CN106411247A - Photovoltaic array cross board cleaning method and device - Google Patents

Photovoltaic array cross board cleaning method and device Download PDF

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Publication number
CN106411247A
CN106411247A CN201611033106.7A CN201611033106A CN106411247A CN 106411247 A CN106411247 A CN 106411247A CN 201611033106 A CN201611033106 A CN 201611033106A CN 106411247 A CN106411247 A CN 106411247A
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CN
China
Prior art keywords
plate
control
cleaning machine
cleaning
carrier
Prior art date
Application number
CN201611033106.7A
Other languages
Chinese (zh)
Inventor
沈焱勇
张翼
祁伟建
成俊军
郑金渭
陶熠昆
朱玲芬
郑洪波
Original Assignee
浙江国自机器人技术有限公司
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 浙江国自机器人技术有限公司 filed Critical 浙江国自机器人技术有限公司
Priority to CN201611033106.7A priority Critical patent/CN106411247A/en
Publication of CN106411247A publication Critical patent/CN106411247A/en
Priority claimed from PCT/CN2017/082195 external-priority patent/WO2018090569A1/en

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Classifications

    • 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
    • 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
    • B08B13/00Accessories or details of general applicability for machines or apparatus for cleaning
    • 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 a photovoltaic array cross board cleaning method. The method comprises the steps that a control system controls a carrier to adjust the attitude to be connect with an on-board cleaning machine and controls the carrier to drive the on-board cleaning machine to leave a photovoltaic board; the control system controls a mover to drive the carrier to move, and controls the mover to carry out corresponding operation when the mover moves to the area of a target photovoltaic board; the control system adjusts the relative position of the carrier to the target photovoltaic board, and controls the carrier to place the on-board cleaning machine on the target photovoltaic board; and the control system controls the on-board cleaning machine to carry out mobile cleaning on the target photovoltaic board. According to the invention, the cleaning operation of the photovoltaic board and the movement and conversion of the on-board cleaning machine between different photovoltaic boards are realized; the complexity for a man-driven cleaning vehicle to clean the photovoltaic board can be reduced; the application range of on-board cleaning devices is expanded; the cleaning efficiency is improved; the service life of the photovoltaic board is prolonged; and the power generation efficiency and utilization of the photovoltaic board are enhanced.

Description

A kind of photovoltaic array straddle cleaning method and device
Technical field
A kind of the present invention relates to solar energy photovoltaic panel technical field, more particularly, it relates to photovoltaic array straddle cleaning side Method and device.
Background technology
Requirement with environmental protection and the lifting of sustainable energy demand, the proportion of clean energy resource accounts for the ratio of total energy year by year Lifting, the cleaning demand of photovoltaic plate array progressively heats up in the market.
The reason photovoltaic array needs cleaning mainly has two:First, dirt can lead to photovoltaic plate surface to produce heat conduction difference, Ultimately cause " hot spot ", damage photovoltaic module;2nd, dirt leads to photovoltaic panel surface transmission rate to reduce, thus affecting photovoltaic panel group The photothermal conversion rate of part array, that is, reduce generating efficiency.Therefore do not decline to ensure generating efficiency, it is to avoid photovoltaic module damages Bad, photovoltaic panel cleaning is necessary.
At present, existing photovoltaic array cleaning method includes several typical categories:Firstth, rinsed with high-pressure watercart, second, Cleaned on photovoltaic panel plate with dry brush washer, the 3rd, use ground motion chassis machine arm round brush cleaning Vehicle.But aforesaid way is all Existing problems:In first kind of way, high pressure water washing scheme extremely water consumption;In second scheme, dry brush scheme on photovoltaic panel plate Unit cleaning area need that the number of devices putting into is many, and cleaning performance is undesirable;In 3rd scheme, ground motion chassis The reliability of mechanical arm round brush cleaning Vehicle is low, and operation easier is big, is also easy to damage photovoltaic panel, easily causes waste of resource, damages clearly Wash object problem.
In sum, how a kind of efficiency high, intelligentized cleaning technique are provided, be current those skilled in the art urgently The problem solving.
Content of the invention
In view of this, it is an object of the invention to provide a kind of photovoltaic array straddle cleaning method, the method can make photovoltaic The cleaning of array is easier, efficient, and intellectualized operation is more rationally and stable.
It is a further object of the present invention to provide a kind of photovoltaic array for realizing above-mentioned photovoltaic array straddle cleaning method Straddle cleaning device, this device is used for realizing said method, and the cleaning enabling to photovoltaic panel is easier, and realizes certainly Dynamicization is cleaned.
To achieve these goals, the present invention provides following technical scheme:
A kind of photovoltaic array straddle cleaning method is it is adaptable to have carrier, cleaning machine, shifter and control system on plate Cleaning device, the method includes:
S1:Described control system controls described carrier adjustment attitude to be connected with cleaning machine on described plate, and controls described Carrier drives cleaning machine on described plate to leave photovoltaic panel;
S2:Described control system controls described shifter to drive carrier motion, and moves to target in described shifter During the region of photovoltaic panel, described shifter is controlled to take corresponding actions;
S3:Described control system adjusts the relative position of described carrier and described target photovoltaic panel, and removes described in controlling Cleaning machine on described plate is placed in described target photovoltaic panel fortune device;
S4:Described control system controls cleaning machine on described plate to move cleaning in described target photovoltaic panel.
