CN105728398A - Automatic flight surface cleaning robot for photovoltaic array - Google Patents

Automatic flight surface cleaning robot for photovoltaic array Download PDF

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Publication number
CN105728398A
CN105728398A CN201610232736.0A CN201610232736A CN105728398A CN 105728398 A CN105728398 A CN 105728398A CN 201610232736 A CN201610232736 A CN 201610232736A CN 105728398 A CN105728398 A CN 105728398A
Authority
CN
China
Prior art keywords
cleaning
unmanned vehicle
photovoltaic array
control unit
air nozzle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610232736.0A
Other languages
Chinese (zh)
Inventor
刘晓艳
张楼英
刘家骏
刘洪恩
张守峰
关士岩
陈玉华
刘乔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huaian Vocational College of Information Technology
Original Assignee
Huaian Vocational College of Information Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huaian Vocational College of Information Technology filed Critical Huaian Vocational College of Information Technology
Priority to CN201610232736.0A priority Critical patent/CN105728398A/en
Publication of CN105728398A publication Critical patent/CN105728398A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02Cleaning by the force of jets, e.g. blowing-out cavities
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/001Cleaning by methods involving the use of tools, brushes, or analogous members characterised by the type of cleaning tool
    • B08B1/002Brushes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/04Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02SGENERATION OF ELECTRIC POWER BY CONVERSION OF INFRA-RED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10Cleaning arrangements
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy

Abstract

The invention discloses an automatic flight surface cleaning robot for a photovoltaic array, and relates to the technical field of photovoltaic module cleaning. A DC motor is connected with a power supply. The DC motor operates to drive an air pump to generate high pressure gas, and the gas is then transmitted to air nozzles through corresponding pipelines. The pipelines are installed on supports on the two sides of an unmanned aerial vehicle. The pipelines are provided with blow holes, and the air nozzles are installed at the blow holes. A scrubbing dust collection device is composed of a rotating motor, a lifting device, a universal coupling and cleaning brush heads. The lifting device is a telescopic cylinder, and the top end of a piston rod of the cylinder is connected with the rotating motor through the universal coupling. The rotating motor is connected with the cleaning brush heads. A high definition camera, an intelligent control unit, the DC motor and the rotating motor are all connected with the power supply. The intelligent control unit controls the high definition camera, the lifting device, the DC motor and the rotating motor. The automatic flight surface cleaning robot for the photovoltaic array can conduct surface cleaning on the photovoltaic array installed on roofs, water surfaces, farmland and slopes.

