CN105195488A - Photovoltaic array washing vehicle and photovoltaic array washing method thereof - Google Patents

Abstract

A photovoltaic array cleaning vehicle, including a traveling chassis, a cleaning head support positioning unit, a cleaning head unit, a water supply unit, an operation control unit, and a vehicle body pose information acquisition device for obtaining the pose information of the car body relative to the photovoltaic array; the traveling chassis The motion control device of the steering system drive is controlled by the main control module of the operation control unit; the cleaning head support and positioning unit includes a movable base located at the front of the vehicle and a working arm group installed on it, and the movable base includes a rotary device and a traverse device. The working arm group includes a main arm and an end arm that can be pitched separately; the cleaning head unit has cleaning brushes, water spray parts and distance measuring sensors for measuring the position and attitude of the cleaning head unit relative to the surface of the photovoltaic array panel; the main control unit of the operation control unit The module takes the computer as the control core. The present invention also provides a method for cleaning a photovoltaic array by using the above-mentioned cleaning vehicle. The cleaning process of the invention is intelligent, efficient, flexible, safe, easy to operate, good in cleaning effect and low in use cost.

Description

A photovoltaic array cleaning vehicle and a photovoltaic array cleaning method thereof

technical field

The invention relates to a photovoltaic array cleaning vehicle and a photovoltaic array cleaning method thereof, in particular to a cleaning vehicle used for photovoltaic array cleaning in large-scale ground photovoltaic power plants and a corresponding photovoltaic array cleaning method.

Background technique

The solar panels of the photovoltaic power station are installed in the form of arrays in the open air, and the sand, dust, sundries and some corrosive substances in the atmosphere are easy to adhere to the surface. Especially in arid, windy and desertified areas with sparse vegetation, the panels will be covered with sand and dust within 1 to 2 weeks, seriously affecting their photoelectric conversion efficiency and even damaging the panels. Therefore, regular or timely cleaning of solar panels has become an essential part of the daily operation and maintenance of photovoltaic power plants.

Foreign countries, especially Italy and other European countries, realized the mechanized cleaning of solar panels of photovoltaic power stations earlier. By 2011, there have been many different types of independent traveling cleaning vehicles in foreign markets, such as: SolarCleaner of B.P.Metalmeccanica company in Italy series, SOLARCLEAN series from Hymach Company in Italy, MANTASOLAR from U.EMME Company in Italy, HOLZMANN from PowerFuture Company in Czech Republic, Rolhus from SolarBright Company in Spain, etc. Domestic research on independent traveling solar panel cleaning vehicles was first seen in 2011. In recent years, corresponding patent applications and authorizations have begun to increase. , CN203316437U's patent application and authorization disclose a series of cleaning car technical solutions and cleaning methods, and publicity and promotion of relevant products have also begun to appear in the market.

The structure of these cleaning vehicles generally uses crawler or wheeled chassis as the mobile carrier, and a cleaning device is installed on the chassis. The cleaning device uses a cleaning head with functions such as brushing, showering, suction, and blowing as the cleaning terminal. The multi-section working arm group with multiple degrees of freedom such as pitching and telescopic is the supporting and positioning device for the cleaning terminal. During cleaning operation: the cleaning vehicle moves along the photovoltaic array at a steady speed, the cleaning head sweeps across the surface of the photovoltaic array, and performs mobile cleaning on the solar panels on the array; the driving of the chassis of the cleaning vehicle is manual operation, and the operators on the vehicle also It is necessary to monitor or directly operate the position and posture of the working arm and the cleaning head, and the mental tension is high, which is often difficult to balance. Therefore, the ideal distance and parallel posture of the cleaning vehicle along the array are often difficult to guarantee due to the deviation of the vehicle body. Not only does it affect the cleaning effect, but it is also easy to cause safety accidents; in addition, although some cleaning vehicles are equipped with a system for automatically maintaining the posture of the cleaning terminal relative to the array panel based on contact or non-contact sensors, due to the system's Control parameters such as set distances and tolerance limits cannot be adjusted in real time through the console during cleaning operations, so they cannot adapt to the differences in the flatness of photovoltaic array panels and road surfaces in different areas of the electric field, making the adjustment system in some cases or The response is slow and the effect is not obvious, or it is too sensitive and frequently oscillates, both of which have a negative impact on the cleaning effect; moreover, the positioning support device or structure of the existing cleaning vehicle cleaning terminal is complicated, and some degrees of freedom are redundant and The coupling is seriously inconvenient for quick adjustment, or there is an adjustment dead zone due to the lack of some necessary degrees of freedom, or it cannot take into account the left side cleaning, right side cleaning and proper storage of the cleaning terminal under non-working conditions.