Preferably, method also includes:
When comprising cleaning machine on a described plate, on the described control system described plate of control, cleaning machine is in described target light When moving cleaning on volt plate, the described control system described shifter of control is followed cleaning machine on described plate and is moved, when After the completion of cleaning, described control system controls cleaning machine on described shifter and described plate to take corresponding actions, and returns execution Described S1;
When comprising cleaning machine on multiple described plates, when described control system controls cleaning machine startup on described plate, described Control system controls described carrier to release with cleaning machine on described plate to be connected, the described control system described shifter of control to times On the one described plate completing corresponding described target photovoltaic panel cleaning, cleaning machine moves, or controls described shifter to initial bit Put movement, and return the described S1 of execution.
Preferably, described S1 includes:
Described control system controls described carrier to obtain the positional information of cleaning machine on described plate, and described position is believed Breath sends to described control system;
Described control system is calculated based on described positional information, obtains described carrier and carries cleaning machine on described plate Carrying information;
Described control system is based on described carrying information and controls described carrier to adjust attitude, and with cleaning machine on described plate Connect;
Described control system controls the grasping manipulation to cleaning machine on described plate for the described carrier startup, makes described plate supernatant Washing machine leaves photovoltaic panel.
Preferably, described S2 includes:
When described control system controls described shifter to drive described carrier motion, described control system obtain with described The range information to bit flag of target photovoltaic panel;
When described range information is less than or equal to predeterminable range information, described control system controls described shifter adjustment With the position relationship at described edge, when described position relationship meets predeterminated position relation, described shifter takes corresponding actions.
Preferably, described S3 includes:
S31:Described control system controls described carrier to obtain the positional information of described target photovoltaic panel, described control system System controls described carrier to adjust the appearance of cleaning machine on the plate that carrier captures according to the positional information of described target photovoltaic panel After the attitude of cleaning machine in state or the described plate of adjustment, described control system controls described carrier to place cleaning machine on described plate In described target photovoltaic panel;
S32:Described control system detects on described plate, whether cleaning machine is put in place with the position relationship of described target photovoltaic panel; If it has, then continuing executing with S4, if it has not, then returning execution S31.
Preferably, described S4 includes:
While on the described control system described plate of control, cleaning machine moves cleaning in described target photovoltaic panel, institute State control system and detect the distance to bit flag away from described target photovoltaic panel for the cleaning machine on described plate, when described distance is detected During less than or equal to default minimum range, described control system sends, to described shifter, the signal that cleaning completes.
A kind of photovoltaic array straddle cleaning device, including:
For cleaning machine on the plate of the described photovoltaic panel of mobile cleaning in photovoltaic panel;
For driving carrier motion and the mobile shifter taking corresponding actions to target photovoltaic panel region;
It is connected with cleaning machine on described plate for adjusting attitude, drive cleaning machine on described plate to leave photovoltaic panel will be described On plate, cleaning machine is placed on the carrier in described target photovoltaic panel;
It is connected with cleaning machine, described shifter and described carrier on described plate respectively, for controlling and detecting described plate Upper cleaning machine, described shifter and described carrier carry out the control system of respective operations.
Preferably, described control system includes:
Control system body, for entering row operation and control to cleaning machine on described carrier, described plate and described shifter System, described control system body controls cleaning machine and described shifter on the described carrier of connection, described plate;
For the position-detection sensor of detection object position, described position-detection sensor is arranged at described carrier On, and be connected with described control system body;
And/or for obtaining the range sensor to bit flag with described target photovoltaic panel, described sensor is arranged at On described shifter or described carrier, and it is connected with described control system body;
And/or for sensing the sensors in place whether cleaning machine on described plate is placed in described target photovoltaic panel, institute State sensors in place to be arranged on cleaning machine on described plate, and be connected with described control system body;
And/or for cleaning machine and institute when on described plate, cleaning machine cleans described target photovoltaic panel, on the described plate of detection State the distance measuring sensor to bit flag of target photovoltaic panel, described cleaning sensor is arranged on cleaning machine on described plate, and with Described control system body connects.
Preferably, on described plate, cleaning machine includes on plate cleaning machine main body and is arranged in cleaning machine main body on described plate Cleaning device on plate, on described plate, cleaning machine material includes brush roll and/or hydraulic nozzle and/or scraper plate scraping article and/or dust suction Device;
And/or described carrier includes mechanical arm or has multivariant mechanical arm;
And/or the navigation system that described shifter includes moving parts and is arranged on described moving parts, described navigation System includes GPS navigation device, laser navigation device, two-dimensional code scanning omniselector or magnetic stripe omniselector.
Preferably, described shifter controls cleaning machine on plate described in connection at least two;Or described control system connect to Few two described shifters, shifter cross-over control described at least two connects cleaning machine on multiple described plates.
In photovoltaic array straddle cleaning method provided by the present invention, by cleaning machine, carrier, three work(of shifter on plate The mobile cleaning to photovoltaic panel can be completed by device, by control system, the operation of above three device execution is controlled it is achieved that Cleaning operation to photovoltaic panel, and achieve the movement between different photovoltaic panel of cleaning machine on plate and conversion.Intelligence is controlled The photovoltaic array straddle cleaning method of system, can greatly reduce the complexity that pilot steering class cleaning equipment cleans photovoltaic panel, Cleaning efficiency can be lifted, and extend the service life of photovoltaic panel.It is carried out using said apparatus, compared with prior art Cleaning equipment for, cost input is relatively low, and can extend the use time of cleaning equipment, to the generating efficiency of photovoltaic panel and The lifting aspect of utilization rate is respectively provided with higher contribution.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis The accompanying drawing providing obtains other accompanying drawings.