Description

A kind of flight photovoltaic array surface cleaning machines people automatically
Technical field
The present invention relates to photovoltaic module clean technologies field, be specifically related to a kind of flight photovoltaic array surface cleaning machines people automatically.
Background technology
Current photovoltaic plant many employings manual wipping mode and hydraulic giant cleaning way.But proficiency's difference causes that cleaning process is wayward, cleaning effect concordance is poor, and cleaning efficiency is low;Wherein hydraulic giant cleaning way water consumption is big, assembly glass is had abrasion, affects light transmittance and life-span, be not suitable for water-deficient area.
Also power station is had to adopt machine cleaning mode.Adopting at present more be large truck is chassis+roller brush mode, and when vehicle runs, roller brush moves therewith together, Wipe assembly surface dirt.Application number is a kind of cleaning Vehicle being made up of crawler body and equipment of " Intelligent light photovoltaic array cleaning Vehicle " middle proposition of CN201510592714.Crawler body contains a pair crawler travel motor, and equipment comprises cleaning head unit, supports positioning unit, hydraulic control unit, water supplying unit etc..Under the effect of control unit, clean array surface successively along with crawler belt runs cleaning head unit.This cleaning way cleaning speed is fast, and cleaning performance is good.But required large truck, lease cost is higher, is only applicable to assembly fore-and-aft clearance relatively greatly, and physical features is relatively flat, the good place of geology.
Also have and adopt the rail mounted cleaning device depending on assembly array.Application number is " a kind of fixed type photovoltaic cell plate group rinser " a kind of rinser of middle proposition of CN201510587130.4.Device is fixedly mounted on photovoltaic battery panel surrounding by external cross rail, and cleaning brush moves between each cell panel, and block-by-block cleans.Which needs external guide rail, it is desirable to flatness≤10mm between assembly array, power taking, water supply difficulty, relatively costly.
Application number be CN201510565638 " a kind of cleaning device for photovoltaic plant " in propose a kind of to adopt photovoltaic generation as the cleaning device of power supply, the upper and lower part of device main frame is provided with running wheel and supports wheel, can vertically press the upper edge being attached to photovoltaic array, move left and right along photovoltaic array upper edge under the effect of its ECU, drive cleaner to run and realize cleaning photovoltaic array surface.Which is without track, and device may be supported on photovoltaic array surface, overcomes the Cost Problems of track.But it is Structured cured, being subject to the impact of photovoltaic array mounting means, once the arrangement mode of assembly changes in array, this apparatus structure will be readjusted, and adaptability is poor.
More than analyze and can be seen that the problem that mechanical cleaning device is primarily present is: 1. needing to depend on large truck and drag, power consumption is big, automaticity is low, and array pitch and installation landform are required that 2. height needs attachment rail cost high;3. structure is fixed, bad adaptability.The further genralrlization application of these 3 drawbacks limit external mechanical class cleaning device.
Summary of the invention
Present invention aims to the defect of prior art and deficiency, a kind of flight photovoltaic array surface cleaning machines people automatically is provided, by the setting of flight parameter or remote control can be realized the photovoltaic array surface cleaning being arranged on roof, the water surface, farmland, hillside, cleaning mode adopts jet dedusting and scouring dedusting to combine, cleaning speed >=2m2/ min, is 2~3 times of mechanical type dedusting, cost≤50,000 yuan/platform, only the 1/10 of rail mounted cleaning equipment.
For achieving the above object, the technical solution used in the present invention is: a kind of flight photovoltaic array surface cleaning machines people automatically, and it includes unmanned vehicle, high-definition camera, intelligent control unit, jet dust arrester, cleans dust arrester and power supply;High-definition camera is arranged on unmanned vehicle front bottom end, and unmanned vehicle inner upper is provided with intelligent control unit, and unmanned vehicle lower inside is provided with jet dust arrester and power supply;Jet dust arrester is made up of direct current generator, air pump and air nozzle;Direct current generator connects power supply and air pump respectively, and air pump connects external pipeline, and pipeline is arranged on unmanned vehicle two side stand, is provided with fumarole in pipeline, and its fumarole is provided with air nozzle;Cleaning dust arrester and be fixed on engine room inside by support, it is made up of electric rotating machine, lowering or hoisting gear, Hooks coupling universal coupling and cleaning brush;Lowering or hoisting gear is telescopic cylinder, and its cylinder piston rod top connects electric rotating machine by Hooks coupling universal coupling, and electric rotating machine connects cleaning brush, and high-definition camera, intelligent control unit, direct current generator, electric rotating machine are all connected with power supply;Intelligent control unit connects high-definition camera, lowering or hoisting gear, direct current generator, electric rotating machine respectively.