Contents of the invention

In order to overcome the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a photovoltaic array cleaning vehicle and its method for cleaning photovoltaic arrays, so as to realize the intelligent, efficient, flexible, safe and easy operation of the cleaning process, and its cleaning effect is good , low cost of use.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A photovoltaic array cleaning vehicle, including a traveling chassis, a cleaning head support and positioning unit, a cleaning head unit, a water supply unit, a power unit, and an operation control unit. The pose information is transmitted to the vehicle body pose information collection device of the main control module of the operation control unit through a signal cable; the motion control device of the steering system driver of the traveling chassis is connected to the main control module of the operation control unit through a cable; The cleaning head support and positioning unit includes a movable base located at the front of the vehicle and a working arm group installed on the movable base. The traversing device for the lateral movement of the front of the vehicle. The working arm group includes the arm group base fixedly connected to the movable base rotating device, the main arm whose end is hinged with the arm group base, the end arm hinged with the head end of the main arm, and the driving main arm. The driving part of the main arm that pitches the arm relative to the base of the arm group, and the driving part of the end arm that pitches the end arm relative to the main arm, the motion control devices of the movable base and the driving parts of each degree of freedom of movement of the working arm group are connected with the main control unit of the operation control unit through cables. connected to the control module; the cleaning head unit is fixed at the end of the end arm of the cleaning head support positioning unit, and has cleaning brushes, water spray parts and distance measuring sensors for measuring the position and attitude of the cleaning head unit relative to the surface of the photovoltaic array panel. The water parts include at least two water spray parts Ⅰ and Ⅱ, which are arranged on both sides of the cleaning brush, and are respectively connected to the water supply unit through their own water delivery pipelines. There are at least two distance measuring sensors along the longitudinal direction of the cleaning head unit. Arranged at intervals, the distance measuring sensor is connected to the main control module of the operation control unit through the signal cable; the operation control unit includes the operation part, the information feedback part and the main control module with the computer as the control core and built-in control software, the operation part and the information The feedback parts are respectively connected to the main control module through the internal circuit. The main control module collects and processes the actual measurement information provided by the distance measuring sensor of the cleaning head unit and the vehicle body pose information acquisition device. The motion control device of the steering system driving part of the traveling chassis is controlled. The main control module has two ways to control the posture of the cleaning head and the traveling posture of the chassis. One is based on the posture adjustment operation command input by the driver through the operating parts. The manual control method is implemented, and the second is the automatic control method based on the real-time measurement data of the distance measuring sensor of the cleaning head unit and the vehicle body pose information acquisition device.

Further, the vehicle body position and posture information collection device is two sets of lateral ranging sensor arrays respectively arranged on both sides of the vehicle body.

Furthermore, the lateral ranging sensor array includes four ultrasonic ranging sensors arranged in a 2×2 rectangular array according to front upper, front lower, rear upper, and rear lower.

Further, a traveling speed measuring device is provided on the traveling chassis, and the traveling speed measuring device is connected to the main control module of the operation control unit through a signal cable.

Further, the cleaning brush in the cleaning head unit is a cylindrical roller brush with a flexible brush strip, its rotation axis is parallel to the longitudinal axis of the cleaning head unit, and the connection of the end of the roller brush can drive it to rotate forward or Drive its counter-rotating prime mover, the motion control device of the prime mover is connected to the main control module of the operation control unit through a cable and accepts the control of the main control module, and the cleaning head unit is also provided with a signal cable The rolling brush rotational speed measuring device connected with the main control module of the operation control unit.

Further, the water delivery pipelines from the output port of the water pump in the water supply unit to the two water spray parts in the cleaning head unit are equipped with electromagnetic flow control valves and flow meters with communication functions, and the electromagnetic flow control valves Both the flowmeter and the flowmeter are connected to the main control module of the operation control unit through cables, wherein the electromagnetic flow control valve is controlled by the main control module.

Further, the operating parts of the operation control unit include chassis manual driving operating parts, cleaning head posture control mode selection button, chassis posture control mode selection button, water spray switch button, main arm pitch handle, end arm pitch handle, Base reciprocating traverse handle and base forward and reverse rotation handle.

Further, the operation control unit also includes a liquid crystal display that can display working status information in real time during operation, and the liquid crystal display is connected to the main control module of the operation control unit through a bus cable.

Furthermore, the liquid crystal display is a touch liquid crystal display. When it is working, the operation instructions generated by manual touch are transmitted to the main control module of the operation control unit through the bus cable, and the main control module implements the operation according to the operation instructions. Control accordingly.

A method for cleaning a photovoltaic array using the above-mentioned photovoltaic array cleaning vehicle, comprising the following steps:

(a) Transition: The cleaning vehicle travels from the parking point or water filling point or the last photovoltaic array area to the target array row of the target photovoltaic array area;

(b) Entering the array: the cleaning vehicle turns from the main road outside the array and enters the end of the inner channel in front of the array row;

(c) Positioning: first adjust the posture of the vehicle body so that the longitudinal direction of the vehicle body is parallel to the direction of the array row, and keep an appropriate distance from the side of the vehicle to the lower edge of the array row facing it; then adjust the posture of the cleaning head unit to move it from the storage position to Switch to the working position on the side where the array row is located, so that the longitudinal axis of the cleaning head unit is perpendicular to the direction of the array row and parallel to the photovoltaic array, and the cleaning brushes on the cleaning head unit have an appropriate cutting depth; Pose adjustment can be performed alternately if necessary;

