CN105881555A - Photovoltaic power station cleaning robot achieving direct dust removal on basis of draught fan and working method of photovoltaic power station cleaning robot - Google Patents
Photovoltaic power station cleaning robot achieving direct dust removal on basis of draught fan and working method of photovoltaic power station cleaning robot Download PDFInfo
- Publication number
- CN105881555A CN105881555A CN201610438730.9A CN201610438730A CN105881555A CN 105881555 A CN105881555 A CN 105881555A CN 201610438730 A CN201610438730 A CN 201610438730A CN 105881555 A CN105881555 A CN 105881555A
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- robot
- dust
- blower fan
- solar panel
- running gear
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- 239000000428 dust Substances 0.000 title claims abstract description 65
- 238000004140 cleaning Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000009184 walking Effects 0.000 claims abstract description 15
- 238000010408 sweeping Methods 0.000 claims description 28
- 238000010926 purge Methods 0.000 claims description 19
- 238000005453 pelletization Methods 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000007664 blowing Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/04—Cleaning by suction, with or without auxiliary action
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a photovoltaic power station cleaning robot achieving direct dust removal on the basis of a draught fan and a working method of the photovoltaic power station cleaning robot. The cleaning robot comprises a power system, a walking system, a cleaning system, a dust removing system and a control system; the power system is connected with the walking system, the cleaning system, the dust removing system and the control system separately, the walking system, the cleaning system and the dust removing system are connected to the control system through sensors respectively, and the centrifugal draught fan is adopted as the dust removing system. The robot works along the working path that the robot starts from the highest position of a solar panel, walks at equal altitude in the transverse linear direction of the solar panel, turns when the robot arrives at the edge of a solar panel array and then walks in the transverse linear direction of the solar panel again and works. The dust removing system discharges dust out of the robot through an output air duct in the longitudinal direction of the solar panel and always blows the dust to the low-terrain side of the solar panel. The cleaning robot can meet the requirement that a photovoltaic power station conducts quick and efficient cleaning work on a large-area solar panel.
Description
Technical field
The present invention relates to a kind of be applicable to the intelligent robot that photovoltaic plant solar panels clean, in particular, relate to a kind of with
Dust, as main dust discharge assembly, in walking and cleaning process, is sucked by blower fan, discharges by centrifugal blower repeatedly, until
Blow off the photovoltaic plant sweeping robot on ground and method of work thereof.
Background technology
The area that climatic environment is more severe is generally built in large-sized photovoltaic power station in, and the general dust storm in these areas is serious, drought and water shortage.
Dust and dust storm, can block the photovoltaic panel assembly assimilation effect to solar energy, be substantially reduced photovoltaic panel to solar energy for a long time
Absorption efficiency.Moreover, dust, dust storm and other fouling products, long shade can be formed on photovoltaic panel surface, enter
And produce hot spot effect, if not in time photovoltaic module is cleaned, it will the generated energy of photovoltaic plant is greatly reduced, to electricity
The economic benefit stood and the life-span of photovoltaic module, have a negative impact.
In current multiple photovoltaic module automatization cleaning equipment, various unidirectional or transverse and longitudinal twin fixed guide-vane formula cleaning equipment, owing to being subject to
To the arrangement mode of photovoltaic panel, the longitudinal length of group string, the unit weight of equipment, drive energy, the multiple condition such as self maintained
Restriction, its drawback the most gradually appears.Monomer stand alone type is creeped sweeping robot, it has also become photovoltaic module cleans field and grinds at present
The dominant direction sent out.
The sweeping efficiency of sweeping robot and the dependence to attendant, be that two of this field consider core.And some is creeped clearly
Sweep robot (such as two-legged type), in most walking with in turnaround time, only achieve the movement of station, unrealized cleaning merit
Can, inefficient；Also have the capacity of some sweeping robots of creeping (such as Japan SINFONIA) dust-collecting box, limit it effective
Working time, and create the very big dependence to attendant.
Summary of the invention
For current photovoltaic plant automatic cleaning equipment sweeping efficiency and to attendant's dependency in terms of exist deficiency, this
A kind of photovoltaic plant sweeping robot based on the direct dedusting of blower fan of bright offer, and its method of work has been done the planning of science.
The technical scheme that robot of the present invention uses is as follows:
Photovoltaic plant sweeping robot based on the direct dedusting of blower fan, including power-supply system, running gear, purging system, dedusting
System and control system, power-supply system is connected with running gear, purging system, dust pelletizing system and control system respectively, described row
Walking system, purging system and dust pelletizing system are connected to control system by sensor respectively；Described dust pelletizing system uses centrifugal wind
Machine, the output air channel of blower fan is arranged on the side of robot fuselage.
