liang of lateral surface are respectively arranged equipped with about two pairs near the position of chassis initial and end
Ultrasonic ranging device 104, forms 2 × 2 lateral range finding arrays per side；One is equipped near two crawler driving whells on bogie frame 103 respectively
Individual crawler belt speed measuring device 105；102 front part sides of upper body frame are also equipped with surveying the digital accelerometer of vertical acceleration for a pair
108.The chassis of crawler travel motor 106 and perching knife lifting hydraulic cylinder 107 by fluid pressure line with hydraulic control unit 4 drives valve
Group（Valve group 1）Connection, the output in the case where hydraulic control unit 4 is controlled are rotated and flexible；Crawler belt speed measuring device 105, supersonic sounding
Device 104 and digital accelerometer 108 are connected with the main control module 908 of operation control unit 9 by signal cable, to operation control
The status informations such as the position of 9 Real-time Feedback crawler body 1 of unit processed, speed and vibration.
As shown in figure 5, cleaning head unit 2 includes cleaning round brush 201, rolling brush rack 202, transparent shroud plate 203, round brush hydraulic pressure
Motor 208, round brush motor connection seat 209, yielding coupling I 210, round brush bearing block 211, jetting member 206, round brush revolution speed sensing
Device 207, ultrasonic range finder sensor 212, round brush motor hydraulic pressure flexible rubber hose 204, jetting member water delivery flexible rubber hose 213, and sensor
Signal cable 205 etc.；Cleaning round brush 201 is made up of mandrel 2011 and flexible light weight swipe 2012, is arranged on rolling by its end axle
In the round brush bearing block 211 at 202 two ends of brush holder, rotation is driven by the round brush hydraulic motor 208 installed in 202 one end of rolling brush rack,
Swipe 2012 is launched under the action of the centrifugal force, can produce the contact friction force needed for cleaning after contacting with photovoltaic array plate face plate 10
With relative friction velocity；Jetting member 206 is two and is spaced the spray boom 2061 for being provided with multiple nozzles 2062, parallel roller brush shaft cloth
Put in 202 both sides of rolling brush rack, and it is substantially contour with roller brush shaft；Ultrasonic range finder sensor 212 has four, pacifies by 2 × 2 symmetric configurations
It is mounted in position of 202 both sides of rolling brush rack near its two ends；Round brush speed probe 207 is arranged on round brush motor connection seat 209.
Round brush hydraulic motor 208 supports positioning unit 3 and the valve group 2 42 of hydraulic control unit 4 to connect by the cleaned head of fluid pressure line
It is logical；Jetting member 206 supports positioning unit 3 to be connected with water supplying unit 6 by the cleaned head of hydraulic pipeline；Ultrasonic range finder sensor
212 and round brush speed probe 207 support the master control of positioning unit 3 and operation control unit 9 by the cleaned head of signal cable
Module 908 connects, to 9 Real-time Feedback of operation control unit cleaning 2 posture information of head unit and cleaning 201 rotary speed information of round brush.
The girder 2022 of rolling brush rack 202 is hollow profile, and round brush motor hydraulic pressure flexible rubber hose 204 and jetting member water delivery flexible rubber hose 213 are distinguished
Concentrated after penetrating from its two ends again from 2021 endoporus of middle part upper flange and passed.
As shown in figure 3, cleaning head supports positioning unit 3 to include work group arm group 31 and mobile base 32, working arm group 31 is solid
It is scheduled on the slewing equipment 3203 of mobile base 32.
