CN106734010B - Photovoltaic power station cleaning method and system - Google Patents
Photovoltaic power station cleaning method and system Download PDFInfo
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- CN106734010B CN106734010B CN201610709735.0A CN201610709735A CN106734010B CN 106734010 B CN106734010 B CN 106734010B CN 201610709735 A CN201610709735 A CN 201610709735A CN 106734010 B CN106734010 B CN 106734010B
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Abstract
The invention relates to a method and a system for cleaning a photovoltaic power station, wherein the photovoltaic power station comprises a ferry vehicle, a cleaning robot and a controller, and the method comprises the steps that the ferry vehicle receives the number of photovoltaic assemblies to be cleaned and the positions of the photovoltaic assemblies to be cleaned; the ferry vehicle conveys the cleaning robot to the position of one of the photovoltaic modules to be cleaned; the controller sends a cleaning instruction to the cleaning robot; after the cleaning robot cleans the photovoltaic module to be cleaned currently, the cleaning robot returns to the ferry vehicle; and the ferry vehicle continuously conveys the cleaning robot to other positions of the photovoltaic assemblies to be cleaned to perform cleaning work until all the photovoltaic assemblies to be cleaned are cleaned. According to the photovoltaic power station cleaning method and system, the number of the cleaning robots is effectively reduced by introducing the ferry vehicle, the ferry vehicle can convey the cleaning robots to the positions of the photovoltaic components to be cleaned, the cleaning efficiency is guaranteed, the investment cost is reduced, and the application is convenient.
Description
Technical Field
The invention relates to the field of operation and maintenance of photovoltaic power stations, in particular to a cleaning method and a cleaning system for a photovoltaic power station.
Background
Photovoltaic power stations have been widely popularized and applied in various countries in the world due to the advantages of renewable and clean energy sources. However, the power generation cost of the existing photovoltaic power station is still higher than that of coal power, and the realization of the evaluation of photovoltaic power generation on-line is the final target of photovoltaic power generation, so that each link in the photovoltaic power generation needs to be optimized to improve the power generation efficiency and reduce the power generation cost. Among these, the cleaning of photovoltaic modules has begun to be popularized and applied in many photovoltaic power stations. According to preliminary measurement and calculation, the efficiency of the whole photovoltaic power generation system can be improved by 3-5% before and after cleaning, the efficiency of the existing photovoltaic power generation system is about 80%, and therefore the improvement of the power generation benefit brought by cleaning is still considerable.
At present, cleaning work mainly comprises a manual cleaning mode and a machine cleaning mode, the manual cleaning mode is low in efficiency, cleaning robots are high in cleaning speed, but due to the fact that one cleaning robot needs to be placed in each row of arrays, investment cost is high, input-output ratio is low, and operation and maintenance cost and efficiency of the two modes are obviously not ideal.
Disclosure of Invention
Based on this, it is necessary to provide a cleaning method and system for a photovoltaic power station, which can ensure the cleaning efficiency and reduce the investment cost.
A method of cleaning a photovoltaic power plant, the photovoltaic power plant including a ferry vehicle, a cleaning robot, and a controller, the method comprising:
the ferry vehicle receives the number of the photovoltaic assemblies to be cleaned and the positions of the photovoltaic assemblies to be cleaned;
the ferry vehicle conveys the cleaning robot to the position of one of the photovoltaic modules to be cleaned;
the controller sends a cleaning instruction to the cleaning robot;
after the cleaning robot cleans the photovoltaic module to be cleaned currently, the cleaning robot returns to the ferry vehicle;
and the ferry vehicle continuously conveys the cleaning robot to other positions of the photovoltaic assemblies to be cleaned to execute cleaning work until all the photovoltaic assemblies to be cleaned are cleaned.
In one embodiment, the step of returning the cleaning robot to the ferry vehicle is specifically as follows:
the ferry vehicle judges whether photovoltaic modules to be cleaned, which are positioned in the same row as the photovoltaic modules to be cleaned currently, exist;
when the photovoltaic module to be cleaned which is positioned in the same row as the photovoltaic module to be cleaned currently exists, the cleaning robot cleans the photovoltaic module to be cleaned which is positioned in the same row as the photovoltaic module to be cleaned currently;
when the cleaning robot finishes cleaning all the photovoltaic assemblies to be cleaned which are positioned in the same row with the photovoltaic assemblies to be cleaned currently, the cleaning robot returns to the ferry vehicle.
In one embodiment, the method further comprises the following steps:
and after the cleaning robot returns to the ferry vehicle, the ferry vehicle charges the cleaning robot.
