CN106788206A - The electric quantity managing method and system of a kind of cleaning device of photovoltaic battery panel - Google Patents
The electric quantity managing method and system of a kind of cleaning device of photovoltaic battery panel Download PDFInfo
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- CN106788206A CN106788206A CN201611245352.9A CN201611245352A CN106788206A CN 106788206 A CN106788206 A CN 106788206A CN 201611245352 A CN201611245352 A CN 201611245352A CN 106788206 A CN106788206 A CN 106788206A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 170
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000005611 electricity Effects 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 6
- 230000009931 harmful effect Effects 0.000 abstract description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses the electric quantity managing method and system of a kind of cleaning device of photovoltaic battery panel, the electric quantity managing method includes：Obtain the residual electric quantity of the supplying cell of the cleaning device that clean up task is performed on photovoltaic battery panel；Obtain power threshold；Judge residual electric quantity whether less than or equal to power threshold；If being less than or equal to power threshold, control cleaning device runs to stops, and leaves photovoltaic battery panel.Through the above way, be avoided that cleaning device because electricity shortage cannot normal work and the harmful effect to photovoltaic battery panel and its luminous efficiency caused by staying on photovoltaic battery panel, and then effectively improve the generating efficiency of photovoltaic battery panel.
Description
Technical field
The present invention relates to technical field of new energies, more particularly to a kind of managing electric quantity side of the cleaning device of photovoltaic battery panel
Method and system.
Background technology
With the fast development of new energy technology and its industry, the application of solar energy power generating is more and more extensive, photovoltaic
The luminous efficiency of cell panel is also greatly improved.But because photovoltaic battery panel is installed out of doors, hold on photovoltaic battery panel
Dust and other impurities are easily accumulated, so as to have a strong impact on the generating efficiency of photovoltaic battery panel.
To reduce influence of the dust and other impurities to photovoltaic battery panel generating efficiency, generally transported automatically using cleaning equipment at present
Row is cleaned on photovoltaic energy cell panel to surface of photovoltaic cell panel.In the prior art, cleaning equipment is frequently with battery conduct
The power source of its work, therefore, cleaning equipment may by battery electricity shortage cannot normal work and stay in what is cleaned
On photovoltaic battery panel, effective light-emitting zone of photovoltaic battery panel is blocked, so as to influence the generating of cleaned photovoltaic battery panel to imitate
Rate, and cleaning equipment rests on photovoltaic battery panel or even can cause hot spot effect for a long time, destroys photovoltaic battery panel, Jin Erying
Ring the generating efficiency of photovoltaic battery panel.
The content of the invention
The present invention solves the technical problem of a kind of electric quantity managing method of the cleaning device of photovoltaic battery panel of offer
And system, to solve cleaning device because electricity shortage cannot normal work and influence photovoltaic caused by staying on photovoltaic battery panel
The problem of cell panel generating efficiency.
In order to solve the above technical problems, the present invention provides a kind of electric quantity managing method of the cleaning device of photovoltaic battery panel,
The electric quantity managing method includes：Obtain the residue electricity of the supplying cell of the cleaning device that clean up task is performed on photovoltaic battery panel
Value；Obtain power threshold；Judge residual electric quantity whether less than or equal to power threshold；If being less than or equal to power threshold,
Then control cleaning device runs to stops, and leaves photovoltaic battery panel.
Wherein, the step of obtaining power threshold includes：Power threshold is obtained by calculation and/or non-computational mode is obtained
Obtain power threshold；Wherein, the step of obtaining power threshold by calculation further includes：Cleaning is performed in cleaning device to appoint
Acquisition power threshold is precalculated before business and/or is calculated in real time during cleaning device performs clean up task and obtain electricity threshold
Value.