As shown in fig. 6, work group arm group 31 includes arm group base 3101, principal arm 3102, end arms 3106, switching rocker assembly
3104th, push-pull bar 3105, principal arm pitching hydraulic cylinder 3107, end arms posture adjustment hydraulic cylinder 3103, hydraulic tube piece 3108, central authorities' revolution connect
3110, water delivery pipe fitting and hinging pin shaft etc..Wherein：Principal arm 3102 is one openable hollow in two sections of bents, webs
Structural member, its root are hinged on arm group base 3101, and end is hinged with the end arms 3106 with hollow cavity, middle part corner
It is hinged with switching rocker assembly 3104；Switching rocker assembly 3104 by a pair of switching corner fittings 31041, a pair of links 31042, a pair
Rocking bar 31043 and corresponding bearing pin composition, with principal arm 3102 turn portion and are constituted parallel-crank mechanism as pedestal；Principal arm pitching liquid
Cylinder pressure 3107 is hinged between principal arm 3102 and arm group base 3101, is stretched by which and can be driven 3102 pitching of principal arm；End arms is adjusted
Appearance hydraulic cylinder 3103 is hinged between arm group base 3101 and switching rocker assembly 3104, arm group base 3101, end arms posture adjustment liquid
Cylinder pressure 3103,3102 oblique straight section of principal arm and switching rocker assembly 3104 constitute a quadric chain, when end arms posture adjustment hydraulic cylinder
When 3103 piston rods are in its stroke middle position, the quadric chain is converted into parallel-crank mechanism；Push-pull bar 3105 is hinged on
Between switching rocker assembly 3104 and end arms 3106, switching rocker assembly 3104, push-pull bar 3105, end arms 3106 and principal arm 3102
Flat segments constitute a parallel-crank mechanism, and the parallel-crank mechanism is with above quadric chain by rocker assembly of transferring
3104 series connection, end arms posture adjustment hydraulic cylinder 3103 are swung by telescopic drive end arms, and when its piston rod is in its stroke middle position,
The flange face 31061 that end arms 3106 is connected with cleaning head unit 2 attitude inclination angle relative to the earth is equal to 10 phase of photovoltaic array plate face
Inclination angle to the earth（Such as 35 °）；Multichannel center-rotary joint 3110 is arranged at the 3101 lower section centre of gyration of arm group base, its
Boss is connected firmly in hole along flange Jing after 31011 center via seam positioning of arm group base lower shoe；Principal arm 3102 with
Arm group base 3101 is hinged shaft end and switching rocker assembly 3104 and is hinged shaft end difference 0 equipped with rotary coding with principal arm 3102
Device I 3109.Principal arm pitching hydraulic cylinder 3107 and end arms posture adjustment hydraulic cylinder 3103 pass through fluid pressure line Jing center-rotary joints 3110
Jing mobile base 32 is connected with the valve group 3 43 of hydraulic control unit 4 again；Rotary encoder I 3109 is movable by signal cable Jing
Base 32 is connected with the main control module 908 of operation control unit 9, to the 9 Real-time Feedback principal arm angle of pitch of operation control unit and end
Arm attitude angle information.The fluid pressure line of connection cleaning head unit 2, hydraulic pipeline and signal cable are along principal arm 3102 and end arms 3106
Inner chamber lays, and Jing center-rotary joints 3110 Jing mobile base 32 is connected with hydraulic control unit 4 and water supplying unit 6 again.
As shown in fig. 7, mobile base 32 is by guide rail 3201, traversing base 3202, the traversing hydraulic pressure of slewing equipment 3203, base
3204 grade of cylinder is constituted, wherein：Two guide rails 3201 are transversely symmetrically fixed on the front end of body frame 102 on crawler body 1；Traversing bottom
Seat 3202 is a lorry, and roller 32024 is housed on its symmetrically arranged four leg 32022, and roller 32024 is placed in guide rail
In 3201 raceway；The traversing hydraulic cylinder of base 3204 is transversely hinged on the actuating arm 32021 of traversing base 3202 and upper underbody
Between cylinder support 3205 in 102 side girders of frame, the traversing hydraulic cylinder 3204 of base can drive traversing base 3202 by flexible
Along 3201 transverse moving left and right of guide rail；Arrange between the end of the wherein leg 32022 of traversing base 3202 and correspondence guide rail 3201
There is stay-supported type displacement sensor 3207, for measuring lateral displacement of the traversing base 3202 in guide rail 3201；Slewing equipment
3203 connect firmly on the flange of the top of traversing base 3202, by pivoting support 32031, base rotary fluid motor 32032, rotary decelerating
Device 32033 and rotary encoder II 32034 etc. are constituted, and base rotary fluid motor 32032 is arranged on rotary reducer 32033
One end, can drive the revolution of 32031 outer ring of pivoting support by rotary reducer 32033, and then drive is fixedly mounted on revolution
The 31 overall revolution of work group arm group on 32031 outer rings is held, and is arranged on the rotary encoder II of 32033 other end of rotary reducer
32034 angles of revolution that can measure slewing equipment 3203.The inner space of pivoting support 32031 and traversing base 3202 can hold
Receive 31 bottom of working arm group center-rotary joint 3110 and its each hydraulic fluid port of housing to phase on 3202 cylindrical wall 32023 of traversing base
The fluid pressure line that should be crossed between wall hydraulic fitting.32032 port connection of base rotary fluid motor and be arranged on cylindrical wall
Each oil circuit is caused wall hydraulic fitting excessively on 32023 liquid of 3202 sidepiece of traversing base again by one group of metal oil conduit 3204
Corresponding wall pipe joint excessively on water power interface board 32024.The two water route swivel joints 3208 in front of actuating arm 32021 with
Two water route connections in working arm group 31, then water route is caused into liquid water power interface board by two metal water-supply-pipes 3206
Corresponding wall pipe joint excessively on 32024.Base rotary fluid motor 32032 is by itself fluid pressure line on traversing base 3202
It is connected with the valve group 3 43 of hydraulic control unit 4 with outer even fluid pressure line；Displacement transducer 3207 and rotary encoder II 32034
It is connected with the main control module 908 of operation control unit 9 by signal cable, to the traversing base of 9 Real-time Feedback of operation control unit
3202 lateral displacement and 32031 outer ring of pivoting support revolution angle information.