In one embodiment, the photovoltaic power plant further comprises a polling machine, and the method further comprises:
the controller judges whether the current of each branch of a photovoltaic combiner box of the photovoltaic array is in a normal range;
when the current is not in the normal range, the controller records the position of the photovoltaic module corresponding to the current not in the normal range;
the controller controls the inspection machine to shoot an image of the photovoltaic module corresponding to the current which is not in the normal range;
the controller judges whether the photovoltaic module corresponding to the current which is not in the normal range is to be cleaned or not according to the image; if yes, the controller sends the position of the photovoltaic modules to be cleaned and the number of the photovoltaic modules to be cleaned to the ferry vehicle.
In one embodiment, the step of determining, by the controller, whether the current of each branch of the photovoltaic combiner box of the photovoltaic array is within a normal range specifically includes:
the controller reads the current of each branch of a photovoltaic combiner box of the photovoltaic array;
the controller reads a reference current of each branch of a photovoltaic combiner box of the photovoltaic array;
the controller judges whether the difference value between the current and the corresponding reference current is smaller than a threshold value;
and when the difference value of the current and the corresponding reference current is not less than the threshold value, returning the result that the current is not in the normal range.
In one embodiment, the step of controlling the inspection machine to shoot the image of the photovoltaic module corresponding to the current which is not in the normal range by the controller comprises the following steps:
the controller sends the position of the photovoltaic module corresponding to the current which is not in the normal range to the inspection machine;
and the inspection machine shoots an image of one photovoltaic module corresponding to the current which is not in the normal range, and after the image is transmitted to the controller, the inspection machine continues to shoot an image of the next photovoltaic module corresponding to the current which is not in the normal range until the shooting of all the images of the photovoltaic modules corresponding to the current which is not in the normal range is completed.
In one embodiment, the step of judging, by the controller according to the image, whether the photovoltaic module corresponding to the current not in the normal range is to be cleaned specifically includes:
the controller processes the image and compares the processed image with a pre-stored reference image;
and when the processed image does not accord with the prestored reference image, returning the result to be cleaned of the photovoltaic module corresponding to the current which is not in the normal range.
In one embodiment, the photovoltaic power plant further comprises a garage, and the method further comprises:
when the ferry vehicle is in the garage, the garage charges the ferry vehicle.
In one embodiment, the photovoltaic power plant further comprises a meteorological monitoring device, and the method further comprises:
and when the weather monitoring device judges that the current weather cannot work, the ferry vehicle conveys the cleaning robot to the garage.
In one embodiment, the photovoltaic power plant further comprises a ferry vehicle track;
the step of the ferry vehicle conveying the cleaning robot to one of the positions of the photovoltaic modules to be cleaned specifically comprises the following steps:
the ferry vehicle conveys the cleaning robot along the ferry vehicle track to a position of one of the photovoltaic modules to be cleaned.
A photovoltaic power plant cleaning system, the system comprising a ferry vehicle, a cleaning robot, and a controller,
the controller is used for sending a cleaning instruction to the cleaning robot;
the cleaning robot is used for cleaning the photovoltaic module to be cleaned, and when the cleaning robot finishes cleaning the photovoltaic module to be cleaned currently, the cleaning robot returns to the ferry vehicle;
the ferry vehicle is used for receiving the number of the photovoltaic assemblies to be cleaned and the positions of the photovoltaic assemblies to be cleaned, and then conveying the cleaning robot to the position of one photovoltaic assembly to be cleaned; and after the cleaning robot returns to the ferry vehicle, the cleaning robot is continuously conveyed to the positions of other photovoltaic assemblies to be cleaned to perform cleaning work until all the photovoltaic assemblies to be cleaned are cleaned.
In one embodiment, the ferry vehicle comprises an energy storage device, and the cleaning robot comprises a super capacitor;
and after the cleaning robot returns to the ferry vehicle, the energy storage device charges the super capacitor.
In one of the embodiments, the first and second electrodes are,
the controller is also used for judging whether the current of each branch of the photovoltaic combiner box of the photovoltaic array is in a normal range or not and recording the position of the photovoltaic module corresponding to the current which is not in the normal range;
the system further comprises:
the inspection machine is communicated with the controller and is used for shooting an image of the photovoltaic module corresponding to the current which is not in the normal range and then transmitting the image back to the controller;
the controller is further used for judging whether the photovoltaic assemblies corresponding to the currents which are not in the normal range need to be cleaned or not according to the images, and when the photovoltaic assemblies corresponding to the currents which are not in the normal range need to be cleaned, the controller sends the positions of the photovoltaic assemblies to be cleaned and the number of the photovoltaic assemblies to be cleaned to the ferry vehicle.