Further, described intelligent control unit controls the elevating movement of lowering or hoisting gear and the dedusting operation process of brush, and its lowering or hoisting gear is that 3 grades of telescopic cylinders drive.
Further, 3 grades of described cylinders adopt cylinder, No. two cylinders, No. three cylinders.
Further, described air nozzle is " people " font structure.
Further, described air nozzle includes air nozzle shell, cover cap, rectangular block, and air nozzle shell connects cover cap, and cover cap connects rectangular block.
Further, described photovoltaic array surface cleaning machines people removes photovoltaic module surface dirt when performing dedusting task initially with high-pressure jet dedusting method, only just need to perform wiping dedusting in this region when assembly surface has solid deposits, otherwise will perform the dedusting task of lower an array, compared with conventional cleaning implements, improved efficiency about 50%.
Further, the photovoltaic array surface cleaning machines people of described automatic flight function, solve setting height(from bottom) height, problem with a varied topography, to be manually difficult to the photovoltaic module cleaning in the region arrived is installed, can be applicable to the photovoltaic array surface cleaning being arranged on roof, the water surface, farmland, hillside.
nullThe operation principle of the present invention is: unmanned vehicle operational factor is wirelessly set by control station,It is pressed intended trajectory and runs,When flight to overhead, region to be cleaned,Open jet dust arrester,Produce gases at high pressure to be sprayed to photovoltaic module surface by air nozzle,Remove floating ash,High-definition camera work simultaneously,Picture shooting assembly surface picture,And by the standard clean state picture comparison of intelligent control unit with its inside,Determine whether solid deposits (such as birds droppings etc.),If any,Unmanned vehicle drops to photovoltaic module surface,Open cabin,Stretch out cleaning brush,It is slowly drop down to photovoltaic module surface under lowering or hoisting gear effect,Electric rotating machine works,Drive cleaning brush work,Erasing solid deposits,After erasing terminates,Cleaning brush rises,It is retracted in cabin,Complete dust removal process,Such as nothing,Unmanned vehicle performs the dedusting task of next column photovoltaic array.
After adopting said structure, the invention have the benefit that when employing unmanned vehicle performs clean up task, can be applicable to the photovoltaic array surface cleaning being arranged on roof, the water surface, farmland, hillside, reduce the requirement to photovoltaic array installation environment, adopt high-pressure jet and fixed point two kinds of dedusting methods of wiping, cleaning speed >=2m2/ min, is 2~3 times of mechanical type dedusting, improves efficiency of dust collection.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the composition frame chart of the present invention;
Fig. 3 is the fumarole arrangement schematic diagram of the present invention;
Fig. 4 is the nozzle arrangements schematic diagram of the present invention;
Fig. 5 is the scouring dust arrester structural representation of the present invention;
Fig. 6 is the lifting device structure schematic diagram of the present invention;
Fig. 7 is the universal joint structure schematic diagram of the present invention.
1, unmanned vehicle;2, high-definition camera;3, intelligent control unit;4, jet dust arrester;5, dust arrester is cleaned;6, power supply;7, direct current generator;8, fumarole;9, air pump;10, air nozzle;11, air nozzle shell;12, cover cap;13, rectangular block;14, electric rotating machine;15, lowering or hoisting gear;16, telescopic cylinder;17, Hooks coupling universal coupling;18, cleaning brush;19, pipeline;20, support;21, two side stand;22, a cylinder;23, No. two cylinders;24, No. three cylinders.
Detailed description of the invention
Embodiment
Referring to such as shown in Fig. 1-Fig. 7, the present embodiment the technical scheme is that a kind of flight photovoltaic array surface cleaning machines people automatically, and it includes unmanned vehicle 1, high-definition camera 2, intelligent control unit 3, jet dust arrester 4, cleans dust arrester 5 and power supply 6;High-definition camera 2 is arranged on unmanned vehicle 1 front bottom end, and unmanned vehicle 1 inner upper is provided with intelligent control unit 3, and unmanned vehicle 1 lower inside is provided with jet dust arrester 4, power supply 6;Jet dust arrester 4 is made up of direct current generator 7, air pump 9 and air nozzle 10;Direct current generator 7 connects power supply 6 and air pump 9 respectively, air pump 9 connects external pipeline 19, pipeline 19 is arranged on 1 liang of side stand 21 of unmanned vehicle, some fumaroles 8 it are uniform-distribution with in pipeline 19, air nozzle 10 is arranged on fumarole 8, cleaning dust arrester 5 and be fixed on unmanned vehicle 1 inside by support 20, it is made up of electric rotating machine 14, lowering or hoisting gear 15, Hooks coupling universal coupling 17 and cleaning brush 18;Lowering or hoisting gear 15 is telescopic cylinder 16, and cylinder 16 piston rod top connects electric rotating machine 14 by Hooks coupling universal coupling 17, and electric rotating machine 14 connects cleaning brush 18;High-definition camera 2, intelligent control unit 3, direct current generator 7, electric rotating machine 14 are all connected with power supply 6;Intelligent control unit 3 connects high-definition camera 2, lowering or hoisting gear 15, direct current generator 7, electric rotating machine 14 respectively.