As shown in figure 8, power unit 8 includes power unit underframe 801, Diesel engine assembly 802, transfer case 803, liquid
Press pump, fuel tank 808, accumulator 807, and power unit shield 809.Wherein：Diesel engine assembly 802 is integrated with into row
The peripheral accessories such as pneumatic module 8022, cooling water tank 8023, electromotor, various sensors；Transfer case 803 has three power outputs
Mouthful；Hydraulic pump has three, is arranged on three power output mouths of transfer case 803 by the form of flange direct connection respectively, hydraulic pressure
Pump 1 is used for driving the hydraulic pressure executive item in crawler body 1（Including crawler travel motor 106, running motor discharge capacity switching machine
Structure and perching knife lifting hydraulic cylinder 107）, round brush hydraulic motor 208 and supply that hydraulic pump 2 805 is used in driving cleaning head unit 2
Water pump hydraulic motor 602 in water unit 6, hydraulic pump 3 804 support all hydraulic in positioning unit 3 for driving cleaning head
Executive item（Including the traversing hydraulic cylinder 3204 of principal arm pitching hydraulic cylinder 3107, end arms posture adjustment hydraulic cylinder 3103, base and base revolution
Hydraulic motor 32032）；Engine body 8021, cooling water tank 8023, transfer case 803, fuel tank 808 and accumulator 807 are pacified
It is mounted on power unit underframe 801；803 input of transfer case is coupled with 802 flywheel end of engine assembly, engine assembly 802
Output power Jing transfer cases 803 are transferred to hydraulic pump, drive hydraulic pump operating；It is relative with cooling water tank 8023,808 He of fuel tank
Accumulator 807 is arranged in the other end of power unit underframe 801, and wherein fuel tank 808 raises installation, accumulator by support
807 are placed in below fuel tank 808；Fuel tank 808 is connected with engine assembly 802 by pipeline road, engine assembly 802
Start；Each hydraulic pump is provided with hydraulic fitting by near-end
Fluid pressure line and hydraulic oil module 5 and hydraulic control unit 4 corresponding valve group connection；Detection generator speed, machine oil oil
The sensor of the engine operating state information such as pressure, fuel quantity, water tank water temperature and accumulator 807 and startup motor etc. are logical
Cross one group of cable and 9 corresponding feedback of the information part 903 of operation control unit and master control mould that near-end is respectively arranged with electric connector
Block 908 connects；By bolt connections between power unit underframe 801 and the upper body frame 102 of crawler body 1, its periphery sets
It is equipped with special hanging piece；Radiator window and access cover is provided with power unit shield 809.