Preferably, described power-supply system includes solar panel, controller and the ultracapacitor assembly being connected with controller,
Described solar panel is arranged on the upper surface of robot fuselage, described ultracapacitor assembly respectively with running gear, cleaning
System, dust pelletizing system and control system connect.
Further, head and the afterbody of described robot fuselage is symmetrical structure.
The output air channel of described blower fan is arranged on two sides of robot fuselage or is positioned only at a side of robot fuselage
Face.
Further, being provided with in the robot fuselage left and right sides and patrol limit sensor, fuselage rear and front end is provided with displacement transducer；
Dust sensor it is provided with at the suction inlet of blower fan；The end of robot fuselage is additionally provided with fall arrest infrared sensor and ultrasonic ranging
Avoidance sensor, fuselage interior is provided with the current sensor of motor.
The method of work of a kind of photovoltaic plant sweeping robot based on the direct dedusting of blower fan of the present invention, detailed process is as follows: machine
The power-supply system of people is that running gear, purging system, dust pelletizing system and control system are powered, running gear, purging system and remove
Dirt system passes information to control system by sensor respectively, and control system is by analysis, comparison and feedback, by order point
It is not sent to the work drive motor in running gear, purging system and dust pelletizing system, then by the speed governing of each work drive motor, positive and negative
The operation turned or shut down, it is achieved the closed loop control to robot；Wherein, the operating path of robot is: from solar panels
Eminence starts, and along height walkings such as the horizontal rectilinear directions of solar panels, turns to when arriving the edge of solar array,
The most again along the horizontal straight line moving of solar panels and work；Described dust pelletizing system uses the bottom-up dust suction of centrifugal fan, and
With will dust by output air channel, longitudinally discharge robot along solar panels external, and blows to solar panels low-lying all the time
On one side；Robot repeatedly walks on solar panels surface and cleans and dedusting, walks also along solar panels lowest part when for the last time
During work, by blowing off, the dust in solar panels minimum physical features edge all sucks, and finally blows and falls earthward, completes photovoltaic
The cleaning works of power station solar panels.
Further, the head of described robot fuselage and afterbody are symmetrical structure, and robot arrives the limit of solar array
Time at edge, it is not necessary to turn around, direct head and afterbody exchange realization and turn to.
Further, described power-supply system includes solar panel, controller and the ultracapacitor assembly being connected with controller,
After described solar panel obtains solar energy, by ultracapacitor assembly fast charging and discharging.
Further, at the suction inlet of described blower fan, it is provided with dust sensor, is responsible for the concentration that detection dust is kicked up, when concentration exists
Time within threshold range, purging system at the uniform velocity cleans, and running gear is at the uniform velocity walked；When detecting that dust concentration is less than threshold range
Time, purging system reduces speed now cleaning, and running gear accelerates walking, otherwise, when detecting that dust concentration is higher than threshold range,
Purging system starts to accelerate to clean, and running gear is slowed down and walked.
Compared with prior art, the method have the advantages that
(1) sweeping robot of the present invention, during the continuous walking of solar panels surface, can realize cleaning, dedusting synchronization
Carry out, substantially increase work efficiency.
(2) structure of the present invention does not uses dust-collecting box, after dust is sucked by robot, be discharged immediately, and dispelled, subtract
Having lacked after the dust-collecting box of Conventional robotic fills, attendant must stop the work of robot to carry out clearing up the extra of dust-collecting box
Time and workload, decrease the dependence to photovoltaic plant operation maintenance personnel.
(3) robot head and the tail symmetric design, in the end of photovoltaic module array, robot can turn around to turn to, but real
Existing tail becomes head, the fast steering mode of head change tail, substantially increases the sweeping efficiency of robot especially.
(4) robot of the present invention can meet photovoltaic plant solar energy in large area plate carries out the needs of rapidly and efficiently cleaning works.
Accompanying drawing explanation
Fig. 1 is the sweeping robot system construction drawing of the present invention；
Fig. 2 is the sweeping robot operating path planning chart of the present invention.
In figure: 1 is power-supply system, is running gear, 3 is dust pelletizing system, and 4 is purging system, and 5 is control system, and A is
The initial station of sweeping robot, B is first trip straight line moving station, and C is that first trip turns to station, D to be the second row straight line moving works
Position, E is that the second row turns to station, F to be the third line straight line moving stations.