Fig. 1 is the flow chart of photovoltaic array straddle cleaning method provided by the present invention;
Fig. 2 is the schematic diagram of photovoltaic array straddle cleaning device specific embodiment one provided by the present invention;
Fig. 3 is the schematic diagram of photovoltaic array straddle cleaning device specific embodiment two provided by the present invention;
Fig. 4 is the schematic diagram of photovoltaic array straddle cleaning device specific embodiment three provided by the present invention;
Fig. 5 is the schematic diagram of photovoltaic array straddle cleaning device specific embodiment four provided by the present invention.
In figure 1 above -5:
1 is cleaning machine on plate, 2 is carrier, 3 is shifter, 4 is photovoltaic panel.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work Embodiment, broadly falls into the scope of protection of the invention.
The core of the present invention is to provide a kind of photovoltaic array straddle cleaning method, and the method can make the clear of photovoltaic array plate Wash easier, efficient, and intellectualized operation is more rationally and stable.
Another core of the present invention is to provide a kind of photovoltaic array for realizing above-mentioned photovoltaic array straddle cleaning method Straddle cleaning device, this device is used for realizing said method, and the cleaning enabling to photovoltaic panel is easier, and realizes certainly Dynamicization is cleaned.
Refer to Fig. 1 to Fig. 5, Fig. 1 is the flow chart of photovoltaic array straddle cleaning method provided by the present invention;Fig. 2 is extremely Fig. 5 is respectively photovoltaic array straddle cleaning device specific embodiment one provided by the present invention to the signal of specific embodiment four Figure.
A kind of photovoltaic array straddle cleaning method provided by the present invention, is mainly used between photovoltaic panel string and photovoltaic panel Carry out the cleaning of photovoltaic panel between row, be primarily adapted for use in have carrier, on plate cleaning machine, shifter and control system cleaning Device, the method specifically includes following steps:
Step S1:Control system controls carrier adjustment attitude to be connected with cleaning machine on plate, and controls carrier to drive plate Upper cleaning machine leaves photovoltaic panel.
Step S2:Control system controls shifter to drive carrier motion, and moves to target photovoltaic panel in shifter During region, shifter is controlled to take corresponding actions.
Step S3:Control system adjusts the relative position of carrier and target photovoltaic panel, and controls carrier by plate supernatant Washing machine is placed in target photovoltaic panel.
Step S4:On control system control panel, cleaning machine moves cleaning in target photovoltaic panel.
It should be noted that carrier adjusts the connection that attitude is used for adaptation and cleaning machine on plate, plate in above-mentioned steps S1 Upper cleaning machine is generally arranged at initial position, and initial position is typically located in photovoltaic panel, and carrier cleans on connecting plate Before machine, need the connection attitude of adjustment and cleaning machine on plate, can be picked up to cleaning machine on plate.Carrier and plate The connection of upper cleaning machine can be understood as carrier and carried out rigid or flexible connection, so that carrier with cleaning machine on plate Moved by cleaning machine on itself mobile drive plate.So that carrier is as mechanical arm as a example, the connection of cleaning machine on carrier and plate It is the control to cleaning machine on plate for the mechanical arm:The pickup of cleaning machine, gripping, absorption, support on plate are carried, lift etc..Control system System controls carrier to drive cleaning machine on plate to leave photovoltaic panel, refers to carrier and moves under control of the control system, To drive cleaning machine on plate to leave initial position or the photovoltaic panel leaving place.In step sl, do not limit carrier to drive On plate, cleaning machine moves to where, and when actually used, usually cleaning machine on plate is picked up or moved away so that on plate by carrier Cleaning machine is departed from original position.Above-mentioned carrier can be the clamping tooling with mechanical arm, or is used for control panel for other The frock of upper cleaning machine movement.This step completes the pickup to cleaning machine on plate for the carrier, so that carrier in subsequent operation Drive the movement of cleaning machine on plate.
In above-mentioned steps S2, control system is the main body of execution operation, and control system controls shifter to move, due to carrying Device is connected with shifter, so the mobile drive carrier of shifter moves.This moving process is constantly to target photovoltaic panel Region is carried out.When shifter moves to target photovoltaic panel region, control system controls shifter to take corresponding actions.One In more reliable embodiment, control system sends move to shifter, and move can comprise target photovoltaic panel area The positional information in domain, shifter can be moved to target photovoltaic panel region by built-in navigator.Optionally, above-mentioned take Corresponding actions can be for stopping moving.
In above-mentioned steps S3, control system is the main body of execution operation, and control system adjusts the position of carrier, to adjust The relative position of whole carrier and target photovoltaic panel, because carrier and cleaning machine on plate are connection status, adjust carrier with The relative position of target photovoltaic panel, can be with the relative position of cleaning machine in adjustment plate and target photovoltaic panel so that cleaning machine on plate It is more convenient for the relative position of target photovoltaic panel the placement of cleaning machine on plate.Control system controls carrier to put cleaning machine on plate Put in target photovoltaic panel, refer to cleaning machine on plate is placed in target photovoltaic panel, and on plate, cleaning machine passes through self-adjusting The movement that will start that can reach of mode and the ready position cleaned.