(d) Cleaning: Start the cleaning brush, start the water mist spraying, and the chassis will move forward at a steady speed along the path equidistant from the lower edge of the array. Maintain the ideal state set before;

(e) Transfer row: When the cleaning vehicle moves to the end of the current array row and completes the cleaning of the array row surface, the cleaning head unit is converted to the storage position, and the cleaning vehicle turns around to bypass the current row or the adjacent row array The end, which enters the end of the channel in front of the adjacent array row;

(f) Positioning and cleaning of the new row: positioning according to the method described in step (c), moving and cleaning according to the method described in step (d);

(g) Repeat steps (e) to (f) until the entire continuous cleaning operation is completed;

(h) Out of the battle: the cleaning head unit is retracted to the storage position, the cleaning vehicle turns, and drives from the end of the passage in the formation to the main road outside the formation;

(i) Re-transition: The cleaning vehicle returns to the parking point or water filling point or the next photovoltaic array area.

Further, in the step (c), the parallel distance from the side of the car to the lower edge of the photovoltaic array facing it is adjusted to 500 mm to 1500 mm, and the normal depth of the cleaning brush to eat the board should be adjusted to not less than 10 mm. The length of the body hanging out of the photovoltaic array is not more than 300mm.

Further, in the step (d), the working speed of the cleaning vehicle is controlled between 0.8 km/h and 2.5 km/h.

Further, in the step (d), if the cleaning brush is a rolling brush arranged along the longitudinal axis of the cleaning head unit and can rotate forward and reverse, the rotation of the rolling brush adopts the forward sweeping type, that is, the rolling brush The speed direction of the contact between the bar and the photovoltaic array is consistent with the direction of the cleaning vehicle.

Further, in the step (d), the pose of the cleaning head unit relative to the photovoltaic array adopts an automatic control method, and when the on-board operation control unit is also equipped with a touch-sensitive liquid crystal display connected to the main control module through a bus When the screen is displayed, the operator can adjust the automatic control parameters of the position and posture of the cleaning head through the touch LCD screen at any time according to the site conditions.

Further, in the step (d), the traveling posture of the chassis of the vehicle body relative to the photovoltaic array adopts an automatic control method, and the vehicle body posture information acquisition device continuously collects the distance and angle between the vehicle body and the lower edge of the photovoltaic array, and the operation control The unit automatically controls the traveling posture of the chassis based on this data; and, when the on-board operation control unit is also equipped with a touch LCD screen connected to the main control module through the bus, the operator can touch the The liquid crystal display adjusts the automatic control parameters of the chassis traveling posture.

Further, in the step (d), when the cleaning brush is a roller brush that can rotate forward and reverse, and whose speed can be adjusted by the motion control device of its driving element, the operator can adjust the roller brush according to the site conditions at any time. The rotation direction of the brush and the rotation speed of the rolling brush are adjusted in real time. When the two water delivery pipes from the water pump to the two water spray parts of the cleaning head unit in the water supply unit are equipped with electromagnetic flow control valves controlled by the main control module, Operators can adjust the water spray flow rate of each water spray device in real time according to the site conditions at any time.

Further, in the step (d), the mobile cleaning of a plurality of discontinuous photovoltaic array segments in the same row can be completed at one time, and these array segments include intermittent array segments in the same array in the same area, and adjacent PV array segments in the array area and in the same row.