In one embodiment, the system further comprises:
the garage is provided with charging device in this garage, charging device is used for right energy memory charges.
In one embodiment, the system further comprises:
the weather monitoring device is used for acquiring the current weather condition;
the ferry vehicle is further used for conveying the cleaning robot to the garage when the weather monitoring device judges that the current weather cannot work.
In one embodiment, the photovoltaic power plant further comprises:
the ferry vehicle track is used for providing places for the traveling of the ferry vehicles.
According to the photovoltaic power station cleaning method and system, the ferry vehicle is introduced, so that the number of cleaning robots is effectively reduced, when the photovoltaic component to be cleaned exists, the ferry vehicle can convey the cleaning robot to the position of the photovoltaic component to be cleaned, the cleaning efficiency is guaranteed, the investment cost is reduced, and the application is convenient.
Drawings
FIG. 1 is a flow diagram of a method for cleaning a photovoltaic power plant in one embodiment;
FIG. 2 is a schematic view of a photovoltaic array in one embodiment;
FIG. 3 is a flow chart illustrating a process for determining a photovoltaic module to be cleaned according to an embodiment;
FIG. 4 is a block diagram of a photovoltaic power plant cleaning system in one embodiment.
Wherein the content of the first and second substances,
100 photovoltaic array
200 photovoltaic combiner box
300 controller
400 patrol inspection machine
500 wireless communication system
600 cleaning robot
610 super capacitor
700 ferry vehicle
710 energy storage device
800 garage
810 charging device
900 Wireless charging
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Before describing in detail embodiments that are in accordance with the present invention, it should be observed that the embodiments reside primarily in combinations of system components and method steps related to a photovoltaic power plant cleaning method and system. Accordingly, the system components and method steps have been represented where appropriate by conventional symbols in the drawings, showing only those details that are pertinent to understanding the embodiments of the present invention so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.
In this document, relational terms such as left and right, top and bottom, front and back, first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus.
Referring to fig. 1, fig. 1 is a flow chart illustrating a cleaning method for a photovoltaic power plant according to an embodiment. In this embodiment, the photovoltaic power plant includes a ferry vehicle 700, a cleaning robot 600 disposed on the ferry vehicle 700, and a controller 300, and the method may include:
s102: the ferry vehicle 700 receives the number of photovoltaic modules to be cleaned and the location of the photovoltaic modules to be cleaned.
For example, the ferry vehicle 700 may receive a plurality of photovoltaic modules to be cleaned at a time, for example, 2, 4, 5, 6, etc., and the data received by the ferry vehicle 700 includes not only the number of the photovoltaic modules to be cleaned but also the position corresponding to each photovoltaic module to be cleaned, so that the ferry vehicle 700 can plan a path according to the positions of the photovoltaic modules to be cleaned and transport the cleaning robot 600 to the corresponding positions. In other embodiments, the ferry vehicle 700 may receive only one photovoltaic module to be cleaned and its corresponding location at a time, such that the ferry vehicle 700 transports the cleaning robot 600 directly to the location. The communication between the controller 300 and the ferry vehicle 700 is typically via a wireless communication system 500, such as WFI, bluetooth, etc.
S104: the ferry vehicle 700 transports the cleaning robot 600 to the location of one of the photovoltaic modules to be cleaned.
In one embodiment, as the photovoltaic power station generally occupies a large area and has a complex terrain, and the distance between each row of photovoltaic modules is relatively wide, generally 8-10 m, a ferry vehicle 700 track can be introduced, so that the operation of the ferry vehicle 700 can be facilitated, for example, the ferry vehicle 700 can convey the cleaning robot 600 to one of the photovoltaic modules to be cleaned along the ferry vehicle 700 track. In addition, each time the cleaning robot 600 is conveyed to the position of the photovoltaic module to be cleaned, the position of the photovoltaic module to be cleaned may be recorded first, thereby avoiding the problem of repeated cleaning.
S106: the controller 300 transmits a cleaning instruction to the cleaning robot 600. In one embodiment, the controller 300 may generally transmit cleaning instructions to the cleaning robot 600 through the wireless communication system 500.
S108: after the cleaning robot 600 finishes cleaning the photovoltaic module to be cleaned at present, the cleaning robot 600 returns to the ferry vehicle 700.