Wherein, being precalculated the step of mode obtains power threshold before cleaning device performs clean up task includes：According to
The set location of stops, in the travel distance of optional position arrival stops of the calculating cleaning device on walking path most
Big travel distance；Battery electric quantity value needed for calculating the maximum travel distance of cleaning device walking, redundancy is added by battery electric quantity value
It is worth as power threshold, or by battery electric quantity value directly as power threshold.
Wherein, stops are at least one, and the set location according to stops is obtained on the walking path of cleaning device
Optional position reach stops travel distance in maximum travel distance the step of include：According to the set location of stops
The optional position obtained on the walking path of cleaning device reaches each stops in the case of without other stops
Maximum travel distance in travel distance.
Wherein, calculating the step of obtaining power threshold in real time during cleaning device performs clean up task includes：Obtain
Take the current location of cleaning device；Set location according to current location and stops obtains current location and reaches a certain stops
Travel distance；Calculate battery electric quantity value needed for cleaning device walking travel distance；Using battery electric quantity value plus redundancy value as
Power threshold, or by battery electric quantity value directly as power threshold.
Wherein, the step of obtaining power threshold by real-time calculation includes：Obtain the current location of cleaning device；Root
The remaining travel distance needed for cleaning device completes clean up task is calculated according to current location；Set location according to stops is calculated
Location reaches the minimum range of stops when cleaning device completes clean up task；Calculate the remaining walking of cleaning device walking
Battery electric quantity value needed for distance and minimum range；Using battery electric quantity value plus redundancy value as power threshold, or by battery
Charge value is directly as power threshold.
Wherein, the step of obtaining power threshold by non-computational mode includes：It is rule of thumb artificial to set power threshold.
Wherein, stops be charge position or stop position, wherein, charge position is provided with charging equipment, enters with to supplying cell
Row charges.
In order to solve the above technical problems, the present invention provides a kind of power management system of the cleaning device of photovoltaic battery panel,
The power management system includes electric power detection module, processing module and travelling control module, and electric power detection module is used to obtain
The dump energy of the supplying cell of the cleaning device of clean up task is performed on photovoltaic battery panel, processing module is used to judge residue
Whether electricity is less than or equal to power threshold, if being less than or equal to power threshold, travelling control module control cleaning device row
Walk to stops, and leave photovoltaic battery panel.
Wherein, power threshold is pre-set by user or is calculated by processing module and obtains, wherein, processing module is additionally operable to
Cleaning device precalculates acquisition power threshold and/or during cleaning device performs clean up task before performing clean up task
Calculate in real time and obtain power threshold.
In the electric quantity managing method of the cleaning device of photovoltaic battery panel of the present invention, cleaning device is by obtaining supplying cell
Residual electric quantity and power threshold, and after the residual electric quantity for judging supplying cell is less than or equal to power threshold, control
Cleaning device runs to stops, and leaves photovoltaic battery panel, be avoided that cleaning device because electricity shortage cannot normal work and
The harmful effect to photovoltaic battery panel and its luminous efficiency caused on photovoltaic battery panel is stayed in, and then effectively improves photovoltaic
The generating efficiency of cell panel.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will make needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, further other can be obtained according to these accompanying drawings
Accompanying drawing.Wherein：
Fig. 1 is the schematic flow sheet of the embodiment of electric quantity managing method one of the cleaning device of photovoltaic battery panel of the present invention；
Fig. 2 is the schematic flow sheet of step S12 first embodiments in Fig. 1；
Fig. 3 is the schematic flow sheet of step S12 second embodiments in Fig. 1；
Fig. 4 is the schematic flow sheet of step S12 3rd embodiments in Fig. 1；
Fig. 5 is the structural representation of the embodiment of power management system one of the cleaning device of photovoltaic battery panel of the present invention；
Fig. 6 is the structural representation of another embodiment of power management system of the cleaning device of photovoltaic battery panel of the present invention.