In above-mentioned steps S4, control system is the main body of execution operation, and on control system control panel, cleaning machine starts, on plate Cleaning machine is the device that can move in photovoltaic panel and photovoltaic panel is carried out, so after starting, cleaning machine meeting on plate Cleaning is moved on photovoltaic panel.
In photovoltaic array straddle cleaning method provided by the present invention, by cleaning machine, carrier, three work(of shifter on plate The mobile cleaning to photovoltaic panel can be completed by device, by control system, the operation of above three device execution is controlled it is achieved that Cleaning operation to photovoltaic panel, and achieve the movement between different photovoltaic panel of cleaning machine on plate and conversion.Intelligence is controlled The photovoltaic array straddle cleaning method of system, greatly reduces the complexity that pilot steering class cleaning equipment cleans photovoltaic panel, permissible Lifting cleaning efficiency, and extend the service life of photovoltaic panel.It is carried out using said apparatus, clear compared with of the prior art For clean equipment, cost input is relatively low, and can extend the use time of cleaning equipment, the generating efficiency to photovoltaic panel and utilization The lifting aspect of rate is respectively provided with higher contribution.
On the basis of above-described embodiment, in step S4, on control system control panel, cleaning machine is in target photovoltaic The step that cleaning is moved on plate, further comprising the steps of in the scheme that the present embodiment is provided:
When comprising cleaning machine on a plate, on control system control panel, cleaning machine moves clearly in target photovoltaic panel When washing, control system control shifter is followed cleaning machine on plate and is moved, and after the completion of cleaning, control system controls shifter Take corresponding actions with cleaning machine on plate, and return execution S1.Optionally, above-mentioned take corresponding actions can for stop move.
When comprising cleaning machine on multiple plates, when on control system control panel, cleaning machine starts, control system controls carrying Device is released with cleaning machine on plate and is connected, and control system controls shifter on arbitrary plate completing corresponding target photovoltaic panel cleaning Cleaning machine moves, or controls shifter to move to initial position, and returns execution S1.
It should be noted that the number comprising cleaning machine on plate represent be shifter and the cooperation of cleaning machine on plate is closed System, what above-mentioned two situations were described separately is shifter with cleaning machine on plate be 1 to 1 and 1 to many situations.
In the case of 1 pair 1, control system control shifter is followed cleaning machine on plate and is moved, and shifter can pass through The translational speed of cleaning machine feedback and itself speed to position detection itself movement of adjustment of cleaning machine on plate on plate, and Itself speed and the speed of cleaning machine on plate are matched.And when 1 in the case of many, shifter will not be followed by plate supernatant The movement of washing machine, in the cleaning process of cleaning machine on plate, shifter can carry out changing plate behaviour being combined with cleaning machine on other plates Make, or return to initial position to await orders, wait the plate that changes to be received to instruct.
On the basis of any one embodiment above-mentioned, above-mentioned steps S1 can specifically include:
Control system controls carrier to obtain the positional information of cleaning machine on plate, and positional information is sent to control system System.
Control system is calculated based on positional information, obtains the carrying information of cleaning machine on carrier plate for carrying.
Control system is based on carrying information and controls carrier adjustment attitude to be connected with cleaning machine on plate.
Control system controls the grasping manipulation to cleaning machine on plate for the carrier startup, makes cleaning machine on plate leave photovoltaic panel.
It should be noted that the positional information of cleaning machine is cleaning machine on plate on the plate that in above-mentioned steps, carrier obtains Position.Control system is calculated mainly to the position of cleaning machine on carrier arrival suitable crawl plate based on what position was carried out Calculate, therefore carrying information is the result arriving calculating.
It should be noted that in the present invention all for obtaining position, obtaining positional information, obtain relative position relation Operation all can be completed by devices such as sensor, monitors, and these devices belong to control system, can with control system originally Body carries out the interaction of data and the transmission of control operation.Due to handling characteristics and the needs of sensor, monitor etc., need it It is arranged on corresponding part, for example correspondence is arranged on cleaning machine on carrier or plate, but they should be still control system A part in structure.
Specifically, in a specific embodiment, in said process, carrier is detected on photovoltaic panel upper plate by sensor The position of cleaning machine, and the position according to cleaning machine on plate, calculate through control system built-in system, the attitude of adjustment carrier Matching.After matching, cleaning machine on carrier or plate there is corresponding sensor feedback put in place signal, if received Less than the signal that puts in place, carrier continues to detection, adjustment attitude, up to adjusting to receiving the signal that puts in place.
Optionally, also in a kind of adjustment mode, use control system and control the attitude of carrier and place on plate The photovoltaic panel attitude of cleaning machine matches.Above-mentioned control system controls the grasping manipulation to cleaning machine on plate for the carrier startup, State macroscopically is that on plate, cleaning machine have left former photovoltaic panel under the drive of carrier or have left former set location, this Separate mode can be that carrier realizes the change of cleaning machine locus on plate by mechanical systems such as absorption, crawl, clampings. It is of course also possible to be that carrier exists as the structure that bridge type acts on, on plate, cleaning machine actively moves on carrier, in sky Between allow in the case of, it is possible to use air-bridge or track that carrier is set up, on plate, cleaning machine is done directly adjacent photovoltaic Leap between plate string.If not, on plate, cleaning machine stays on carrier, using carrier as a similar ferryboat in space The platform of the same middle transition property.After carrier is adjusted in place, the sensor on carrier is also fed back to a signal, this Plant adjustment mode and mainly tackle and work as using bridge type, rail mounted or ferryboat formula carrier, specifically refer to Fig. 5.