In one embodiment, the cleaning robot 600 may return to the ferry vehicle 700 each time one robot is cleaned and then transport to the next photovoltaic module to be cleaned via the ferry vehicle 700. In another embodiment, when the ferry vehicle 700 plans the path, it is also sufficient to consider the photovoltaic modules to be cleaned, which are located in the same row of the photovoltaic array 100, for example, as shown in fig. 2, fig. 2 is a schematic diagram of the photovoltaic array 100 in an embodiment. In this embodiment, the ferry vehicle 700 may first determine whether there are other photovoltaic modules to be cleaned located in the same row as the photovoltaic module just cleaned, for example, when there are both (x 1, y 1) and (x 1, y 3) to be cleaned, that is, when there are other photovoltaic modules to be cleaned located in the same row as the photovoltaic module currently to be cleaned, the cleaning robot 600 cleans the other photovoltaic modules to be cleaned located in the same row as the photovoltaic module currently to be cleaned; when the cleaning robot 600 finishes cleaning the other photovoltaic modules to be cleaned which are positioned in the same row as the current photovoltaic module to be cleaned, the cleaning robot 600 returns to the ferry vehicle 700.
S110: the ferry vehicle 700 continues to convey the cleaning robot 600 to the position of the photovoltaic module to be cleaned to perform the cleaning work until all the photovoltaic modules to be cleaned are cleaned.
In one embodiment, when the cleaning robot 600 cleans one photovoltaic module to be cleaned each time, the ferry vehicle 700 can record the position of the photovoltaic module and the number of the cleaned photovoltaic modules, so that the ferry vehicle 700 can conveniently judge whether an uncleaned photovoltaic module and the position of the uncleaned photovoltaic module exist in real time, and the problem of repeated cleaning of the cleaning robot 600 can be avoided.
According to the photovoltaic power station cleaning method, the ferry vehicle 700 is introduced, the number of the cleaning robots 600 is effectively reduced, when the photovoltaic components to be cleaned exist, the ferry vehicle 700 can convey the cleaning robots 600 to the positions of the photovoltaic components to be cleaned, the cleaning efficiency is guaranteed, the investment cost is reduced, and the application is convenient.
In practical use, since the amount of power stored in the cleaning robot 600 is limited, the cleaning robot 600 needs to be charged in real time, which may include in one embodiment: when the cleaning robot 600 returns to the ferry vehicle 700, the ferry vehicle 700 charges the cleaning robot 600. The charging may be performed by the wireless charging 900 or may be performed by a contact type charging, and the charging method of the cleaning robot 600 is not limited herein.
In one embodiment, please refer to fig. 3, wherein fig. 3 is a flowchart illustrating a determination process of a photovoltaic device to be cleaned according to an embodiment. In this embodiment, the photovoltaic power station further inspects the machine 400, and the method for determining the photovoltaic module to be cleaned includes:
s302: the controller 300 determines whether the current of each branch of the photovoltaic combiner box 200 of the photovoltaic array 100 is within a normal range.
In this embodiment, the controller 300 may obtain the current of each branch of the photovoltaic combiner box 200 of the photovoltaic array 100 in real time, for example, the photovoltaic combiner box 200 may send the current to the controller 300 in real time, for example, by means of wired communication or wireless communication.
S304: when the current is not within the normal range, the controller 300 records the position of the photovoltaic module corresponding to the current not within the normal range.
In practical applications, since the abnormality of the current of each branch of the photovoltaic combiner box 200 of the photovoltaic array 100 may be caused by dust, or may be caused by other reasons, such as a failure of a photovoltaic module, the position of the photovoltaic module to be cleaned is only roughly determined here, so as to determine whether the inspection machine 400 performs inspection, for example, if there is no branch with abnormal current, the inspection machine 400 is not required to perform inspection, and if there is a branch with abnormal current, the inspection machine 400 only needs to inspect the photovoltaic module corresponding to the branch with abnormal current, rather than inspect the entire photovoltaic array without destination, so as to save time and improve the accuracy of the determination.
S306: the controller 300 controls the inspection machine 400 to capture an image of the photovoltaic module corresponding to the current not in the normal range.
In this embodiment, in particular, a thermal infrared imager and a visible light camera may be mounted on the inspector 400, so that an image of the photovoltaic module is acquired by the visible light camera.
S308: the controller 300 determines whether the photovoltaic module corresponding to the current not in the normal range is to be cleaned according to the image.
In this embodiment, the controller 300 determines whether the photovoltaic module is to be cleaned by processing the image obtained as described above, for example, the controller 300 may determine the dust level of the photovoltaic module in the picture.
S310: when the photovoltaic module corresponding to the current not in the normal range is to be cleaned, the controller 300 transmits the position of the photovoltaic module to be cleaned and the number of the photovoltaic modules to be cleaned to the ferry vehicle 700.