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 is described, it is clear that described embodiment is only a part of embodiment of the 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 creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Also referring to Fig. 1-Fig. 4, Fig. 1 is the implementation of electric quantity managing method one of the cleaning device of photovoltaic battery panel of the present invention
The schematic flow sheet of example, Fig. 2 is the schematic flow sheet of step S12 first embodiments in Fig. 1, and Fig. 3 is step S12 second in Fig. 1
The schematic flow sheet of embodiment, Fig. 4 is the schematic flow sheet of step S12 3rd embodiments in Fig. 1.
The electric quantity managing method of the cleaning device of the photovoltaic battery panel of the present embodiment is comprised the following steps：
S11：Obtain the residual electric quantity of the supplying cell of the cleaning device that clean up task is performed on photovoltaic battery panel.
It is possible to further the residual electric quantity of direct access cleaning device supplying cell, it is also possible to which indirect gain is cleaned
The residual electric quantity of device supplying cell, for example, the discharge voltage or discharge power according to supplying cell are calculated power supply electricity
The residual electric quantity in pond, but it is not limited only to this.
S12：Obtain power threshold.
The power threshold be used for ensure cleaning device residual electric quantity be less than or equal to the power threshold when, sanitizer cartridge
The residual electric quantity put can drive optional position of the cleaning device from walking path to run to stops, and leave photovoltaic cell
Plate, to avoid it from being stayed on photovoltaic battery panel normal work because of not enough power supply, blocks effectively receiving for photovoltaic battery panel
Light region, causes to reduce the situation of photovoltaic battery panel generating efficiency, and then lift the generating efficiency of photovoltaic battery panel.
Specifically, power threshold can be obtained by non-computational mode, for example：User according to cleaning device walking it is whole or
Person section photovoltaic battery panel needs experiment or the empirical data of the battery electric quantity for expending, and pre-sets power threshold.
Power threshold can also be obtained by calculation, and further, power threshold can perform clear in cleaning device
Acquisition is precalculated before clean task, it is also possible to calculated in real time during cleaning device performs clean up task and obtained.
On precalculating the method for obtaining power threshold before cleaning device performs clean up task, Fig. 2 is specifically referred to,
Fig. 2 is the schematic flow sheet of step S12 first embodiments in Fig. 1, including：
S1211：According to the set location of stops, calculate optional position of the cleaning device on walking path and reach stop
Maximum travel distance in the travel distance at place.
The stops of cleaning device are at least one, and stops can be arranged on the outside of photovoltaic battery panel, it is also possible to
It is arranged on the intersection of photovoltaic cell board component and inter-module.Further, stops can be off position, for parking cleaning
Device, or charge position, for being charged to supplying cell, charge position is provided with charging equipment, for example, cleaning device
Supporting charger.
When two or more stops are provided with, cleaning device is counted according to the specific set location of stops
Calculate and obtain it in the case of without other stops, optional position on walking path reach the walking of each stops away from
Maximum travel distance in.
S1212：Battery electric quantity value needed for calculating the maximum travel distance of cleaning device walking.
In an application examples, the time T needed for calculating the cleaning device above-mentioned ultimate range of walking first with formula (1) is (single
Position is the second)：
Wherein, SmaxIt is cleaning device in the case of without other stops, the optional position on walking path is arrived
The maximum travel distance of stops, unit is rice, VSIt is the speed of travel of cleaning device, unit is metre per second (m/s).
Battery electric quantity value Q needed for recycling formula (2) further to calculate the cleaning device above-mentioned ultimate range of walkingT1It is (single
Position is ampere-hour)：
Wherein, PCPower during for cleaning device normal work, unit is watt；UbIt is the specified electricity of cleaning device battery
Pressure, unit is volt；Times of the T for needed for the maximum travel distance of cleaning device walking, unit is the second, is calculated by formula (1).
S1213：Using the battery electric quantity value needed for the maximum travel distance of above-mentioned cleaning device walking plus redundancy value as electricity
Amount threshold value, or by battery electric quantity value directly as power threshold.