Beneficial effects of the present invention: a) The cleaning vehicle of the present invention has the function of automatic control of the working posture of the cleaning head and the running posture of the chassis, based on the relative posture information acquisition and measurement device (such as ranging Sensors, etc.) and the intelligent control module in the operation control unit with the computer as the core. During the cleaning process, the cleaning vehicle control system can overcome the adverse effects of road undulations and bumps and array changes, so that the distance between the cleaning head unit and the photovoltaic array The parallelism, as well as the distance and parallelism between the car body and the photovoltaic array are dynamically maintained in the ideal state set before cleaning, so as to ensure that the cleaning effect of the cleaning head unit on the photovoltaic array is uniform and consistent, and the operation process is safe, stable and efficient , easy to operate; b) The cleaning vehicle of the present invention has two working modes, manual and automatic, for the operation of the cleaning head support positioning unit and the driving of the chassis. The touch LCD screen of the operation control unit can set the automatic control parameters and cleaning process parameters at any time, thus providing sufficient flexibility for the implementation of cleaning operations, and providing conditions for reducing oil and water consumption as much as possible and saving use costs ; c) The cleaning head support and positioning unit of the cleaning vehicle according to the present invention is placed at the front of the vehicle, so that the operators on the vehicle can observe the cleaning process intuitively, comprehensively and clearly, and facilitate timely handling of unfavorable conditions during cleaning ; d) The cleaning head support and positioning unit of the cleaning vehicle according to the present invention has four degrees of freedom of main arm pitch, end arm pitch, left and right lateral movement of the arm group and rotation of the arm group. There are three posture modes of side work and middle storage, and the three positions can be conveniently switched, so that the cleaning vehicle of the present invention can work in a more flexible manner. In the actual cleaning operation, it can be positioned at the end of the array Turn around and quickly complete the initial positioning of the cleaning head unit, saving preparation time and improving work efficiency; second, it has sufficient control over the spatial position and posture of the cleaning head unit to ensure that the cleaning head unit is relatively photovoltaic during the cleaning process. Stability of the position and posture of the array panel; e) The cleaning method of the present invention makes full use of the characteristics of the cleaning vehicle described in the present invention, and takes one or more photovoltaic array areas as objects, and uses one time for different array segments in the same row of arrays The straight-line continuous cleaning method can even be used for continuous cleaning across areas. For different array rows, a continuous S-shaped travel route is adopted, and the left side cleaning and right side cleaning of the cleaning head unit are staggered to compress the empty driving and transfer positioning as much as possible. The time and energy consumed in such links make the cleaning operation more efficient and energy-saving; f) The cleaning method of the present invention preferably adopts an automatic control method for the working posture of the cleaning head and the traveling posture of the chassis, which can be realized under normal circumstances. Good cleaning effect, and the cleaning process is safe and efficient, and the work intensity of the operators on the vehicle is greatly reduced; g) The cleaning method of the present invention allows the cleaning process such as cleaning brush rotation speed, cleaning brush cutting depth, spray flow, The process and control parameters such as chassis travel speed, cleaning head and chassis pose control tolerance are adjusted in real time, which greatly improves the cleaning efficiency. The flexibility of the process makes this method more adaptable to objective factors such as different site environments, array surface conditions, and oil and water guarantee conditions.

Description of drawings

Fig. 1 is a perspective view of the overall appearance and composition of the photovoltaic array cleaning vehicle embodiment of the present invention.

Fig. 2 is a perspective view of the appearance of the operation control unit in the embodiment of the photovoltaic array cleaning vehicle of the present invention.

Fig. 3 is a functional control block diagram of an embodiment of the photovoltaic array cleaning vehicle according to the present invention.

Fig. 4 is a flow chart of the photovoltaic array cleaning method of the present invention.

Fig. 5 is a schematic diagram of the traveling path of the cleaning vehicle in the photovoltaic array cleaning method of the present invention.

In the figure: 1-traveling chassis; 2-cleaning head support and positioning unit; 3-cleaning head unit; 4-water supply unit; 5-power unit; 6-operation control unit; 7-photovoltaic array; 11-frame; 12 -Car body lateral ranging sensor array; 13-track speed measuring device; 14-track travel motor; 21-movable base; 22-working arm group; 31-rolling brush; 32-rolling brush frame; 33-rolling brush motor; 34-Water spraying parts; 35-Cleaning head ranging sensor array; 41-Water tank; 42-Water pump; 61-Control console; 62-Operating parts; Control module; 121-Ultrasonic ranging sensor Ⅰ; 211-Transverse base; 212-Swivel device; 213-Transverse device; 221-Arm group base; 222-Main arm; Cylinder; 225-end arm pitching hydraulic cylinder; 341-nozzle; 351-ultrasonic ranging sensor II; 621-manual driving operation handle of the chassis; 622-cleaning head posture control mode selection button; 623-chassis posture control mode selection button ;624-water spray switch button; 625-main arm pitch handle; 626-end arm pitch handle; 627-base reciprocating traverse handle; 628-base positive and negative rotation handle; Disk; 632-indicator; 2121-base rotary hydraulic motor; 2131-guide rail; 2132-connector; 2133-base traverse hydraulic cylinder.

Detailed ways

The technical solution proposed by the present invention will be further explained below in conjunction with the accompanying drawings and embodiments, but it is not intended to limit the present invention.

A photovoltaic array cleaning vehicle is composed of a crawler-type traveling chassis 1 , a cleaning head support positioning unit 2 , a cleaning head unit 3 , a water supply unit 4 , a power unit 5 , and an operation control unit 6 .

The crawler motors 14 on both sides of the crawler chassis 1 are respectively controlled by two electromagnetic proportional reversing valves, and the two electromagnetic proportional reversing valves are connected with the main control module 65 of the operation control unit 6 through cables. Corresponding crawler speed measuring devices 13 are provided on both sides of the crawler type traveling chassis 1 close to the crawler traveling motor 14 , and the crawler speed measuring devices 13 are connected to the main control module 65 of the operation control unit 6 through signal cables.

Both sides of the crawler-type traveling chassis 1 are provided with vehicle body lateral ranging sensor arrays 12 for obtaining the pose information of the vehicle body relative to the photovoltaic array, and each vehicle body lateral ranging sensor array 12 includes four ultrasonic ranging sensors I121 are arranged in a 2×2 rectangular array according to front up, front down, back up, and back down. Each ultrasonic distance measuring sensor I121 is connected to the main control module 65 of the operation control unit 6 through a signal cable.