In this embodiment, for example, the controller 300 may send the locations Lj (xj, yj) of the photovoltaic modules to be cleaned to the ferry vehicle 700, where Lj is the location of the photovoltaic modules to be cleaned in the photovoltaic array 100, j is a positive integer, and is the number of photovoltaic modules to be cleaned.
By the above determination method, firstly, the photovoltaic module to be cleaned is roughly positioned by the current of each branch of the photovoltaic combiner box 200, then the position with abnormal current is photographed by the inspection tour machine 400, and the controller 300 can determine whether the abnormal current of each branch of the photovoltaic combiner box 200 is caused by dust or other fault reasons by processing the photograph, so that the position of the photovoltaic module to be cleaned can be accurately obtained.
In one embodiment, the step of determining whether the current of each branch of the photovoltaic combiner box 200 of the photovoltaic array 100 is in the normal range by the controller 300 may specifically include:
the controller 300 reads the current of each leg of the photovoltaic combiner box 200 of the photovoltaic array 100. For example, the controller 300 may collect the current I _ si of each branch of the photovoltaic combiner box 200, where s and I are positive integers, s represents the combiner box, e.g., when s is 1, represents the first combiner box, I represents the branch of the combiner box, e.g., I _23 represents the 3 rd branch of the 2 nd combiner box.
The controller 300 reads the reference current for each leg of the photovoltaic combiner box 200 of the photovoltaic array 100. Specifically, the reference current I _ si of each branch may be preset, and the reference currents I _ si may be different or the same, and in practical applications, the user may set the reference current I _ si by himself according to the illumination radiation.
The controller 300 determines whether the difference between the current and the corresponding reference current is less than a threshold.
When the difference value of the current and the corresponding reference current is not less than the threshold value, the result that the current is not in the normal range is returned.
In this embodiment, the current I _ si of each branch of the photovoltaic combiner box 200 is considered not to be within the normal range when it satisfies the following relationship with the corresponding reference current I _ si:
wherein
For the threshold, the size of the threshold may be set by a user, such as 2 amps, 5 amps, etc.
In one embodiment, the step of controlling the inspection machine 400 to capture the image of the photovoltaic module corresponding to the current not in the normal range by the controller 300 may include: the controller 300 transmits the position of the photovoltaic module corresponding to the current not in the normal range to the inspection machine 400. The inspection machine 400 captures an image of one of the photovoltaic modules corresponding to the current not in the normal range, and after transmitting the image to the controller 300, continues to capture an image of the next photovoltaic module corresponding to the current not in the normal range until all the images of the photovoltaic modules corresponding to the current not in the normal range are captured. In the above embodiment, the inspection machine 400 transmits the pictures in real time, that is, the inspection machine 400 takes one picture and transmits one picture back to the controller 300, and in other embodiments, the inspection machine 400 may also take all pictures at one time and transmit back to the controller 300.
In one embodiment, the step of the controller 300 determining whether the photovoltaic module corresponding to the current not in the normal range is to be cleaned according to the image may include: the controller 300 processes the image and compares the processed image with a pre-stored reference image. The processing of the image by the controller 300 may include image preprocessing, image stitching, and image recognition, among others. For example, image features are extracted by image preprocessing to suppress unnecessary distortion or enhancement to improve image data, and methods of image preprocessing may include processing methods such as gradation conversion of an image, modification of image size, expansion of image density, and image smoothing. The image stitching is adopted because the images possibly shot by the inspection machine 400 are only a part of the photovoltaic module, not a complete image, so that the collected images need to be stitched to obtain the complete image, and the image stitching technology stitches a plurality of images with partial scene overlapping into a large-size seamless panoramic image. The technology mainly works in four aspects: image acquisition, image preprocessing, image registration and image fusion, wherein the image registration is a core technology. The image identification is carried out through the pattern identification, and the characteristics of the image can be provided, so that the image can be compared with a prestored reference image, and whether the photovoltaic module is to be cleaned or not is judged. And when the processed image does not accord with the pre-stored reference image, outputting a result to be cleaned of the photovoltaic module corresponding to the current which is not in the normal range. In addition, two photovoltaic modules to be cleaned may exist in one of the pictures, for example, when the controller 300 determines that the currents corresponding to the adjacent photovoltaic modules at several positions are not in the normal range, the inspection machine 400 may capture images of the adjacent photovoltaic modules at one time, so that the controller may determine whether the adjacent photovoltaic modules are to be cleaned at one time, and if the adjacent photovoltaic modules are to be cleaned, the controller sends the positions and the number of the adjacent photovoltaic modules to the ferry vehicle 700. In one embodiment, if the ferry vehicle 700 receives the position of the photovoltaic module to be cleaned and the number of the photovoltaic modules to be cleaned from the controller 300 while the ferry vehicle 700 is transporting the cleaning robot 600 to perform the cleaning operation, the ferry vehicle 700 integrates the position of the photovoltaic module not currently being cleaned and the number of the photovoltaic modules not currently being cleaned, and plans the path again.