Described intelligent control unit 3 controls the elevating movement of lowering or hoisting gear 15 and the dedusting operation process of cleaning brush 18, and its lowering or hoisting gear 15 is that 3 grades of telescopic cylinders 16 drive.
3 grades of described telescopic cylinders 16 adopt a cylinder 23, No. three cylinders 24. of 22, No. two cylinders
Described air nozzle 10 is " people " font structure.
Described air nozzle 10 includes air nozzle shell 11, cover cap 12, rectangular block 13, and air nozzle shell 11 connects cover cap 12, and cover cap 12 connects rectangular block 13.
The integrated high-definition camera 2 of described unmanned vehicle 1, operates simple and easy.The still photo shooting of 12000000 pixels, in conjunction with three axle The Cloud Terrace stabilization techniques of DJI technical grade, it is achieved multi-angle, long-time steadily shooting.
Described intelligent control unit 3 has the distant control function to the setting of unmanned vehicle 1 flight parameter, state of flight and flight path;There is reception and transfer function that high-definition camera 2 shoots picture;There is picture comparison function, by the picture of shooting and the normal pictures comparison under clean conditions, it is judged that whether photovoltaic array surface exists solid deposits, if need wiping dedusting;Remote control function to wiping dust arrester 5 operation, when needing clean-out assembly surface solid deposit, will need wiped area to send unmanned vehicle 1 to, and controls unmanned vehicle 1 and fly to appointment region and perform wiping dedusting task.
Described direct current generator 7 is from unmanned vehicle 1 power supply 6 power taking, direct current generator 7 works under the control of intelligent control unit 3, operating band pump 9 of taking offence works, producing gases at high pressure, gas sprays to photovoltaic module surface by the air nozzle 10 of ejection-type, and air nozzle 10 is arranged on the external pipeline 19 of unmanned vehicle 1 both sides, air nozzle 10 adopts chevron shaped structural design, increasing the diffusion area of air-flow, make unmanned vehicle through dedusting area, all surfaces all can by jet dedusting.
Described electric rotating machine 14 be energized rear motor rotor rotate, driving cleaning brush 18 to rotate, lowering or hoisting gear 15 is 3 grades of telescopic cylinders, has Telescopic, controlled by intelligent control unit 3, when unmanned vehicle 1 cabin is opened, lowering or hoisting gear 15 declines, after dedusting terminates, it is retracted under intelligent control unit 3 controls and is placed on unmanned vehicle 1 engine room inside, cleaning brush 18 is driven by electric rotating machine 14, by rotating wiping, clean-out assembly surface solid deposit on photovoltaic module surface.
nullThe operation principle of the present embodiment is: unmanned vehicle 1 operational factor is wirelessly set by control station,It is pressed intended trajectory and runs,When flight to overhead, region to be cleaned,Open jet dust arrester 4,Produce gases at high pressure to be sprayed to photovoltaic module surface by air nozzle 10,Remove floating ash,High-definition camera 2 works simultaneously,Picture shooting assembly surface picture,And by the standard clean state picture comparison of intelligent control unit 3 with its inside,Determine whether solid deposits (such as birds droppings etc.),If any,Unmanned vehicle 1 drops to photovoltaic module surface,Open cabin,Stretch out cleaning brush 18,It is slowly drop down to photovoltaic module surface under lowering or hoisting gear effect,Electric rotating machine 14 in cabin works,Cleaning brush 18 is driven to work,Erasing solid deposits,After erasing terminates,Cleaning brush 18 rises and is retracted in cabin,Complete dust removal process,Such as nothing,Unmanned vehicle 1 performs the dedusting task of next column photovoltaic array.
When having the beneficial effect that employing unmanned vehicle execution clean up task of the present embodiment, can be applicable to the photovoltaic array surface cleaning being arranged on roof, the water surface, farmland, hillside, reduce the requirement to photovoltaic array installation environment, adopt high-pressure jet and fixed point two kinds of dedusting methods of wiping, cleaning speed >=2m2/ min, is 2~3 times of mechanical type dedusting, improves efficiency of dust collection.
The above, it is merely to illustrate technical scheme and unrestricted, other amendment that technical scheme is made by those of ordinary skill in the art or equivalent replace, without departing from the spirit and scope of technical solution of the present invention, all should be encompassed in the middle of scope of the presently claimed invention.