The cleaning head support and positioning unit 2 includes a movable base 21 located at the front of the car body and a working arm group 22 installed on the movable base 21 . Wherein, the movable base 21 includes a rotary device 212, a traverse base 211 for installing and carrying the rotary device 212, and a traverse device 213 for driving the traverse base 211 to move laterally along the front of the vehicle, and the working arm group 22 is installed on the movable base 21. On the swivel device 212. The traverse device 213 includes a guide rail 2131 installed on the head of the vehicle frame 11 and a drive assembly connecting the traverse base 211 and the vehicle frame 11. The drive assembly includes a connector 2132 and a base traverse hydraulic cylinder 2133; the traverse base 211 is installed on On the guide rail 2131, it can move horizontally along the guide rail 2131 of the traversing device 213 under the push and pull of the driving assembly; The upper end of the base 211, its moving coil is used to connect the arm group base 221 of the working arm group 22, which can drive the working arm group 22 to rotate left and right, and can also carry the working arm group 22 to reciprocate left and right along with the traversing base 211 and the fixed ring of the rotary device 212 traverse. The working arm group 22 contains the arm group base 221 fixedly connected on the movable base slewing device 212, the main arm 222 whose end is hinged with the arm group base 221, the end arm 223 hinged with the head end of the main arm, and the driving main arm 222 relative to the arm group The base 221 pitches the main arm pitching hydraulic cylinder 224 and the end arm pitching hydraulic cylinder 225 drives the end arm 223 to pitch relative to the main arm 222 . The driving hydraulic parts (hydraulic cylinders and hydraulic motors) of the movable base 21 and the working arm group 22 are controlled by their respective electromagnetic reversing valves (ie, motion control devices). These electromagnetic reversing valves are controlled by cables and operations. The main control module 65 of the unit 6 is connected.

The cleaning head unit 3 is fixed at the end of the end arm 223 of the cleaning head support and positioning unit 2, and includes a cylindrical roller brush 31 using a flexible brush strip, a roller brush holder 32, a roller brush motor 33, a water spray 34 and a distance measuring sensor for the cleaning head array35. Wherein, the rotating shaft of the rolling brush 31 is parallel to the longitudinal axis of the cleaning head unit 3; head unit 3, the left side is A side, and the right side is B side), each water spraying part 34 is evenly arranged with a number of nozzles 341 at intervals, and the two water spraying parts 34 are respectively connected to the water supply unit 4 through their respective water delivery pipelines. Connection; four ultrasonic ranging sensors II 351 are arranged in pairs along the longitudinal interval of the cleaning head unit 3, that is, they are arranged in a 2×2 rectangular array on the side A of the far end, the side B of the far end, the side A of the proximal end, and the side B of the proximal end. Both sides of the roller brush frame 32; the roller brush 31 is driven by the roller brush motor 33 (ie the original moving part) installed at its end, and the roller brush motor 33 is driven by an electromagnetic proportional reversing valve (that is, the motion control device of the original moving part) control, its output speed and direction are adjustable, and the electromagnetic proportional reversing valve of the brush motor 33 is connected with the main control module 65 of the operation control unit 6 through a cable.

The water supply unit 4 includes a water tank 41, a water pump 42, a control valve, a flow meter and a water delivery pipeline. Wherein, the water delivery pipelines from the output port of the water pump 42 to the two water spray parts 34 in the cleaning head unit 3 are provided with electromagnetic flow control valves and flowmeters with communication modules, which communicate with the operation control unit 6 through cables respectively. The main control module 65 is connected.

The operation control unit 6 includes a console 61 , an operating part 62 installed on its surface and inside, an information feedback part 63 , a touch liquid crystal display 64 and a main control module 65 . Among them, the operating part 62 includes the chassis manual driving operation handle 621, the cleaning head pose control mode selection button 622, the chassis pose control mode selection button 623, the water spray switch button 624, the main arm pitch handle 625, and the end arm pitch handle 626 , the base reciprocating traverse handle 627, the base forward and reverse rotation handle 628 and the rolling brush forward and reverse rotation handle 629, etc.; the information feedback part 63 includes an instrument panel 631, an indicator light 632 and a buzzer, etc.; the touch liquid crystal display 64 is working It has a working parameter display and setting page. In the parameter display page, it can display the chassis travel speed, the rotating speed of the roller brush, the water spray flow rate of the water spray part on the A side, the water spray flow rate of the water spray part on the B side, and the brush plate distance (ie The actual working parameters such as the distance between the roller brush shaft and the photovoltaic panel surface), the included angle of the brush plate, the vehicle panel distance (that is, the distance from one side of the vehicle body to the lower edge of the photovoltaic array), and the included angle of the vehicle panel can be set in the parameter setting page. By touching the virtual buttons on the screen, adjust the rotating speed of the roller brush in real time, the water spray flow rate of the water spray parts on the A side, the water spray flow rate of the water spray parts on the B side, the target value of the automatic control of the brush plate distance, the tolerance limit of the automatic control of the brush plate distance, and the brush plate Parallelism automatic control tolerance limit, vehicle plate distance automatic control target value, vehicle plate distance automatic control tolerance limit, vehicle plate parallelism automatic control tolerance limit and other process and control parameters; the main control module 65 uses a computer as the control core, The built-in control software includes cleaning head posture control and chassis travel posture control programs. Correspondingly, the main control module 65 has two working modes for the cleaning head posture and chassis travel posture control. The manual control mode is implemented by the posture adjustment operation command input by the operating part 62, and the second is the automatic control mode based on the real-time measurement data of the distance measuring sensor 351 of the cleaning head unit and the vehicle body side distance measuring sensor array 12.