In one embodiment, the photovoltaic power plant further comprises a garage 800, and the method may further comprise: the ferry vehicle 700 is charged while the ferry vehicle 700 is in the garage 800. Therefore, the electric quantity of the ferry vehicle 700 can be ensured to be sufficient, the ferry vehicle 700 can travel for a long distance, and meanwhile, the cleaning robot 600 can be charged with the sufficient electric quantity.
In one embodiment, the photovoltaic power plant further comprises a weather monitoring device, and when the weather monitoring device determines that the current weather cannot work, the ferry vehicle 700 transports the cleaning robot 600 to the garage 800. For example, when severe weather conditions such as rainstorm, hail, strong wind, etc. exist, the ferry vehicle 700 can timely transport the cleaning robot 600 to the garage 800, so as to avoid the life shortening caused by damage to the ferry vehicle 700 and the cleaning robot 600. In addition, the ferry vehicle 700 is also in the garage 800 at this time, and the garage 800 can also charge the ferry vehicle 700.
Referring to fig. 4, fig. 4 is a structural diagram of a photovoltaic power station cleaning system in an embodiment, in which the photovoltaic power station cleaning system may include a ferry vehicle 700, a cleaning robot 600, and a controller 300, and the cleaning robot 600 may be disposed on the ferry vehicle 700. The controller 300 is used to transmit a cleaning command to the cleaning robot 600. The cleaning robot 600 may be used to clean the photovoltaic module to be cleaned and return to the ferry vehicle 700 after the cleaning robot 600 has cleaned the photovoltaic module currently to be cleaned. The ferry vehicle 700 is used for receiving the number of the photovoltaic modules to be cleaned and the positions of the photovoltaic modules to be cleaned, and then conveying the cleaning robot 600 to the position of one photovoltaic module to be cleaned; and after the cleaning robot 600 finishes cleaning one photovoltaic module to be cleaned, continuing to convey the cleaning robot 600 to the positions of other photovoltaic modules to be cleaned to perform cleaning work until all the photovoltaic modules to be cleaned are cleaned.
In one embodiment, the photovoltaic power plant may further include a ferry vehicle track for providing a place for the ferry vehicle 700 to travel. After the cleaning robot 600 finishes cleaning the photovoltaic module to be cleaned, the control mode of returning to the ferry vehicle 700 may be as described above, and is not described herein again.
In this embodiment, since the width between each row of the photovoltaic array 100 is large, the cleaning robot 600 can be conveniently transported to a corresponding position by the ferry vehicle 700, which is convenient and reliable, and low in cost, the ferry vehicle 700 can send a cleaning instruction and a position of a photovoltaic module to be cleaned to the cleaning robot 600 through the wireless communication system 500, so that the cleaning robot 600 can reach a designated location to complete a cleaning action, and the cleaning robot 600 can be prevented from repeatedly cleaning the same position.
In one embodiment, the ferry vehicle 700 includes an energy storage device 710, and the cleaning robot 600 includes a super capacitor 610; after the cleaning robot 600 returns to the ferry vehicle 700, the energy storage device 710 charges the super capacitor 610.
In one embodiment, the system further comprises a patrol machine 400; the controller 300 is in communication with the ferry vehicle 700 and the polling machine 400 is in communication with the controller 300. The controller 300 is further configured to determine whether the current of each branch of the photovoltaic combiner box 200 of the photovoltaic array 100 is within a normal range, and record the position of the photovoltaic module corresponding to the current not within the normal range; the inspection machine 400 is configured to capture an image of the photovoltaic module corresponding to a current not within a normal range, and then transmit the image back to the controller 300; the controller 300 is further configured to determine whether the photovoltaic module corresponding to the current not in the normal range is to be cleaned according to the image, and when the photovoltaic module corresponding to the current not in the normal range is to be cleaned, the controller 300 sends the position of the photovoltaic module to be cleaned and the number of the photovoltaic modules to be cleaned to the ferry vehicle 700. The inspection machine 400 may be an unmanned inspection machine. The control of the polling machine 400 to shoot the image of the photovoltaic module corresponding to the current not in the normal range and the judgment of whether the photovoltaic module corresponding to the current not in the normal range is to be cleaned by the controller 300 according to the image may be as described above, and are not described herein again.