In actual applications, it is contemplated that cleaning device can be potentially encountered failure in cleaning task is performed, for example, sanitizer cartridge
There is breakage in certain section of walking path put, causes speed of travel reduction of the cleaning device on this section of walking path, so as to extend
Cleaning device has been walked this time of walking path, increases the consumption of cleaning device electricity, therefore, generally by battery electric quantity value
QT1Plus a redundancy value QrAs power threshold, to ensure that cleaning device is judging residual electric quantity less than or less than electricity
During amount threshold value, it can be driven to run to stops, and leave photovoltaic battery panel, wherein, redundancy value QrCan determine according to actual needs
It is fixed.
May be appreciated, it is also possible to by battery electric quantity value directly as power threshold.
The method for obtaining power threshold is calculated during on performing clean up task in cleaning device in real time, please specifically be join
Read Fig. 3-Fig. 4.
Fig. 3 is the schematic flow sheet of step S12 second embodiments in Fig. 1, including：
S1221：Obtain the current location of cleaning device.
Cleaning device utilizes location equipment, for example：Encoder, odometer, position sensor, obtain it and are currently located position
Put.
S1222：Set location according to current location and stops obtains the walking that current location reaches a certain stops
Distance.
The stops of cleaning device are at least one, and stops can be arranged on the outside of photovoltaic battery panel, it is also possible to
It is arranged on the intersection of photovoltaic cell board component and inter-module.Further, stops can be off position, for parking cleaning
Device, or charge position, for being charged to supplying cell, charge position is provided with charging equipment, for example, cleaning device
Supporting charger.
Cleaning device calculates acquisition current location and reaches a certain according to its present position and the set location of stops
The travel distance of stops, wherein, without other stops in the walking path of a certain stops of current location arrival.
In one embodiment, a certain stops are the stops nearest apart from cleaning device current location, with reserved more
Electricity be used to perform clean up task, improve the cleaning efficiency of cleaning device.
S1223：Calculate the battery electric quantity value that cleaning device is walked needed for the travel distance.
In an application examples, the time T needed for calculating the cleaning device above-mentioned ultimate range of walking first with formula (3) is (single
Position is the second)：
Wherein, S be cleaning device from current location to the travel distance of a certain stops, unit is rice, VSIt is sanitizer cartridge
The speed of travel put, unit is metre per second (m/s).
Battery electric quantity value Q needed for recycling formula (4) further to calculate the cleaning device above-mentioned travel distance of walkingT2It is (single
Position is ampere-hour)：
Wherein, PCPower during for the cleaning device normal work, unit is watt；UbIt is the volume of cleaning device battery
Determine voltage, unit is volt；The time that T walks needed for the travel distance for cleaning device, unit is the second, is counted by above-mentioned formula (3)
Obtain.
S1224：The battery electric quantity value above-mentioned cleaning device walked needed for the travel distance is plus redundancy value as electricity
Threshold value, or by battery electric quantity value directly as power threshold.
In actual applications, it is contemplated that cleaning device can be potentially encountered failure in cleaning task is performed, for example, sanitizer cartridge
There is breakage in certain section of walking path put, causes speed of travel reduction of the cleaning device on this section of walking path, so as to extend
Cleaning device has been walked this time of walking path, increases the consumption of cleaning device electricity, therefore, generally by battery electric quantity value
QT1Plus a redundancy value QrAs power threshold, to ensure that cleaning device is judging residual electric quantity less than or less than electricity
During amount threshold value, it can be driven to run to stops, and leave photovoltaic battery panel, wherein, redundancy value QrCan determine according to actual needs
It is fixed.
May be appreciated, it is also possible to by battery electric quantity value directly as power threshold.
Be further improve cleaning device cleaning efficiency, reduce cleaning device walk in above photovoltaic battery panel when
Between, and then the luminous efficiency of photovoltaic battery panel is lifted, this implementations also provides another cleaning device reality in execution clean up task
When calculate power threshold mode, specifically refer to Fig. 4, Fig. 4 is the schematic flow sheet of step S12 3rd embodiments in Fig. 1, bag
Include：
S1231：Obtain the current location of cleaning device.