Detailed description of the invention
The structure of the present embodiment robot is as it is shown in figure 1, power-supply system 1 includes solar panel, controller and and controller
The ultracapacitor assembly etc. connected.Running gear 2 includes crawler travel assembly, movable motor etc., by the fuselage left and right sides
Each motor, the Athey wheel on each self-driven both sides, make monolateral crawler belt advance on solar panels surface, retreat, static, speedup,
Slow down, it is achieved the walking of robot and turning function.Dust pelletizing system 3 includes centrifugal blower, motor, output airduct etc..Clearly
Sweep system 4 and include disc brush assembly, driving gear component and driving motor etc., drive motor to drive disc brush assembly, make disc brush too
Sun can plate surface at the uniform velocity or speed-changing rotation.Control system 5 includes MCU mainboard, various sensor interface and integrated circuit thereof etc..
In power-supply system 1, the solar panel of robot upper surface obtains solar energy, quick by ultracapacitor assembly
Discharge and recharge, it is achieved the electricity needs of other each system of sweeping robot.
Arrange in the robot fuselage left and right sides patrols limit sensor, and the left side of control robot body or right side are all the time along the sun
The metal upper edge of energy plate or lower edge straight line moving, and the displacement transducer that robot front and back end is arranged, control robot body
When crossing over one piece of solar panels every time, adjust a pose, it is ensured that its walking path is always straight line；It is arranged on blower fan suction inlet
Dust sensor be responsible for detecting the concentration kicked up of dust, when concentration is within certain threshold range, cleans motor and at the uniform velocity turn
Dynamic, drive disc brush at the uniform velocity to clean, movable motor also drives crawler belt at the uniform velocity to walk；When detecting that dust concentration exceeds certain threshold value model
Outside enclosing, cleaning motor and start speedup or deceleration, if dust concentration is relatively low, crawler belt accelerates walking, and disc brush is rotated in deceleration, otherwise,
If dust concentration is higher, crawler belt slows down and walks, and disc brush is accelerated to rotate, to improve work efficiency and to realize the different cleaning degree sun
The cleaning of energy plate.In addition, the fall arrest infrared sensor of robot body end, ultrasonic ranging avoidance sensor and
The blower fan of inside, disc brush, Athey wheel etc. drive the current sensor of motor, and respective signal is passed to MCU mainboard, then by control
The analysis of system processed, comparison and fusion, send a command to each motor and moving component, then by the speed governing of motor, rotating,
Shut down, it is achieved the closed loop control of robot.
In dust pelletizing system 3, by the high speed rotating of centrifugal fan blade, by the dust of suction along output airduct, excrete.
Output airduct can be arranged on the both sides of robot fuselage, it is also possible to is positioned only on a side.If fuselage both sides have defeated
Discharge pipe, at machine man-hour, when arriving solar array edge, can turn around to exchange the most end to end and turn
To, however it is necessary that one of them airduct of closedown, to ensure that dust the most all blows to solar panels low-lying.Although having
Part dust, still falls back to photovoltaic solar panel surface, and robot, can be by this part dust weight when next line walking work
New suction, discharge, until last column, ground that dust is blown off.Further, even if there being the dust being scattered to continue to be retained in
Solar panels surface, one is floating ash, and outdoor mild wind can be blown away, and two is solar panels surface uniform dust on a small quantity, to it
Absorb the efficiency of solar energy, constitute impact hardly.So, centrifugal blower dust suction timely and dust discharge, to solar panels surface
The raising of sweeping efficiency, has and promotes effect greatly.
As in figure 2 it is shown, the present embodiment is only provided with output airduct in fuselage side, and it is low towards solar panels all the time to export airduct
One side of physical features.The present embodiment sweeping robot operating path is planned to: first it is after A station, along solar energy
The horizontal straight line moving of plate also works, as shown in station B；When close to solar array edge, 90 degree of one spacing of turning right
From, stopping, minor radius 90 degree retrogressing, it is not necessary to turn around, direct afterbody becomes head, and head becomes afterbody, as shown in station C；
Straight line moving working, as shown in station D the most again；When close to another edge of solar array, left-hand rotation 90
Degree certain distance, stops, minor radius 90 degree retrogressing, and tail becomes head again, and head becomes tail, as shown in station E；The most straight
Line is walked and is worked, as shown in station F.Path planning according to this, iterative cycles, until cleaning solar energy in large area plate array
Complete.
Claims (9)
1. photovoltaic plant sweeping robot based on the direct dedusting of blower fan, including power-supply system, running gear, purging system,
Dust pelletizing system and control system, it is characterised in that power-supply system respectively with running gear, purging system, dust pelletizing system and control
System connects, and described running gear, purging system and dust pelletizing system are connected to control system by sensor respectively；Described dedusting
System uses centrifugal fan, and the output air channel of blower fan is arranged on the side of robot fuselage.