In one embodiment, the system further comprises a garage 800, wherein a charging device 810 is disposed in the garage 800, and the charging device 810 charges the energy storage device 710.
In one embodiment, the system further comprises a weather monitoring device for acquiring current weather conditions; the ferry vehicle 700 is also used to transport the cleaning robot 600 to the garage 800 when the weather monitoring device determines that the current weather is not workable.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. A method of cleaning a photovoltaic power plant, the photovoltaic power plant including a ferry vehicle, a cleaning robot, and a controller, the method comprising:
the ferry vehicle receives the number of the photovoltaic assemblies to be cleaned and the positions of the photovoltaic assemblies to be cleaned;
the ferry vehicle conveys the cleaning robot to the position of one of the photovoltaic modules to be cleaned;
the controller sends a cleaning instruction to the cleaning robot;
after the cleaning robot cleans the photovoltaic module to be cleaned currently, the cleaning robot returns to the ferry vehicle; when the cleaning robot cleans one photovoltaic module to be cleaned each time, the ferry vehicle records the position of the cleaned photovoltaic module and the number of the cleaned photovoltaic modules, and judges whether an uncleaned photovoltaic module exists or not and the position of the uncleaned photovoltaic module in real time;
the ferry vehicle continuously conveys the cleaning robot to other positions of the photovoltaic assemblies to be cleaned to perform cleaning work until all the photovoltaic assemblies to be cleaned are cleaned;
the photovoltaic power station further comprises a patrol inspection machine, and the method further comprises the following steps:
the controller judges whether the current of each branch of a photovoltaic combiner box of the photovoltaic array is in a normal range;
when the current is not in the normal range, the controller records the position of the photovoltaic module corresponding to the current not in the normal range;
the controller controls the inspection machine to shoot an image of the photovoltaic module corresponding to the current which is not in the normal range;
the controller judges whether the photovoltaic module corresponding to the current which is not in the normal range is to be cleaned or not according to the image; if yes, the controller sends the position of the photovoltaic modules to be cleaned and the number of the photovoltaic modules to be cleaned to the ferry vehicle.
2. The photovoltaic power plant cleaning method of claim 1, wherein the step of returning the cleaning robot to the ferry vehicle is specifically:
the ferry vehicle judges whether photovoltaic modules to be cleaned, which are positioned in the same row as the photovoltaic modules to be cleaned currently, exist;
when the photovoltaic module to be cleaned which is positioned in the same row as the photovoltaic module to be cleaned currently exists, the cleaning robot cleans the photovoltaic module to be cleaned which is positioned in the same row as the photovoltaic module to be cleaned currently;
when the cleaning robot finishes cleaning all the photovoltaic assemblies to be cleaned which are positioned in the same row with the photovoltaic assemblies to be cleaned currently, the cleaning robot returns to the ferry vehicle.
3. The photovoltaic power plant cleaning method of claim 2 further comprising:
and after the cleaning robot returns to the ferry vehicle, the ferry vehicle charges the cleaning robot.
4. The method for cleaning the photovoltaic power plant of claim 1 wherein the step of the controller determining whether the current of each branch of the photovoltaic combiner box of the photovoltaic array is within a normal range is specifically:
the controller reads the current of each branch of a photovoltaic combiner box of the photovoltaic array;
the controller reads a reference current of each branch of a photovoltaic combiner box of the photovoltaic array;
the controller judges whether the difference value between the current and the corresponding reference current is smaller than a threshold value;
and when the difference value of the current and the corresponding reference current is not less than the threshold value, returning the result that the current is not in the normal range.
5. The photovoltaic power plant cleaning method as claimed in claim 4, wherein the step of the controller controlling the inspection machine to capture an image of the photovoltaic module corresponding to the current not in the normal range includes:
the controller sends the position of the photovoltaic module corresponding to the current which is not in the normal range to the inspection machine;
and the inspection machine shoots an image of one photovoltaic module corresponding to the current which is not in the normal range, and after the image is transmitted to the controller, the inspection machine continues to shoot an image of the next photovoltaic module corresponding to the current which is not in the normal range until the shooting of all the images of the photovoltaic modules corresponding to the current which is not in the normal range is completed.
6. The method for cleaning the photovoltaic power station as claimed in claim 5, wherein the step of the controller judging whether the photovoltaic module corresponding to the current not in the normal range is to be cleaned according to the image is specifically as follows:
the controller processes the image and compares the processed image with a pre-stored reference image;
and when the processed image does not accord with the prestored reference image, returning the result to be cleaned of the photovoltaic module corresponding to the current which is not in the normal range.