Cleaning device utilizes location equipment, for example：Encoder, odometer, position sensor, obtain it and are currently located position
Put.
S1232：Remaining travel distance needed for cleaning device completes clean up task is calculated according to current location.
In the present embodiment, cleaning device straight line moving is clear to perform in the top of the effective light area of photovoltaic battery panel
Clean task, for convenience of describing, is illustrated on photovoltaic battery panel by the cleaning device of photovoltaic battery panel by taking the walking of left and right as an example,
But the present invention does not substantially limit direction of travel of the cleaning device on photovoltaic battery panel.
Assuming that cleaning device performs clean up task since the high order end of photovoltaic battery panel, its cleaning task is to complete whole
The cleaning of photovoltaic battery panel, and stops at two are provided only with, wherein, the first stops are arranged on the high order end of photovoltaic battery panel
Left side, the second stops be arranged on the low order end of photovoltaic battery panel right side set.Then cleaning device is counted according to current location
The remaining travel distance needed for cleaning device completes clean up task is calculated, as cleaning device runs to photovoltaic cell from current location
Remaining travel distance needed for plate low order end.
S1233：Set location according to stops calculates location when cleaning device completes clean up task and reaches stops
Stay the minimum range at place.
According to foregoing description, location is the low order end of photovoltaic battery panel when cleaning device completes clean up task, and
The stops nearest from the low order end of photovoltaic battery panel are the second stops, then the set location according to stops calculates sanitizer cartridge
The minimum range that location when completing clean up task reaches stops is put, the low order end for as calculating photovoltaic battery panel is reached
The minimum range of the second stops.
S1234：Battery electric quantity value needed for calculating the remaining travel distance of cleaning device walking and minimum range.
S1235：By the battery electric quantity value needed for the remaining travel distance of above-mentioned cleaning device walking and minimum range plus superfluous
Residual value as power threshold, or by battery electric quantity value directly as power threshold.
Step S1234, S1235 specifically can refer to the description of step S1223, S1224 in above-mentioned second embodiment, herein not
Repeat again.
Through the above way, cleaning device can be avoided repeatedly to walk the region for having cleaned, so as to effectively improve cleaning
Efficiency, and then improve the generating efficiency of photovoltaic battery panel.
S13：Judge residual electric quantity whether less than or equal to power threshold.
If residual electric quantity is more than power threshold, the direction that cleaning device continues to perform clean up task according to original performs cleaning
Task.
S14：If dump energy is less than or equal to power threshold, control cleaning device runs to stops, and leaves light
Volt cell panel.
Specifically, if dump energy is less than or equal to power threshold, whether cleaning device is determined whether in stops,
Wherein, stops can be off position, for parking cleaning device, or charge position, for being filled to supplying cell
Electricity, charge position is provided with charging equipment, for example, the supporting charger of cleaning device.
If cleaning device is stopped in charge position, cleaning device, charged using charging equipment in charge position.If
In stop position, then can determine whether the dump energy of the supplying cell of cleaning device drive it from the stop position to cleaning device
A certain charge position is run to, such as：The charge position nearest from the stop position.If the dump energy of the supplying cell of cleaning device can drive
Move it and run to a certain charge position from the stop position, then control cleaning device to run to the charge position and charged, if can not,
Cleaning device is parked at stopping, subsequently by staff it can be controlled to run to charge position, or staff will charge
Equipment moves to stop position and is charged for cleaning device.
If cleaning device is not at stopping, it is controlled to run to stops, and leave photovoltaic battery panel.
Through the above way, it is avoided that cleaning device cannot be stayed on photovoltaic battery panel because of electricity shortage normal work
The caused harmful effect to photovoltaic battery panel and its luminous efficiency, and then effectively improve the generating efficiency of photovoltaic battery panel.