As shown in figure 9, hydraulic control unit 4 includes three independent valve groups and a water-cooled cooler 44.Wherein：Valve
Group 1 is used for controlling each hydraulic pressure executive item on crawler body 1, including electromagnetic relief valve, 106 turns of two crawler travel motor of control
Speed and the two solenoid-operated proportional reversal valves for turning to, the solenoid directional control valve of two crawler travel motor of control, 106 discharge capacity switching, control shovel
The flexible solenoid directional control valve of knife lift cylinder 107 and common installation valve plate, valve group oil-in is by fluid pressure line and power list
One 806 oil-out of hydraulic pump connection in unit 8；Valve group 2 42 is used for controlling round brush hydraulic motor 208 and water pump hydraulic motor 602,
Turn to including electromagnetic relief valve, control round brush hydraulic motor 208 and rotating speed solenoid-operated proportional reversal valve, control water pump hydraulic motor
The solenoid directional control valve and two-way one-way throttle valve and common installation valve plate of 602 start and stop, valve group oil-in pass through fluid pressure line
Connect with 2 805 oil-out of hydraulic pump in power unit 8；Valve group 3 43 is used for controlling each liquid in cleaning head supporting positioning unit 3
Pressure executive item, controls including installation valve plate, electromagnetic relief valve and respectively four sets of electromagnetism of three hydraulic cylinders and a hydraulic motor
The combination of reversal valve, two-way one-way throttle valve and two-way individual event balanced valve, valve group oil-in is by fluid pressure line and power unit 8
3 804 oil-out of middle hydraulic pump is connected；The oil return opening of three sets of valve groups of the above by fluid pressure line convergence after with water-cooled cooler
44 oil-ins are connected, and 44 oil-out of water-cooled cooler is then connected with 5 oil return opening of hydraulic oil module by fluid pressure line；Each valve
Group constitutes three discrete hydraulic circuits with corresponding hydraulic pump and hydraulic pressure executive item by fluid pressure line, and each hydraulic circuit is except only
It is outside shared cooler and fuel tank, completely independent from one another；The oil pressure for being additionally provided with detection place oil circuit operating pressure in each valve group is passed
Sensor；Each solenoid electric valve is connected with 9 main control module of operation control unit, 908 peripheral power output drive circuit by cable,
Each oil pressure sensor is connected with the main control module 908 of operation control unit 9 by cable, to 9 Real-time Feedback of operation control unit
Each valve group oil circuit pressure information；Main control module 908 can be according to operator's input instruction or preset control strategy to corresponding electricity
Magnetic control valve is controlled.
Hydraulic oil module 5 is equipped with oil temperature and fuel level sensor, master control of the sensor by cable and operation control unit 9
Module 908 connects, oil temperature and oil level information into 9 Real-time Feedback hydraulic oil container of operation control unit.
As shown in figure 3, water storage unit 7 is made up of two same cubic water tanks that left and right is arranged side by side；Water tank has gold
Category pallet and grid framework, built-in high density polyethylene (HDPE) inner bag, bottom are provided with outlet, are respectively arranged with keying water on outlet
Valve, top are provided with filler, and ventilation type top cover is housed on filler, level sensor is also equipped with top cover；Two water tanks go out
Each water-supply-pipe converges to a three-way piece to mouth of a river Jing, another mouth of pipe of three-way piece as this unit outlet with lead to confession
The suction hose connection of water unit 6；Level sensor is connected with the main control module 908 of operation control unit 9 by cable, to operation
Water level information in 9 Real-time Feedback water tank of control unit.
As shown in Figure 10, water supplying unit 6 comprising water pump support 601, water pump hydraulic motor 602, yielding coupling II 603,
Water pump 604, switch valve 608, electromagnetic flow control valve 610, hydraulic pressure gauge 605, the effusion meter 611 with communication module and connecting line
Deng.Wherein：Water pump hydraulic motor 602 and plunger type water pump 604 are installed on water pump support 601, and water pump hydraulic motor 602 leads to
Crossing yielding coupling II 603 drives water pump 604 to operate；Suction line between 7 outlet of the Pump Suction mouth of a river 609 and water storage unit
By the water-cooled cooler 44 in hydraulic control unit 4, form the water route of the cooler, i.e. water-cooled cooler 44 enters water
Mouth is connected with 7 outlet of water storage unit, and outlet is then connected with the water sucking mouth of water pump；Hydraulic pressure is housed in pump draining chamber pressure tap
Meter 605；Switch valve 608 is respectively arranged with two pump outlets 607；Hydraulic pipeline after switch valve 608 respectively with cleaning head
Two jetting members 206 in unit 2 are connected, and are respectively arranged with electromagnetic flow control valve 610 and with communication module on two hydraulic pipelines
Effusion meter 611；Water pump water return outlet 606 is connected with 7 tank filler opening of water storage unit by independent pipeline；Water pump hydraulic motor 602
Connected with the valve group 2 42 of hydraulic control unit 4 by fluid pressure line；Each sensor and electromagnetic flow control valve 610 pass through cable
It is connected with the main control module 908 of operation control unit 9, sensor is to units such as 9 Real-time Feedback hydraulic pressure of operation control unit, flows
Running state information, electromagnetic flow control valve 610 then receive the main control module 908 of operation control unit 9 and are input into according to operator
The control that instruction or preset control strategy are made to which, is adjusted to the water flow of place water delivery branch road.