7. The photovoltaic power plant cleaning method of claim 1 wherein the photovoltaic power plant further comprises a garage, the method further comprising:
when the ferry vehicle is in the garage, the garage charges the ferry vehicle.
8. The photovoltaic power plant cleaning method of claim 7 wherein the photovoltaic power plant further comprises a meteorological monitoring device, the method further comprising:
and when the weather monitoring device judges that the current weather cannot work, the ferry vehicle conveys the cleaning robot to the garage.
9. The photovoltaic power plant cleaning method of claim 1 wherein the photovoltaic power plant further comprises ferry vehicle rails;
the step of the ferry vehicle conveying the cleaning robot to one of the positions of the photovoltaic modules to be cleaned specifically comprises the following steps:
the ferry vehicle conveys the cleaning robot along the ferry vehicle track to a position of one of the photovoltaic modules to be cleaned.
10. A photovoltaic power station cleaning system is characterized by comprising a ferry vehicle, a cleaning robot and a controller,
the controller is used for sending a cleaning instruction to the cleaning robot;
the cleaning robot is used for cleaning the photovoltaic module to be cleaned, and when the cleaning robot finishes cleaning the photovoltaic module to be cleaned currently, the cleaning robot returns to the ferry vehicle; when the cleaning robot cleans one photovoltaic module to be cleaned each time, the ferry vehicle records the position of the cleaned photovoltaic module and the number of the cleaned photovoltaic modules, and judges whether an uncleaned photovoltaic module exists or not and the position of the uncleaned photovoltaic module in real time;
the ferry vehicle is used for receiving the number of the photovoltaic assemblies to be cleaned and the positions of the photovoltaic assemblies to be cleaned, and then conveying the cleaning robot to the position of one photovoltaic assembly to be cleaned; after the cleaning robot returns to the ferry vehicle, the cleaning robot is continuously conveyed to the positions of other photovoltaic assemblies to be cleaned to perform cleaning work until all the photovoltaic assemblies to be cleaned are cleaned;
the controller is also used for judging whether the current of each branch of the photovoltaic combiner box of the photovoltaic array is in a normal range or not and recording the position of the photovoltaic module corresponding to the current which is not in the normal range;
the system further comprises:
the inspection machine is communicated with the controller and is used for shooting an image of the photovoltaic module corresponding to the current which is not in the normal range and then transmitting the image back to the controller;
the controller is further used for judging whether the photovoltaic assemblies corresponding to the currents which are not in the normal range need to be cleaned or not according to the images, and when the photovoltaic assemblies corresponding to the currents which are not in the normal range need to be cleaned, the controller sends the positions of the photovoltaic assemblies to be cleaned and the number of the photovoltaic assemblies to be cleaned to the ferry vehicle.
11. The photovoltaic power plant cleaning system of claim 10, wherein the ferry vehicle includes an energy storage device and the cleaning robot includes a super capacitor;
and after the cleaning robot returns to the ferry vehicle, the energy storage device charges the super capacitor.
12. The photovoltaic power plant cleaning system of claim 11, further comprising:
the garage is provided with charging device in this garage, charging device is used for right energy memory charges.
13. The photovoltaic power plant cleaning system of claim 12, further comprising:
the weather monitoring device is used for acquiring the current weather condition;
the ferry vehicle is further used for conveying the cleaning robot to the garage when the weather monitoring device judges that the current weather cannot work.
14. The photovoltaic power plant cleaning system of claim 10, wherein the photovoltaic power plant further comprises:
the ferry vehicle track is used for providing places for the traveling of the ferry vehicles.
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| CN107977010A (en) * | 2017-11-23 | 2018-05-01 | 浙江国自机器人技术有限公司 | A kind of cleaning robot control method applied to photovoltaic array |
| CN107895981B (en) * | 2017-11-23 | 2020-03-31 | 浙江国自机器人技术有限公司 | Online cruising method of cleaning machine applied to photovoltaic array |
| CN107947723B (en) * | 2017-11-23 | 2020-11-03 | 浙江国自机器人技术有限公司 | Cleaning method of photovoltaic cleaning robot |
| CN108259000A (en) * | 2018-03-28 | 2018-07-06 | 武汉协鑫新能源电力设计有限公司 | A kind of full-automatic purging system of photovoltaic module and cleaning method |
| CN109317432A (en) * | 2018-11-12 | 2019-02-12 | 河北工业大学 | Photovoltaic module Intelligent cleaning robot |
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