On the basis of any one embodiment above-mentioned, above-mentioned steps S2 can specifically include:
When control system controls shifter to drive carrier motion, control system obtains with target photovoltaic panel to bit flag Range information.When range information be less than or equal to predeterminable range information when, control system control shifter slow down and adjust with To the position relationship of bit flag, when position relationship meets predeterminated position relation, shifter takes corresponding actions.Optionally, on State and take corresponding actions mobile etc. for stopping.
It should be noted that it is exactly to control shifter to target position that control system controls shifter to drive carrier motion Put, target photovoltaic panel moves.
Specifically, after on plate, cleaning machine is in place on the carrier, control system receives the feedback that puts in place of sensor, controls System controls shifter to start to move, the navigation system offer within shifter of the direction of movement.It should be noted that it is mobile Navigation system within device logically can be understood as a part for control system it is understood that being make shifter one Point that is to say, that the movement of shifter can be control system control obtain it is also possible to be completed by its own.
In the moving process of shifter, the sensor on carrier check that the mark that puts in place of next photovoltaic panel string Will, once detect this arrive bit flag, shifter reduce speed now and adjust itself with respect to this arrive bit flag position relationship, During this, the sensor on carrier is feeding back the position relationship of shifter and photovoltaic panel to bit flag, Zhi Daoyi always Dynamic device is adjusted to the position of default, and takes corresponding actions.Certainly, the sensor of this detection object position can also be pacified It is contained on shifter, do not affect the realization of cleaning machine transfer on whole cleaning and plate, differ only in internal system meter Referential during calculation is different.It should be noted that the sensor etc. is required to be connected with control system body, by sense Positional information etc. is sent to control system.Optionally, above-mentioned take corresponding actions mobile etc. for stopping.
On the basis of any one embodiment above-mentioned, above-mentioned steps S3 can specifically include:
Step S31:Control system controls carrier to obtain the positional information of target photovoltaic panel, and control system controls carrier Adjust after the attitude of itself or the attitude of cleaning machine in adjustment plate according to the positional information of target photovoltaic panel, control system controls removes Cleaning machine on plate is placed in target photovoltaic panel fortune device.
Step S32:In control system detection plate, whether cleaning machine and the position relationship of target photovoltaic panel put in place;If it is, Then continue executing with next step, if it has not, then returning execution S31.
It should be noted that in above-mentioned steps S2 shifter put in place stopping after, control system control carrier detection target Photovoltaic Board position, and cleaning machine attitude in adjustment plate, cleaning machine on plate is placed in target photovoltaic panel.Removing in previous step After on fortune device drive plate, cleaning machine leaves photovoltaic panel, carrier is indeclinable, locking with respect to the attitude of shifter, if Ground does not have topography variation, and photovoltaic board component is not changed in, then on plate cleaning machine with respect to target photovoltaic panel position with front In sequence step should when be not changed in.So, on plate, cleaning machine can be placed directly in target photovoltaic panel, but in order to avoid Error or the generation of special circumstances, are provided with the operation of reply special circumstances, i.e. step S31 in the above-mentioned methods, plate clean The attitude of machine is now associated with carrier, after adjustment finishes, then continues executing with next step, or is put in place letter by sensor feedback Number.
Optionally, if the branch mode of cleaning machine is different on plate, such as shifted by the carrier of bridge type, then gone up State in step adjustment should be that the attitude of carrier is mated with photovoltaic panel, and after similarly matched success, sensor feedback puts in place letter Number.
The detection that puts in place in step S31 completes, and determines that, after putting in place, on plate, cleaning machine is controlled by carrier and placed.Step Sensor on cleaning machine on plate in S32 carries out the detection that puts in place, feeds back signal after confirming to put in place, otherwise continues pose adjustment, directly To the signal that puts in place receiving cleaning machine on plate.
On the basis of any one embodiment above-mentioned, step S4 can specifically include:Control system control panel supernatant While washing machine moves cleaning in target photovoltaic panel, cleaning machine putting in place away from target photovoltaic panel in control system detection plate The distance of mark, when distance is detected less than or equal to default minimum range, control system sends cleaning to shifter and completes Signal.
Specifically, after cleaning machine puts in place, sensor feedback puts in place signal, and carrier releases and plate supernatant after receiving this signal Being rigidly connected between washing machine.Releasing finishes rear carrier and feeds back signal to cleaning machine and shifter on plate, on plate cleaning machine and Shifter receives this signal, each self-starting.On plate, cleaning machine starts cleaning procedure, and starts to move in photovoltaic plate face;Same Time shifter starts to move, and keeps the position of cleaning machine on plate is followed the tracks of and speed tracing.Both data has accordingly Sensor collection feeds back to control system.In moving process afterwards, the speed to cleaning machine on plate and shifter and position Detection carry out always, and the system that feeds back to does real-time adjustment.