A method for cleaning a photovoltaic array, taking the photovoltaic array area as a unit, including the steps of transition, entry, positioning, cleaning, transfer, exit, and transition again. The implementation process is shown in Figure 4. in:

Step S1 "Transition": The cleaning vehicle travels from the parking point or the water adding point or the last photovoltaic array to the side of the target array row of the target photovoltaic array at a higher speed. During this process, the cleaning head unit 3 and the cleaning The head support positioning unit 2 is in the storage position.

Step S2 "Entering the Array": The cleaning vehicle makes a low-speed turn from the main road outside the array and enters the end of the inner channel in front of the array row.

Step S3 "Positioning": first adjust the posture of the car body so that the longitudinal direction of the car body is parallel to the direction of the array row, and the parallel distance from the side of the car to the lower edge of the array row facing it is adjusted to between 500mm and 1500mm; then adjust the cleaning head unit 3 position, it is converted from the storage position to the working position on the side of the array row, so that the longitudinal axis of the cleaning head unit 3 is perpendicular to the array row and parallel to the photovoltaic array 7, and the depth of the roller brush 31 (brush The normal compression of the flexible part of the body due to contact with the photovoltaic array 7) should be adjusted to not less than 10mm, and the length of the brush body suspended from the photovoltaic array 7 is not greater than 300mm; the car body and the cleaning head unit 3 Pose adjustments can be performed alternately if necessary.

Step S4 "Cleaning": Start the rotation of the roller brush 31 and the spraying of water mist. The roller brush 31 is arranged along the longitudinal axis of the cleaning head unit and can rotate forward and reverse. The speed direction at the contact point of the surface 7 is consistent with the direction of the cleaning vehicle; the traveling chassis 1 advances along a path equidistant from the lower edge of the array at a working speed of 0.8km/h to 2.5km/h; The position and posture of the unit 3 and the traveling chassis 1 are controlled to dynamically maintain the ideal state set before. The control method usually adopts automatic control, and manual operation is used when necessary. The automatic control method and manual control method can be different. Switch at any time through the corresponding control mode selection button on the control console 61; during the mobile cleaning process, you can also adjust the speed of the brush by touching the liquid crystal display 64 at any time according to the situation on the spot Speed and other cleaning process parameters, as well as pose control parameters such as control tolerance of brush plate distance, control tolerance of brush plate angle, control tolerance of vehicle plate distance and control tolerance of vehicle plate angle, etc.; During the cleaning process of moving straight in one direction, multiple intermittent array segments can be completed. These array segments can be located in the same photovoltaic array area, or in adjacent photovoltaic array areas. When the cleaning vehicle passes through the space between these array segments When the gear is in gear, if the road condition permits, the cleaning head unit 3 and the cleaning head support positioning unit 2 do not need to be retracted to the storage position, but only need to make the cleaning head unit 3 relative to each other under the action of its posture automatic control system or the manual control of the operator. The previous cleaning posture can be raised appropriately, and when the cleaning vehicle goes straight into the new array section, the automatic control mode of the cleaning head and chassis posture is started, and the repositioning of the cleaning head and chassis is automatically completed without stopping.

Step S5 "Transfer row": When the cleaning vehicle moves to the end of the current array row and completes the cleaning of the corresponding array, the cleaning head unit 3 is switched to the storage position, the cleaning vehicle turns around, and bypasses the current row or the adjacent row at a low speed The end of the array, the end of the channel that enters the front of the adjacent array row.

Step S6 "Out of the battle": retract the cleaning head unit 3 to the storage position, turn the cleaning vehicle at a low speed, and drive from the end of the inner channel into the outer main road.

Step S7 "transition again": the cleaning vehicle returns to the parking point or the water adding point or the next photovoltaic array at a higher speed.

During the entire cleaning process with the photovoltaic array as the unit, except for the first array row, the cleaning of subsequent array rows needs to be cyclically implemented in step S5 "transfer", step S3 "positioning" and step S4 "cleaning" until the The cleaning operation is terminated due to lack of water, completion of the cleaning task or other reasons. During this process, when the new array row is cleaned, the traveling direction of the cleaning vehicle, the direction of the working position of the cleaning head unit 3 and the rotation direction of the roller brush 31 relative to the cleaning head unit 3 itself are all opposite to those of the previous row before the row was rotated.