The electric quantity managing method of above-mentioned cleaning device is generally realized by one section of executable program, and the executable program is stored
In computer-readable storage medium, the executable program can realize above-mentioned steps S11-S14.In specific to application, also need further
Each step realized by the power management system with software architecture and hardware configuration in electric quantity managing method.
For the software configuration of power management system, Fig. 5 is referred to, Fig. 5 is the cleaning device of photovoltaic battery panel of the present invention
The embodiment of power management system one structural representation.The power management system of the present embodiment includes electric power detection module
51st, processing module 52 and travelling control module 53.
Specifically, electric power detection module 51 is used to obtain the confession of the cleaning device that clean up task is performed on photovoltaic battery panel
Whether the residual electric quantity of battery, processing module 52 is used to judge residual electric quantity less than or equal to power threshold value, if small
In or equal to power threshold value, then the control of travelling control module 53 cleaning device runs to stops, and leaves photovoltaic battery panel.
Wherein, power threshold can be walked entirely by user according to cleaning device or certain section of photovoltaic battery panel needs to expend
Battery electric quantity experiment or empirical data pre-set, it is possibility to have by processing module calculate obtain, wherein, processing module is also
Power threshold is obtained for being precalculated before cleaning device performs clean up task and/or in cleaning device execution clean up task
During in real time calculate obtain power threshold.
The specific calculation of power threshold can refer to the electric quantity managing method embodiment of the cleaning device of photovoltaic battery panel
In description, specifically repeat no more.
For the hardware configuration of power management system, Fig. 6 is referred to, Fig. 6 is the cleaning device of photovoltaic battery panel of the present invention
Another embodiment of power management system structural representation, the power management system of the present embodiment includes：Electric quantity detecting circuit
61st, processor 62, memory 63 and driver 64.
Specifically, electric quantity detecting circuit 61 is used to obtain the confession of the cleaning device that clean up task is performed on photovoltaic battery panel
Whether the residual electric quantity of battery, processor 62 is used to judge residual electric quantity less than or equal to power threshold value, if being less than
Or equal to power threshold value, then the control of driver 64 cleaning device runs to stops, and leaves photovoltaic battery panel, memory 63
Instruction for storing processor 62.
Wherein, the specific calculation of power threshold can refer to the electric quantity managing method reality of the cleaning device of photovoltaic battery panel
The description in example is applied, is specifically repeated no more.
Embodiments of the present invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, is included within the scope of the present invention.
Claims (10)
1. a kind of electric quantity managing method of the cleaning device of photovoltaic battery panel, it is characterised in that including：
Obtain the residual electric quantity of the supplying cell of the cleaning device that clean up task is performed on the photovoltaic battery panel；
Obtain power threshold；
Judge the residual electric quantity whether less than or equal to the power threshold；
If being less than or equal to the power threshold, the cleaning device is controlled to run to stops, and leave the photovoltaic electric
Pond plate.
2. electric quantity managing method according to claim 1, it is characterised in that include the step of the acquisition power threshold：
The power threshold is obtained by calculation and/or non-computational mode obtains the power threshold；Wherein, it is described to pass through
The step of calculation obtains the power threshold further includes：Before the cleaning device performs the clean up task in advance
Calculate to obtain the power threshold and/or calculated in real time during the cleaning device performs the clean up task and obtain institute
State power threshold.
3. electric quantity managing method according to claim 2, it is characterised in that it is described performed in the cleaning device it is described clear
Being precalculated the step of mode obtains the power threshold before clean task includes：
According to the set location of the stops, calculate and stop described in optional position arrival of the cleaning device on walking path
Stay the maximum travel distance in the travel distance at place；
Battery electric quantity value needed for calculating the cleaning device walking maximum travel distance,
The battery electric quantity value is added redundancy value as the power threshold, or by the battery electric quantity value directly as institute
State power threshold.