As shown in figure 11, operation control unit 9 includes driver's cabin 901, operation bench 902, main control module 908, touch liquid crystal
Display screen 905, operating parts 904, feedback of the information part 903 and seat 907 etc..Wherein：Operation bench 902 and seat 907 are placed in driving
In room 901；Main control module 908 is arranged in operation bench 902；Touch-control liquid crystal display screen 905, operating parts 904 and feedback of the information part
903 upper faces for being arranged on operation bench 902；Operating parts 904 includes handle, button and switch etc.；Feedback of the information part 903 includes
Display lamp, gauge outfit and speaker etc.；Touch-control liquid crystal display screen 905 had both been used for presentation of information, was also used for the defeated of operational control instruction
Enter；As shown in figure 12,908 built-in core processor of main control module, power output drive circuit, signal output interface circuit, behaviour
Make input interface circuit and signal input interface circuit etc., wherein core processor adopts single-chip microcomputer, its control software is comprising clear
Hair washing cleaning position appearance control program and chassis traveling pose and speed controlling program etc.；Touch-control liquid crystal display screen 905 and single-chip microcomputer
Between by bus connect；Each operating parts 904 operates input interface circuit to be connected by cable and main control module 908, or passes through
Cable is directly connected to institute control device；Each feedback of the information part 903 is connected with corresponding sensor by cable, or passes through cable
It is connected with 908 signal output interface circuit of main control module.
Operation control unit 9 also includes remote control 910 and radio receiving transmitting module 909；Remote control 910 is not fixed on the present invention
In the cleaning Vehicle, itself is battery-powered, built-in wireless transceiver circuit, and outside is provided with corresponding operation and feedback of the information device
Part, possesses the manipulation function completed needed for washing and cleaning operation；Radio receiving transmitting module 909 contains antenna 906, and antenna 906 is arranged on and drives
Sail above room 901, other parts are arranged in operation bench 902, between antenna 906 and module bodies, pass through cable connection；Remote control
Communicated by modulated electromagnetic wave between device 910 and radio receiving transmitting module 909, radio receiving transmitting module 909 and main control module 908
Between by signal cable connect, by remote control 910, can be in the range of away from cleaning Vehicle certain distance of the present invention to which
Operation is controlled；There is a remote control selecting switch in operating parts 904 on operation bench 902, only the switch selects remote control
During state, remote control 910 just works.
When this Intelligent light photovoltaic array cleaning Vehicle implements washing and cleaning operation, car body facing arrays are arranged keeping parallelism and keep certain
Distance, cleaning 2 beat of head unit to above photovoltaic array, cleaning round brush 201 and the photovoltaic array plate face 10 of rotation uniformly connect
Touch and keep certain and eat plate depth, jetting member 206 is sprayed water to photovoltaic array plate face 10, crawler body 1 is along when previous row's photovoltaic
Array speed stabilizing is advanced, so as to implement mobile cleaning to current array.