Photovoltaic plant sweeping robot based on the direct dedusting of blower fan the most according to claim 1, it is characterised in that described
Power-supply system includes solar panel, controller and the ultracapacitor assembly being connected with controller, described solar panel
Be arranged on the upper surface of robot fuselage, described ultracapacitor assembly respectively with running gear, purging system, dust pelletizing system and
Control system connects.
Photovoltaic plant sweeping robot based on the direct dedusting of blower fan the most according to claim 1, it is characterised in that described
The head of robot fuselage and afterbody are symmetrical structure.
Photovoltaic plant sweeping robot based on the direct dedusting of blower fan the most according to claim 1, it is characterised in that described
The output air channel of blower fan is arranged on two sides of robot fuselage or is positioned only at a side of robot fuselage.
Photovoltaic plant sweeping robot based on the direct dedusting of blower fan the most according to claim 1, it is characterised in that at machine
Device people's fuselage left and right sides is provided with patrols limit sensor, and fuselage rear and front end is provided with displacement transducer；Set at the suction inlet of blower fan
There is dust sensor；The end of robot fuselage is additionally provided with fall arrest infrared sensor and ultrasonic ranging avoidance sensor, fuselage
Inside is provided with the current sensor of motor.
6. the method for work of photovoltaic plant sweeping robot based on the direct dedusting of blower fan, it is characterised in that detailed process is as follows:
The power-supply system of robot is that running gear, purging system, dust pelletizing system and control system are powered, running gear, purging system
Passing information to control system by sensor respectively with dust pelletizing system, control system, will life by analysis, comparison and feedback
The work drive motor that is sent respectively in running gear, purging system and dust pelletizing system of order, then by the speed governing of each work drive motor,
Rotating or the operation of shutdown, it is achieved the closed loop control to robot；Wherein, the operating path of robot is: from solar panels
Highest point start, along the height walking such as the horizontal rectilinear direction of solar panels, turn when arriving the edge of solar array
To, the most again along the horizontal straight line moving of solar panels and work；Described dust pelletizing system uses the bottom-up dust suction of centrifugal fan,
And with will dust by output air channel, longitudinally discharge robot along solar panels external, and blows to solar panels low-lying all the time
One side；Robot repeatedly walks on solar panels surface and cleans and dedusting, walks along solar panels lowest part when for the last time
And when working, by blowing off, the dust in solar panels minimum physical features edge all sucks, and finally blows and falls earthward, completes light
The cleaning works of overhead utility solar panels.
The method of work of photovoltaic plant sweeping robot based on the direct dedusting of blower fan the most according to claim 6, its feature
Being, the head of described robot fuselage and afterbody are symmetrical structure, robot arrive solar array edge time,
Without turning around, direct head and afterbody exchange realization and turn to.
8. according to the method for work of the photovoltaic plant sweeping robot based on the direct dedusting of blower fan described in claim 6 or 7, its
Being characterised by, described power-supply system includes solar panel, controller and the ultracapacitor assembly being connected with controller, institute
After stating solar panel acquisition solar energy, by ultracapacitor assembly fast charging and discharging.
9. according to the method for work of the photovoltaic plant sweeping robot based on the direct dedusting of blower fan described in claim 6 or 7, its
It is characterised by, at the suction inlet of described blower fan, is provided with dust sensor, be responsible for the concentration that detection dust is kicked up, when concentration is in threshold value
Within the scope of time, purging system at the uniform velocity cleans, and running gear is at the uniform velocity walked；When detecting that dust concentration is less than threshold range,
Purging system reduces speed now cleaning, and running gear accelerates walking, otherwise, when detecting that dust concentration is higher than threshold range, clearly
The system of sweeping starts to accelerate to clean, and running gear is slowed down and walked.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610438730.9A CN105881555B (en) | 2016-06-17 | 2016-06-17 | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610438730.9A CN105881555B (en) | 2016-06-17 | 2016-06-17 | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower |
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| CN105881555B CN105881555B (en) | 2019-03-19 |
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| CN106142090A (en) * | 2016-09-21 | 2016-11-23 | 苏州瑞得恩自动化设备科技有限公司 | The path navigation control method that robot travels in rectangular slope |
| CN106182015A (en) * | 2016-09-21 | 2016-12-07 | 苏州瑞得恩自动化设备科技有限公司 | Solar panel sweeping robot control system |
| CN106248083A (en) * | 2016-09-21 | 2016-12-21 | 苏州瑞得恩自动化设备科技有限公司 | The method for path navigation that a kind of robot travels in rectangular slope |
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