4. electric quantity managing method according to claim 3, it is characterised in that the stops are at least one, described
The optional position on the walking path of the cleaning device is obtained according to the set location of the stops reach the stops
Travel distance in maximum travel distance the step of include：
Set location according to the stops obtain optional position on the walking path of the cleaning device without
The maximum travel distance in the travel distance of each stops is reached in the case of other stops.
5. electric quantity managing method according to claim 2, it is characterised in that it is described performed in the cleaning device it is described clear
Calculating the step of obtaining the power threshold during clean task in real time includes：
Obtain the current location of the cleaning device；
Set location according to the current location and the stops obtains the current location and reaches a certain stops
Travel distance；
Calculate battery electric quantity value needed for the cleaning device walking travel distance；
The battery electric quantity value is added redundancy value as the power threshold, or by the battery electric quantity value directly as institute
State power threshold.
6. electric quantity managing method according to claim 2, it is characterised in that described to be obtained by the real-time calculation
The step of power threshold, includes：
Obtain the current location of the cleaning device；
Remaining travel distance needed for the cleaning device completes clean up task is calculated according to the current location；
Set location according to the stops calculates location when the cleaning device completes the clean up task and reaches
The minimum range of the stops；
Battery electric quantity value needed for calculating the cleaning device walking remaining travel distance and the minimum range；
The battery electric quantity value is added redundancy value as the power threshold, or by the battery electric quantity value directly as institute
State power threshold.
7. electric quantity managing method according to claim 2, it is characterised in that described that the electricity is obtained by non-computational mode
The step of amount threshold value, includes：
Rule of thumb manually set the power threshold.
8. the electric quantity managing method according to claim any one of 1-7, it is characterised in that the stops be charge position or
Stop position, wherein, the charge position is provided with charging equipment, is charged with to the supplying cell.
9. a kind of power management system of the cleaning device of photovoltaic battery panel, it is characterised in that the power management system includes
Electric power detection module, processing module and travelling control module, the electric power detection module are used to obtain in the photovoltaic cell
The dump energy of the supplying cell of the cleaning device of clean up task is performed on plate, the processing module is used to judge described surplus
Whether remaining electricity is less than or equal to power threshold, if being less than or equal to the power threshold, the travelling control module control
The cleaning device runs to stops, and leaves the photovoltaic battery panel.
10. power management system according to claim 9, it is characterised in that the power threshold is pre-set by user
Or acquisition is calculated by the processing module, wherein, the processing module is additionally operable to perform the cleaning times in the cleaning device
The acquisition power threshold is precalculated before business and/or is counted in real time during the cleaning device performs the clean up task
Calculate and obtain the power threshold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611245352.9A CN106788206B (en) | 2016-12-29 | 2016-12-29 | A kind of electric quantity managing method and system of the cleaning device of photovoltaic battery panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611245352.9A CN106788206B (en) | 2016-12-29 | 2016-12-29 | A kind of electric quantity managing method and system of the cleaning device of photovoltaic battery panel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106788206A true CN106788206A (en) | 2017-05-31 |
| CN106788206B CN106788206B (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611245352.9A Active CN106788206B (en) | 2016-12-29 | 2016-12-29 | A kind of electric quantity managing method and system of the cleaning device of photovoltaic battery panel |
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| CN106788206B (en) | 2019-04-23 |
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Effective date of registration: 20200526 Address after: 518000 Shenzhen City, Nanshan District province high tech Zone in the middle of a high tech building, No. 906, room, room 9, room 9, No. 905 Patentee after: SHENZHEN INNOVPOWER TECHNOLOGY Co.,Ltd. Address before: 410000 room 6, building 199, Pioneer Center, Hunan environmental protection science and Technology Industrial Park, No. 628 Zhenhua Road, Yuhua District, Hunan, Changsha Patentee before: HUNAN INNOVPOWER INTELLIGENT TECHNOLOGY Co.,Ltd. |