Claims (5)

1. an automatic flight photovoltaic array surface cleaning machines people, it is characterised in that: it comprises unmanned vehicle, high-definition camera, intelligent control unit, jet dust arrester, cleans dust arrester and power supply;High-definition camera is arranged on unmanned vehicle front bottom end, and unmanned vehicle inner upper is provided with intelligent control unit, and unmanned vehicle lower inside is provided with jet dust arrester and power supply;Jet dust arrester is made up of direct current generator, air pump and air nozzle, direct current generator is connected with power supply, direct current generator operating band take offence pump produce gases at high pressure, it is transferred to air nozzle by pipeline, Pipe installing, on unmanned vehicle two side stand, pipeline is offered fumarole, and air nozzle is arranged on fumarole, cleaning dust arrester and be fixed on engine room inside by support, it is made up of electric rotating machine, lowering or hoisting gear, Hooks coupling universal coupling and cleaning brush;Lowering or hoisting gear is telescopic cylinder, and its cylinder piston rod top connects electric rotating machine by Hooks coupling universal coupling, and electric rotating machine connects cleaning brush, and high-definition camera, intelligent control unit, direct current generator, electric rotating machine are all connected with power supply;Intelligent control unit controls high-definition camera, lowering or hoisting gear, direct current generator, electric rotating machine.
null2. a kind of automatic flight photovoltaic array surface cleaning machines people according to claim 1 is characterized in that its operation principle is: unmanned vehicle operational factor is wirelessly set by control station,It is pressed intended trajectory and runs,When flight to overhead, region to be cleaned,Open jet dust arrester,Produce gases at high pressure to be sprayed to photovoltaic module surface by air nozzle,Remove floating ash,High-definition camera work simultaneously,Picture shooting assembly surface picture,And by the standard clean state picture comparison of intelligent control unit with its inside,Determine whether solid deposits,If any,Unmanned vehicle drops to photovoltaic module surface,Open cabin,Stretch out cleaning brush,It is slowly drop down to photovoltaic module surface under lowering or hoisting gear effect,Electric rotating machine works,Drive cleaning brush work,Erasing solid deposits,After erasing terminates,Cleaning brush rises,It is retracted in cabin,Complete dust removal process,Such as nothing,Unmanned vehicle performs the dedusting task of next column photovoltaic array.
3. one according to claim 1 automatic flight photovoltaic array surface cleaning machines people, it is characterised in that described intelligent control unit controls the elevating movement of lowering or hoisting gear and the dedusting operation process of brush, its lowering or hoisting gear is that 3 grades of telescopic cylinders drive.
4. one according to claim 1 automatic flight photovoltaic array surface cleaning machines people, it is characterised in that described air nozzle is " people " font structure.
5. one according to claim 1 automatic flight photovoltaic array surface cleaning machines people, it is characterised in that described air nozzle includes air nozzle shell, cover cap, rectangular block, its air nozzle shell connects cover cap, and cover cap connects rectangular block.
CN201610232736.0A 2016-04-15 2016-04-15 Automatic flight surface cleaning robot for photovoltaic array Pending CN105728398A (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN106227215A (en) * 2016-08-31 2016-12-14 宁波易拓智谱机器人有限公司 Robot automatic photovoltaic module purging system and cleaning method thereof
CN106647345A (en) * 2016-08-30 2017-05-10 浙江克里蒂弗机器人科技有限公司 Method of determining whether photovoltaic cell panel needs to be cleaned based on pixel analysis statistics technology
CN106734010A (en) * 2016-08-23 2017-05-31 协鑫电力设计研究有限公司 Photovoltaic plant clean method and system
CN108345091A (en) * 2018-04-17 2018-07-31 泰州市艾瑞克新型材料有限公司 A kind of photovoltaic system and its working method suitable for automated cleaning
CN110022122A (en) * 2019-02-20 2019-07-16 南京海得电力科技有限公司 Photovoltaic panel dirt removal system for photovoltaic plant O&M
CN111822472A (en) * 2019-04-23 2020-10-27 艾思特能源股份有限公司 Flying cleaning tool
CN110022122B (en) * 2019-02-20 2021-08-31 南京海得电力科技有限公司 A photovoltaic board dirt clean-up system for photovoltaic power plant fortune dimension

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CN106734010B (en) * 2016-08-23 2021-05-07 协鑫电力设计研究有限公司 Photovoltaic power station cleaning method and system
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CN110022122A (en) * 2019-02-20 2019-07-16 南京海得电力科技有限公司 Photovoltaic panel dirt removal system for photovoltaic plant O&M
CN110022122B (en) * 2019-02-20 2021-08-31 南京海得电力科技有限公司 A photovoltaic board dirt clean-up system for photovoltaic power plant fortune dimension
CN111822472A (en) * 2019-04-23 2020-10-27 艾思特能源股份有限公司 Flying cleaning tool

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