During washing and cleaning operation, the traveling of crawler body 1 has pilot steering and automatic Pilot both of which.When selection is manually driven
When sailing pattern, operator need to be according to oneself visual observations or the information of operation control unit 9, by operation bench 902
904 real-time adjustment crawler body of operating parts, 1 both sides crawler travels motor 106 rotating speed, so as to adjust the direction of chassis traveling
And speed, make the depth of parallelism and distance of speed and facing arrays of the cleaning Vehicle during traveling be maintained at perfect condition.It is elected
When selecting automatic driving mode, 9 main control module 908 of operation control unit to chassis towards array side Ultrasonic ranging device 104
The car body that array is measured carries out real-time processing and resolving to the distance parameter of photovoltaic array lower edge, obtains car body facing arrays and exists
Pose parameter in ground level（Distance and the depth of parallelism）, when the parameter drift-out setting value to a certain degree when, 908 basis of main control module
Default chassis traveling Pose Control strategy and algorithm, automatically generate corresponding control instruction, adjust both sides crawler travel motor
106 rotating speed, to eliminate the deviation of the relative setting pose of car body attained pose；Meanwhile, main control module 908 accelerates to chassis both sides
The data that 108 sides of degree meter obtain carry out real-time processing and resolving, obtain the time serieses of the real-time catenary motion parameter of car body, with this simultaneously
Binding chassis gait of march parameter makes assessment to the roughness of current road, then assessment result and preset road conditions accordingly
Coping strategy, is made adjustment to the average speed that chassis is advanced in good time, when road conditions are deteriorated, appropriate to reduce chassis gait of march,
To ensure the safety of washing and cleaning operation, when road conditions recover normal, then chassis gait of march is returned to into setting value again, it is clear to guarantee
Wash the efficiency of operation.Under automatic driving mode, operator can also carry out manual drive, now, during main control module 908 is temporary transient
Break corresponding automatic control process, directly in response to manual command, makes the tune for meeting operator's intention to the travel condition on chassis
It is whole, after artificial operation is released, then return to automatic control process.
The course of work and operation principle of photovoltaic array cleaning Vehicle of the present invention be：
a）When implementing washing and cleaning operation, the positioning that cleaning Vehicle arranges end in array is first completed, make car body keep flat with array row
Going and maintain a certain distance, then complete cleaning head supports the work of positioning unit 3 to launch, and makes working arm group 31 carry cleaning head
To photovoltaic array side, it is substantially vertical that arm group trend and array move towards holding to 2 beat of unit, cleans round brush 201 and photovoltaic array
10 uniform contact of plate face simultaneously keeps certain and eats plate depth；b）Cleaning round brush 201 works, and jetting member 206 is to photovoltaic array plate face
Water spray, crawler body 1 are cleaned so as to implement movement to current array along advancing when previous row's photovoltaic array speed stabilizing；Cleaning process
In, cleaning head distance measuring sensor persistently detects the distance and parallel degrees of data of 2 relative photovoltaic array plate face 10 of cleaning head unit, and
Transmitted to operation control unit 9 in real time, operation control unit 9 is processed to this information, when because of the fluctuating of array plate face or road surface
Jolt when causing to clean the distance and the depth of parallelism of the relative photovoltaic array plate face of head unit 2 10 and deviateing setting value to a certain degree, according to
The mode of operation of setting, or sent automatically accordingly according to default cleaning head Pose Control strategy and algorithm by main control module 908
Control instruction（During automatic operation mode）, or seen according to the information of operation control unit 9 and itself range estimation by operator
Examine and instruction is sent by corresponding operating part 904（During manual work pattern）, and then drive principal arm 3102 and the end of working arm group 31
Arm 3106 converts the angle of pitch and attitude angle, is returned to the distance and the depth of parallelism of 2 relative photovoltaic array plate face 10 of cleaning head unit
Perfect condition；c）After a row array row cleaning is finished, cleaning round brush 201 and jetting member 206 quit work, working arm group 31 receive to
Storage position, chassis roll former array row away from, or return to and park position, or go to next row array and continue to implement cleaning.