In addition, also having the Mark Detection that puts in place to photovoltaic panel to be also as the same stepping of movement of cleaning machine on shifter and plate In row.Detect photovoltaic panel to after bit flag, on shifter and plate cleaning machine stop, optionally, can opening next time Change plate cleaning method.
1 couple 1 and 1 about cleaning machine on shifter and plate is described as follows to many:The mode feature of " 1 to many " is One shifter services many platens supernatant washing machine, assists the plate that changes of cleaning machine on these plates to operate.The quantity of N is subject to shifter, plate The translational speed of upper cleaning machine, photovoltaic panel string length affects.,
" 1 to many " patterns are otherwise varied with " 1 to 1 " pattern:Shifter is completely separated with cleaning machine on plate, is disconnected all Mechanical connection.After the completion of sensor feedback carrier disengagement action, on plate, cleaning machine starts, and starts cleaning and along photovoltaic panel plate Face, Autonomy ground is mobile.In moving process, the sensor on cleaning machine on plate is always maintained at arriving bit flag to photovoltaic panel Detection, until cleaning moves to photovoltaic panel string cleaning task end position, sensor detects this position, then cleaning machine on plate Take corresponding actions, now on plate, cleaning machine passes through wireless telecommunications, send to shifter and change plate house-keeping instruction, calling shifter to Oneself is drawn close.It should be noted that the control main body of above-mentioned control process is control system.Optionally, above-mentioned take corresponding Action can be mobile etc. for stopping.
The photovoltaic array straddle cleaning method being provided except above-described embodiment, the present invention also provides one kind for realizing State the photovoltaic array straddle cleaning device of photovoltaic array straddle cleaning method.This device includes:
For cleaning machine 1 on the plate of cleaning photovoltaic panel 4 mobile in photovoltaic panel 4;
For driving carrier 2 to move and moving the shifter 3 taking corresponding actions to target photovoltaic panel 4 region;
It is connected with cleaning machine on plate 1 for adjusting attitude, drive cleaning machine 1 on plate to leave photovoltaic panel and by cleaning machine on plate 1 is placed on the carrier 2 in target photovoltaic panel 4;
It is connected with cleaning machine on plate 1, shifter 3 and carrier 2 respectively, for cleaning machine 1, movement on detection and control panel Device 3 and carrier 2 carry out the control system of respective operations.
It should be noted that the feature of cleaning machine 1 is one and can move on photovoltaic panel 4 surface on plate in the present invention, The device in the process of movement, photovoltaic panel 4 face being carried out.On plate, the architectural feature of cleaning machine 1 is with wiper mechanism and shifting Motivation structure, and for detecting photovoltaic panel 4 to the sensor of bit flag.The feature of carrier 2 is one and cleans on transfer blade There is being directly connected to mechanically during machine 1 with cleaning machine on plate 1, this connection can be flexible can also be rigid;This Individual connection can be always maintained at the device it is also possible to release after the completion of the operation of cleaning machine 1 on transfer blade.This device is also equipped with Sensor for cleaning machine in detection plate 1 and other setting positions.The feature of shifter 3 is that itself possess actively to move energy Power, and there is direct connection relational mechanically with carrier 2, and this be connected in whole photovoltaic panel 4 cleaning process all Do not release.Onboard cleaning machine 1 is crossed over adjacent photovoltaic plate 4 and is gone here and there or during photovoltaic panel 4 row, necessarily in the carrying/lead of shifter 3 Complete under the assistance operation such as drawing/carry.This device carries navigation system and other determine the sensor of a situation.
It should be noted that onboard cleaning machine 1 and the relation of shifter 3 are in man-to-man embodiment, plate cleans Machine 1 is can be in the cleaning device of photovoltaic surface movement, and carrier 2 and shifter 3 are followed cleaning machine 1 on plate and moved in its vicinity Dynamic, there is wired connection between cleaning machine 1 and carrier 2, shifter 3 in plate, this connection both can be flexible it is also possible to It is rigid.Cleaning machine 1 on 3 service one platens of one shifter.Onboard cleaning machine 1 and the relation of shifter 3 are multipair In one embodiment, on plate cleaning machine 1 in photovoltaic panel 4 face autonomous, on plate cleaning machine 1 and carrier 2 and shifter 3 it Between connectionless.One shifter 3 can service cleaning machine 1 on several platens.
Optionally, on plate, the connection between cleaning machine 1 and shifter 3 can have following multiple situation:
Refer to Fig. 2, the plate in Fig. 2 has mechanical connection between cleaning machine 1 and shifter 3, this attachment means is exactly Carrier 2, can be flexible or rigidity.Shifter 3 can be the Mobile Equipment in ground running.
Refer to Fig. 3, the plate in Fig. 3 has mechanical connection between cleaning machine 1 and shifter 3, this attachment means is exactly Carrier 2, can be flexible or rigidity.Shifter 3 is the flight equipment flying in the air.
Refer to Fig. 4, the plate in Fig. 4 has mechanical connection between cleaning machine 1 and shifter 3, this attachment means is exactly Carrier 2, can be flexible or rigidity.Shifter 3 flies in the air, and shifter 3 is configured with ground Face auxiliary device for moving.
Refer to Fig. 5, the plate in Fig. 5 is not mechanically connected between cleaning machine 1 and shifter 3, carrier 2 can be soft Property or rigidity, similar bridge, the form of track.Shifter 3 is the Mobile Equipment in ground running.