The present invention is not limited to the above-mentioned exemplary embodiments, but can also be implemented in various other specific ways. Under the premise of not departing from the spirit of the present invention, those skilled in the art can make various specific transformations different from the foregoing embodiments according to the technical solution of the present invention, such as: the chassis of the cleaning vehicle adopts a wheeled chassis, and the cleaning head supports positioning unit The driving parts of each degree of freedom use motors, the cleaning brushes use a group of rotatable brush plates arranged along the longitudinal axis of the cleaning head unit, and the acquisition device used to obtain the relative pose information of the car body and the photovoltaic array is a camera, and the control system uses the image Identify the method to extract the relative distance and angle between the car body and the photovoltaic array, use different names for the steps of the cleaning method, or increase or specify the cleaning parameters, etc. However, as long as the various conventional transformations and implementations substantially adopt the technical solution proposed by the present invention, they all fall within the scope of protection of the appended claims of the present invention.

Claims (17)

1. a photovoltaic array cleaning Vehicle, comprises chassis of advancing, cleaning head supporting and location unit, cleaning head unit, water supplying unit, power unit and operation control unit, it is characterized in that:

Car body is also provided with and by signal cable, described posture information is sent to the car body posture information harvester of operation control unit main control module for obtaining car body relative to the posture information of photovoltaic array;

The movement control device of the steering system actuator on described chassis of advancing is connected with the main control module of operation control unit by cable;

Described cleaning head supporting and location unit comprises the mobile base being positioned at car head and the working arm group be arranged in mobile base, described mobile base comprises slewing equipment, for installing and carrying the traversing base of slewing equipment and drive traversing base along the Traverse Displacement Unit of the first transverse shifting of car, described working arm group comprises the arm group base connected firmly on mobile base slewing equipment, end and the hinged principal arm of arm group base, the end arms hinged with principal arm head end, drive the principal arm actuator of principal arm opposing arms group base pitching, and drive the end arms actuator of the relative principal arm pitching of end arms, mobile base is connected with the main control module of operation control unit by cable with the movement control device of each freedom of motion actuator of working arm group,

Described cleaning head unit is fixed on the end arms end of cleaning head supporting and location unit, there is cleaning brush, jetting member and the distance measuring sensor for measuring cleaning head unit relative photovoltaic array cell panel surface location and attitude, jetting member has jetting member I and jetting member II two at least, be arranged in the both sides of cleaning brush, be connected with water supplying unit respectively by respective hydraulic pipeline, distance measuring sensor has two at least, longitudinal separation along cleaning head unit is arranged, distance measuring sensor is connected with the main control module of operation control unit by signal cable;

Described operation control unit comprises operating parts, information feed back part and be control core with computer, the main control module of built-in control software design, operating parts is connected with main control module respectively by internal circuit with information feed back part, the real measured data that main control module collection cleaning head unit distance measuring sensor and car body posture information harvester provide also processes, then the movement control device of each freedom of motion actuator of cleaning head supporting and location unit with the steering system actuator on chassis of advancing is controlled, main control module has two kinds of modes to the advance control of pose of cleaning head pose and chassis, one is the manual control mode implemented by the pose adjustment operational order that operating parts inputs based on driver, it two is automatic control mode based on cleaning head unit distance measuring sensor and car body posture information harvester real-time measuring data.

2. a kind of photovoltaic array cleaning Vehicle according to claim 1, is characterized in that: car body posture information harvester is the two cover side direction distance measuring sensor arrays being arranged at car body two sides respectively.

3. a kind of photovoltaic array cleaning Vehicle according to claim 2, is characterized in that: described side direction distance measuring sensor array comprises four ultrasonic range finder sensors, by front upper, front lower, rear upper, rear lower to 2 × 2 rectangular arrays layouts.

4. a kind of photovoltaic array cleaning Vehicle according to claim 1, is characterized in that: chassis of advancing is provided with speed measuring device of advancing, described in speed measuring device of advancing be connected with the main control module of operation control unit by signal cable.

5. a kind of photovoltaic array cleaning Vehicle according to claim 1, it is characterized in that: the cleaning brush in described cleaning head unit is one with the cylindricality round brush of Flexible brush bar, its rotating shaft and cleaning head unit longitudinal axis, the connection of round brush end both can drive it to rotate forward, also its driving link reversely rotated can be driven, the movement control device of described driving link to be connected with the main control module of operation control unit by cable and to accept the control of main control module, the round brush tachometric survey device that signal cable is connected with operation control unit main control module is also provided with in described cleaning head unit.

6. a kind of photovoltaic array cleaning Vehicle according to claim 1, it is characterized in that: in described water supplying unit in water pump delivery outlet to described cleaning head unit two jetting members hydraulic pipeline in, be provided with electromagnetic flow control valve and the flowmeter possessing communication function, described electromagnetic flow control valve and flowmeter are all connected with the main control module of operation control unit by cable, and wherein electromagnetic flow control valve accepts the control of main control module.

7. a kind of photovoltaic array cleaning Vehicle according to claim 1, is characterized in that: the operating parts of described operation control unit comprises chassis pilot steering operating parts, cleaning head Pose Control way selection button, chassis Pose Control way selection button, water spray switch button, principal arm pitching handle, end arms pitching handle, the reciprocal traversing handle of base and the positive and negative rotary handle of base.