By the optimization multi-level to technical solution of the present invention, its function is further perfect, and intelligence degree is further carried
Height, relevant work principle is：
During washing and cleaning operation, cleaning head supports positioning unit 3 also to have manually and automatically two kinds of mode of operations.Under both of which,
212 array of cleaning head ultrasonic range finder sensor is persistently detected and to the transmission cleaning in real time of operation control unit 9 head unit 2 light relatively
The distance of photovoltaic array plate face 10 and parallel degrees of data, 104 array of chassis side Ultrasonic ranging device are persistently detected and to operation control
Distance and parallel degrees of data of the 9 real-time delivery vehicle body phase of unit processed to photovoltaic array, operation control unit 9 pairs receive information and carry out
Analyze and process and pass through Touch-control liquid crystal display screen 905 to show.Under manual mode, operator need to be according to oneself visual observations or behaviour
Make the information of control unit 9, by the principal arm pitching of the 904 real-time adjustment working arm group 31 of operating parts on operation bench 902
Angle, end arms attitude angle or even the traversing amount of arm group and deflection angle, the position and attitude for making 2 relative photovoltaic array of cleaning head unit are protected
Hold in perfect condition.Under automatic mode, when rising and falling or road bump causes to clean the relative photovoltaic array of head unit 2 because of array plate face
When the distance of plate face 10 and the depth of parallelism deviate setting value to a certain degree, main control module 908 is according to default cleaning head Pose Control
Strategy and algorithm send corresponding control instruction automatically, and the principal arm 3102 and end arms 3106 for driving working arm group 31 converts which respectively
The angle of pitch and attitude angle, so that the distance and the depth of parallelism of 2 relative photovoltaic array plate face 10 of cleaning head unit are returned to preferable shape
State；When the distance and the depth of parallelism of the relative photovoltaic array of car body deviate setting value to a certain degree, main control module 908 is according to default
Cleaning head Pose Control strategy and algorithm send corresponding control instruction automatically, drive cleaning head to support the activity of positioning unit 3
Base 32 produces whole lateral moving and/or top deflection（32031 outer ring of pivoting support deflects）, eliminated because car body deflection is made with quick
Into cleaning 2 facing arrays perpendicularity of head unit and side-play amount the deviation that transfinites.Under automatic operation mode, operator can also
It is operated manually, now, main control module 908 temporarily interrupts corresponding automatic control process, directly in response to manual command, to clear
The pose of hair washing unit 2 makes the adjustment for meeting operator's intention, after artificial operation is released, then returns to and automatically controlled
After cleaning head unit 2 and cleaning head support expansion process of the positioning unit 3 before washing and cleaning operation starts and terminate
Removal process also has manually and automatically two kinds of modes of operation.During Automatic-expanding, main control module 908 is according to relative after Location vehicle
The initial pose of array, control algolithm, supports in combination with cleaning head and put for end arms on positioning unit 3 in preset progression
The feedback information of the traversing position-measurement device of dynamic, principal arm pitching, the revolution of arm group and arm group, chronologically exports corresponding control and refers to
Order, makes cleaning head unit 2 with optimal path and continuously moves to 10 top home of photovoltaic array plate face, then by manual operation or
By cleaning head support positioning unit 3 automatic operation mode, be finally completed cleaning head unit 2 in photovoltaic array plate face 10
Positioning.Automatic Recovery Process is substantially the inverse process of Automatic-expanding process.
The operation bench 902 of operation control unit 9 is the control terminal of car load.Operator is by handle, button, touch-control thereon
LCDs 905 etc. complete the input of manual hand manipulation's instruction, equipment parameters（Such as hydraulic pipeline flow control valve and
Setting flow of round brush motor flow control valve etc.）Setting and automatically control parameter（As brush board it is inclined away from control away from, brush board
Difference, brush board depth of parallelism control deviation, sweep are away from, sweep away from control deviation, sweep depth of parallelism control deviation, road bump amplitude control
Threshold value processed etc.）Setting；From the actual measurement equipment running status information input main control module 908 of each road sensor, as master control
Module 908 implements the foundation that automatically controls, meanwhile, these information and via the car load and unit after the process of main control module 908
Work state information, system operation information, security alarm information and system fault diagnosis information etc. pass through operation bench
Touch-control liquid crystal display screen 905, gauge outfit, display lamp and speaker on 902 etc. are exported, used as manually-operated reference frame.
Remote control 910 is the assist control terminal of car load.When the remote control selecting switch on operation bench 902 selects remote control,
By remote control 910, the operator outside driver's cabin 901 can complete to include chassis with manual operation mode or automatic control mode
Drive, round brush rotation and the keying sprayed water and cleaning head Pose Control etc. be in interior washing and cleaning operation basic function.
The invention is not limited in above-mentioned schematic embodiment, additionally it is possible to be practiced with other various concrete modes.
Those skilled in the art are different from when making according to technical solution of the present invention on the premise of without departing from spirit of the invention
The various concrete conversion of previous embodiment, the electromotor of such as power unit 8 uses petrol engine, hydraulic pump instead to be increased as four
Individual, water storage unit 7 adopts single metal water tank or Glass fabre reinforced plastic water tank, distance measuring sensor to adopt laser or infrared distance sensor etc.
Deng.But, all this various usual concrete variations, as long as embodiments thereof substantially employs technology proposed by the invention
Scheme, then which is within the protection domain of claim appended by the present invention.