The using method of photovoltaic array straddle cleaning device provided by the present invention may refer to above-mentioned photovoltaic array straddle Cleaning method.
On the basis of above-described embodiment, control system includes:
Control system body;
For the position-detection sensor of detection object position, position-detection sensor is arranged on carrier 2, and with control System ontology processed connects;
And/or for obtaining and the range sensor of target photovoltaic panel 4 Edge Distance, sensor be arranged at shifter 3 or On carrier 2, and it is connected with control system body;
And/or it is used for the sensors in place that on tablet, whether cleaning machine 1 is placed in target photovoltaic panel 4, put in place sensing Device is arranged on cleaning machine 1 on plate, and is connected with control system body;
And/or for cleaning machine 1 and target photovoltaic panel 4 when on plate, cleaning machine 1 cleans target photovoltaic panel 4, in detection plate The distance to bit flag cleaning sensor, cleaning sensor is arranged on cleaning machine 1 on plate, and with control system body even Connect.
The occupation mode of each sensor above-mentioned and signal transmission mode may refer in specification for photovoltaic array across The introduction of plate cleaning method.
On the basis of any one embodiment above-mentioned, on plate, cleaning machine 1 includes on plate cleaning machine main body and is arranged at Cleaning device on plate in cleaning machine main body on plate, on plate, cleaning device includes brush roll and/or hydraulic nozzle and/or scraper plate is scraped Bar and/or dust catcher.Can be cleaning device on any one plate above-mentioned, or in above-mentioned any two or multiple plate The combination of cleaning device.
Optionally, the species of carrier 2 can have multiple choices, can for mechanical arm or have multivariant mechanical arm, Linkage, using mechanical arm as carrier 2 so that the handling process of cleaning machine 1 is more convenient on plate, controls more various Change.
Optionally, shifter 3 includes multiple module such as moving parts, drive system, navigation system, feed system composition Mobile device, wherein navigation system include GPS navigation device, laser navigation device, two-dimensional code scanning omniselector or magnetic stripe omniselector.Can Choosing, shifter 3 can be any one omniselector above-mentioned, or the combination for several omniselectors above-mentioned.
The invention provides with regard to the corresponded manner of cleaning machine on shifter and plate, including 1 to 1 and 1 to many, the present embodiment Middle will provide corresponding 1 to many devices.In a specific embodiment provided by the present invention, based on any one enforcement above-mentioned Example, shifter 3 can control cleaning machine 1 on connection at least two plates.That is, connecting at least two when being controlled by shifter 3 On individual plate during cleaning machine, as 1 to many control.It should be noted that above-mentioned control connect refer to shifter selectable, Can break-make at least two plates cleaning machine control connect.For cleaning machine on the plate not currently being controlled, mobile Device needs to disconnect with it.
Or, 1 to many bases on, can also carry out multi-to-multi control system connect at least two shifters 3, At least two shifter 3 cross-over control connects cleaning machine 1 on multiple plates.
For 1, many occupation modes be may refer to above-mentioned photovoltaic array straddle cleaning method, further, control system Connect at least two shifters 3, the set-up mode that at least two shifter 3 cross-over control connects cleaning machine on multiple plates makes to be directed to N to the control mode of N, can be derived by the mode of 1 couple of N by this control mode.
It should be noted that control system provided by the present invention includes the control system body as control axis and use In the sensing device being arranged on functional part.What control system connected two shifter 3 explanations is control system and shifter 3 Annexation, is control system body and sensor is all connected with shifter, about the sensor being arranged on functional part Fall within the explanation of control system, refer to above.
Except the major part of the photovoltaic array straddle cleaning device that above-described embodiment is provided, other each several parts being somebody's turn to do Structure refer to prior art, repeats no more herein.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Above photovoltaic array straddle cleaning method provided by the present invention and device are described in detail.Herein should With specific case, the principle of the present invention and embodiment are set forth, the explanation of above example is only intended to help reason The solution method of the present invention and its core concept.It should be pointed out that for those skilled in the art, without departing from On the premise of the principle of the invention, the present invention can also be carried out with some improvement and modify, these improve and modification also falls into this In bright scope of the claims.

Claims (10)

1. a kind of photovoltaic array straddle cleaning method is it is characterised in that be applied to cleaning machine, shifter on carrier, plate With the cleaning device of control system, the method includes:
S1:Described control system controls described carrier adjustment attitude to be connected with cleaning machine on described plate, and controls described carrying Device drives cleaning machine on described plate to leave described photovoltaic panel;
S2:Described control system controls described shifter to drive carrier motion, and moves to target photovoltaic in described shifter During the region of plate, described shifter is controlled to take corresponding actions;
S3:Described control system adjusts the relative position of described carrier and described target photovoltaic panel, and controls described carrier Cleaning machine on described plate is placed in described target photovoltaic panel;
S4:Described control system controls cleaning machine on described plate to move cleaning in described target photovoltaic panel.