8. a kind of photovoltaic array cleaning Vehicle according to claim 1, it is characterized in that: described operation control unit also comprises one operationally can the LCDs of display working condition information in real time, and described LCDs is connected with the main control module of operation control unit by bus cable.

9. a kind of photovoltaic array cleaning Vehicle according to claim 8, it is characterized in that: described LCDs is Touch-control liquid crystal display screen, during its work, the operational order that artificial touch produces is sent to operation control unit main control module by described bus cable, and main control module implements corresponding control according to described operational order.

10. the method adopting the photovoltaic array cleaning Vehicle in claim 1 to 9 described in arbitrary claim to clean photovoltaic array, is characterized in that comprising the following steps:

(a) transition: cleaning Vehicle advances to the Target Aerial Array row side of target photovoltaic array area from point in pool or filling up area or a upper photovoltaic array area;

B () enters battle array: cleaning Vehicle enters the battle array internal channel end before array row from main stem turning battle array;

C () is located: first adjust car body pose, makes car body longitudinally drain to parallel with array, and car side is lower to keeping suitable distance to array just right with it row; Adjust cleaning head unit pose again, it is converted to array arranges the working position of side by storing position, make the cleaning head unit longitudinal axis and array drain to vertical and parallel with photovoltaic front, the cleaning brush on cleaning head unit has suitable eats the plate degree of depth; The pose adjustment of car body and cleaning head unit can hocket if desired;

D () cleans: start cleaning brush work, start atomized water spray, chassis is along advancing along equidistant path with operation speed of machine speed stabilizing under arrange with array, and cleaning whole process controls the pose on cleaning head unit and chassis, make its dynamically keep before set by perfect condition;

E () turns row: when cleaning Vehicle moves cleaning to current array row end and after completing the cleaning in this array row array face, by cleaning head cell translation to storing position, cleaning Vehicle tune turns to, and walks around this row or adjacent row array row end, enters the end that adjacent array arranges passage above nearby;

(f) new registration and cleaning: by the described method location of step (c), move cleaning by the described method of step (d);

G () repeats step (e) to step (f), until complete this whole continuous wash operation;

H () is entered the arena: cleaning head unit is retracted to storage position, and cleaning Vehicle is turned, and sails main stem battle array into from battle array internal channel end;

(i) transition again: cleaning Vehicle returns point in pool or filling up area or next photovoltaic array area.

11. methods according to claim 10, it is characterized in that: in described step (c), under car side to photovoltaic array just right with it, the parallel distance on edge is adjusted between 500mm ~ 1500mm, cleaning brush normal direction is eaten the plate degree of depth and should be adjusted to and be not less than 10mm, and brush body hangs photovoltaic front length and is not more than 300mm.

12. methods according to claim 10, is characterized in that: in described step (d), and the operation speed of machine of cleaning Vehicle controls between 0.8km/h ~ 2.5km/h.

13. methods according to claim 10, it is characterized in that: in described step (d), if cleaning brush be along the cleaning head unit longitudinal axis arrange and can the round brush of forward and reverse rotation time, then round brush rotation direction sweeps type before adopting, and namely round brush brush bar is consistent with the direction that velocity attitude and the cleaning Vehicle of photovoltaic front contact position are advanced.

14. methods according to claim 10, it is characterized in that: in described step (d), the pose of the relative photovoltaic front of cleaning head unit adopts automatic control mode, and, when operation control unit on car is also furnished with the Touch-control liquid crystal display screen be connected by bus with main control module, operating personnel can be adjusted the automatic controling parameters of cleaning head pose by Touch-control liquid crystal display screen according to field condition at any time.

15. methods according to claim 10, it is characterized in that: in described step (d), the pose of advancing of the relative photovoltaic array of chassis of vehicle body adopts automatic control mode, the Distance geometry angle on edge under the relative photovoltaic array of car body posture information harvester continuous collecting car body, operation control unit controls automatically based on the pose of advancing of these data to chassis; Further, when operation control unit on car is also furnished with the Touch-control liquid crystal display screen be connected by bus with main control module, operating personnel can be adjusted the chassis automatic controling parameters of pose of advancing by Touch-control liquid crystal display screen according to field condition at any time.

16. methods according to claim 10, it is characterized in that: in described step (d), when cleaning brush is can be just, reversely rotate, and rotating speed regulate by the movement control device of its driving link round brush time, operating personnel can adjust round brush rotation direction and round brush rotating speed according to field condition at any time in real time, when being provided with the electromagnetic flow control valve being controlled by main control module respectively towards two hydraulic pipelines of cleaning head unit two jetting member from water pump in water supplying unit, operating personnel can adjust the spray flow often propping up jetting member according to field condition at any time in real time.

17. methods according to claim 10, it is characterized in that: in described step (d), once can complete and be in same row but the mobile cleaning of discontinuous multiple photovoltaic array section, these array segments comprise same array area and interrupt continuous array segment with an array, and are positioned at adjacent array area and are in the photovoltaic array section that same ranking puts.