2. photovoltaic array straddle cleaning method according to claim 1 is it is characterised in that also include:
When comprising cleaning machine on a described plate, on the described control system described plate of control, cleaning machine is in described target photovoltaic panel On when moving cleaning, described control system controls described shifter to follow cleaning machine on described plate to move, work as cleaning After the completion of, described control system controls cleaning machine on described shifter and described plate to take corresponding actions, and it is described to return execution S1;
When comprising cleaning machine on multiple described plates, when described control system controls cleaning machine startup on described plate, described control System controls described carrier to release with cleaning machine on described plate to be connected, and the described control system described shifter of control is to arbitrary complete Become cleaning machine on the described plate of corresponding described target photovoltaic panel cleaning to move, or control described shifter to move to initial position Dynamic, and return the described S1 of execution.
3. photovoltaic array straddle cleaning method according to claim 1 and 2 is it is characterised in that described S1 includes:
Described control system controls described carrier to obtain the positional information of cleaning machine on described plate, and described positional information is sent out Deliver to described control system;
Described control system is calculated based on described positional information, and on the acquisition described carrier described plate of carrying, cleaning machine removes Fortune information;
Described control system is based on described carrying information and controls described carrier to adjust attitude, and with cleaning machine on described plate even Connect;
Described control system controls the grasping manipulation to cleaning machine on described plate for the described carrier startup, makes cleaning machine on described plate Leave described photovoltaic panel.
4. photovoltaic array straddle cleaning method according to claim 3 is it is characterised in that described S2 includes:
When described control system controls described shifter to drive described carrier motion, described control system obtains and described target The range information to bit flag of photovoltaic panel;
When described range information is less than or equal to predeterminable range information, described control system controls described shifter adjustment and institute State the position relationship at edge, when described position relationship meets predeterminated position relation, described shifter takes corresponding actions.
5. photovoltaic array straddle cleaning method according to claim 4 is it is characterised in that described S3 includes:
S31:Described control system controls described carrier to obtain the positional information of described target photovoltaic panel, described control system control Make described carrier according to the positional information of described target photovoltaic panel adjust on the plate that carrier captures the attitude of cleaning machine or After adjusting the attitude of cleaning machine on described plate, described control system controls described carrier that cleaning machine on described plate is placed on institute State in target photovoltaic panel;
S32:Described control system detects on described plate, whether cleaning machine is put in place with the position relationship of described target photovoltaic panel;If It is then to continue executing with S4, if it has not, then returning execution S31.
6. photovoltaic array straddle cleaning method according to claim 5 is it is characterised in that described S4 includes:
While on the described control system described plate of control, cleaning machine moves cleaning in described target photovoltaic panel, described control The distance to bit flag away from described target photovoltaic panel for the cleaning machine on plate described in system detectio processed, is less than when described distance is detected Or when being equal to default minimum range, described control system sends, to described shifter, the signal that cleaning completes.
7. a kind of photovoltaic array straddle cleaning device is it is characterised in that include:
For cleaning machine on the plate of the described photovoltaic panel of mobile cleaning in photovoltaic panel;
For driving carrier motion and the mobile shifter taking corresponding actions to target photovoltaic panel region;
It is connected with cleaning machine on described plate for adjusting attitude, drive cleaning machine on described plate to leave described photovoltaic panel will be described On plate, cleaning machine is placed on the carrier in described target photovoltaic panel;
It is connected with cleaning machine, described shifter and described carrier on described plate respectively, for controlling and detecting described plate supernatant Washing machine, described shifter and described carrier carry out the control system of respective operations.
8. photovoltaic array straddle cleaning device according to claim 7 is it is characterised in that described control system includes:
Control system body, for entering row operation and control, institute to cleaning machine on described carrier, described plate and described shifter State control system body and control cleaning machine and described shifter on the described carrier of connection, described plate;
For the position-detection sensor of detection object position, described position-detection sensor is arranged on described carrier, and It is connected with described control system body;
And/or for obtaining the range sensor to bit flag with described target photovoltaic panel, described sensor is arranged at described On shifter or described carrier, and it is connected with described control system body;
And/or for sensing the sensors in place whether cleaning machine on described plate is placed in described target photovoltaic panel, described arrive Level sensor is arranged on cleaning machine on described plate, and is connected with described control system body;
And/or for cleaning machine and described mesh when on described plate, cleaning machine cleans described target photovoltaic panel, on the described plate of detection The distance measuring sensor to bit flag of mark photovoltaic panel, described cleaning sensor is arranged on cleaning machine on described plate, and with described Control system body connects.
9. photovoltaic array straddle cleaning device according to claim 8 it is characterised in that on described plate cleaning machine include plate Upper cleaning machine main body and cleaning device on the plate being arranged in cleaning machine main body on described plate, on described plate, cleaning machine material includes brushing Roller and/or hydraulic nozzle and/or scraper plate scraping article and/or dust catcher;
And/or described carrier includes mechanical arm or has multivariant mechanical arm;
And/or the navigation system that described shifter includes moving parts and is arranged on described moving parts, described navigation system Including GPS navigation device, laser navigation device, two-dimensional code scanning omniselector or magnetic stripe omniselector.
10. photovoltaic array straddle cleaning device according to claim 9 is it is characterised in that described shifter controls connection Cleaning machine on plate described at least two;Or described control system connects shifter described at least two, move described at least two Device cross-over control connects cleaning machine on multiple described plates.
CN201611033106.7A 2016-11-17 2016-11-17 Photovoltaic array cross board cleaning method and device CN106411247A (en)

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PCT/CN2017/082195 WO2018090569A1 (en) 2016-11-17 2017-04-27 Method and apparatus for cleaning photovoltaic array cross panel

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