CN106953589A - It is a kind of to judge very stuck and false stuck control method for photovoltaic cleaner - Google Patents
It is a kind of to judge very stuck and false stuck control method for photovoltaic cleaner Download PDFInfo
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- CN106953589A CN106953589A CN201710171814.5A CN201710171814A CN106953589A CN 106953589 A CN106953589 A CN 106953589A CN 201710171814 A CN201710171814 A CN 201710171814A CN 106953589 A CN106953589 A CN 106953589A
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- 238000000034 method Methods 0.000 title claims abstract description 64
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims abstract description 6
- 238000007689 inspection Methods 0.000 claims description 24
- 230000000977 initiatory effect Effects 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 7
- 238000011065 in-situ storage Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000002547 anomalous effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000001186 cumulative effect Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000002000 scavenging effect Effects 0.000 description 36
- 230000008569 process Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 239000000523 sample Substances 0.000 description 4
- 230000001788 irregular Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- 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
Abstract
The invention discloses a kind of for the very stuck and false stuck control method of photovoltaic cleaner judgement, this method is to set sensor and range unit in cleaning motor spindle, control module on cleaner is by range unit come detection sensor and the vertical range on photovoltaic module surface, or detection sensor and the structural member or the vertical range on ground below photovoltaic module；Brought by the change of the contrast of the distance detected and duration and preset value, and distance values and judge walking situation of the cleaner on photovoltaic module to automatically control the operation of adjustment cleaner.Judge very stuck and false stuck control method provided by the present invention for photovoltaic cleaner, photovoltaic cleaner can be made to carry out distinguishing very much very stuck or false stuck phenomenon simply and at low cost on the basis of cleaning function to photovoltaic module, reduce maintenance cost, it is ensured that clean photovoltaic module can safety continuous high generation efficiency improve income.
Description
Technical field
The present invention relates to a kind of apparatus control technology in photovoltaic module clean technologies field, in particular it relates to which one kind is used for
Photovoltaic cleaner judges very stuck and false stuck control method.
Background technology
Current all concentrated photovoltaic plants are substantially in meagrely-populated place, and environment is more severe, dust covering
The generating efficiency of photovoltaic plant and the life-span of photovoltaic module can be had a strong impact on photovoltaic module surface.Then automation photovoltaic is cleaned
Equipment is arisen at the historic moment, and automation photovoltaic cleaning equipment is actually having very stuck or false stuck situation among.
Very stuck is that scavenging machine is driven failure and can not rotated in itself, or between laterally adjacent photovoltaic module or light
Lie prostrate component and intermediate rail joint generation serious deformation or connection dimension difference are too big, on-site maintenance is gone without attendant
And adjustment, scavenging machine can not normal through certain each position phenomenon.When scavenging machine belongs to very stuck in the process of running, if do not had
There are personnel in time to carry scavenging machine to open, the motor of scavenging machine sheet can be constantly in super overload operation, seriously then damage
Bad oneself motor, it is gently then that battery power consumption is complete.Can only be from photovoltaic group after this thing happens by personnel by scavenging machine
Disassembled on part.As truly it is stuck when, attendant not and be processing, and photovoltaic plant on daytime automatically begin to generate electricity, at this moment
By the photovoltaic module of scavenging machine and scavenging machine shadow occlusion cannot normal power generation work, by leading on the photovoltaic module that is blocked
The electric current crossed can become big, in turn result in photovoltaic module and be brought rapidly up, and long-time high current and high temperature can reduce photovoltaic group rapidly
The life-span of part, serious causes the local directly damage of photovoltaic module.The very stuck of photovoltaic scavenging machine can have a strong impact on whole photovoltaic
The generating of component and use safety.
It is false it is stuck be due to scavenging machine itself in the process of running, due to the reasons such as weather cause scavenging machine run in upper end
The randomness caused with lower end travel distance when inconsistent or asynchronous is irregular stuck, or scavenging machine operation path on
End or lower end have foreign matter to make short time interim card in scavenging machine operation.False stuck phenomenon can be by scavenging machine itself adjustment operation
The methods such as attitude solve false stuck phenomenon.
The anti-jamming technology of existing Intelligent sweeping machine device people substantially has following several：
1. the first is cleaned on machine equipment by using the walking that cleaning equipment is driven by centralized Control bi-motor, one
Motor drives road wheel above, and a motor drives following road wheel, when scavenging machine in walking process, is dashed forward on photovoltaic module
So running into small obstacle or speed governing causes road wheel and following road wheel synchronization accuracy above scavenging machine inadequate, whole scavenging machine longitudinal direction
Angle can be tilted, and at this moment provide signals to control by the pressure sensor device or gyroscope on the directive wheel of scavenging machine upper end both sides
Module, control module is by controlling the rotating speed of motor or following motor above to adjust road wheel above and following row
Walk relative position of the wheel on photovoltaic module and unanimously reach to automatically adjust action attitude.And this anti-jamming adjust automatically appearance
State Technical comparing is complicated, can not really be fully solved the stuck disadvantage of meeting, and scavenging machine totle drilling cost and maintenance cost are very high.
2. it is for second the directive wheel and road wheel for all using big wheel footpath above automatic cleaning equipment and below, will above
Road wheel and following road wheel are connected with connecting rod, allow above and below road wheel operationally to be adopted with basic synchronization
A set of motor drives the walking of scavenging machine.Scavenging machine is gone forward, it is necessary to by each row's photovoltaic group being installed to photovoltaic module
The edge adjustment of part top a line and bottom a line photovoltaic module, is aligned.Photovoltaic plant is all that substantial amounts of photovoltaic panel is used
It is inclined transversely or longitudinally what arrangement was installed, adjustment photovoltaic module installation site workload is very big, cannot guarantee that all photovoltaics
It is very neat that the top of module arrangement or the end face of bottom are disposably adjusted, when the light for having one piece of top or bottom in module arrangement
It is irregular that the top edge or lower edge of volt plate are adjusted（Difference is larger）, when such a scheme cleaning equipment is during use is cleaned
Walk to unexpected stroke interim card during irregular position of this adjustment once, but because scavenging machine upper end road wheel and directive wheel by
Self gravitation again and photovoltaic module edge be brought into close contact suffered by resistance it is larger, and scavenging machine lower end directive wheel is in photovoltaic module side
Edge has gap so end resistance is small under scavenging machine, unexpected interim card once after scavenging machine lower end can because small by resistance, the meeting of inertia to
The direction of motion, which is rolled, tiltedly causes road wheel and lower road wheel asynchronous, and system does not adjust the flexible of walking posture in itself
Function, directly results in scavenging machine stuck on photovoltaic module.When rainy or condensation or low temperature coagulate white freezing environment, photovoltaic module
Frame is more wet and slippery, and the walking of scavenging machine in itself will skid to road wheel during the path for having interim card or crawler belt itself, thus more
The stuck fault rate on photovoltaic module of equipment is exacerbated, the normal service life of photovoltaic module can be had a strong impact on.
3. be scavenging machine in running kind, judged by range sensor or monitoring driving motor working current clean
Whether machine stuck, once detect it is stuck once immediately stop O＆M, and superior monitoring upload alarm and card machine position.Scavenging machine
Itself is not very stuck or false stuck by somewhere location determination by trial operation again, just directly stops O＆M simultaneously
Upload alarm.Wu's alarm is a lot, and it is existing that the false stuck phenomenon that can be overcome originally with scavenging machine itself really allows attendant frequently to go
Field is safeguarded, causes maintenance cost very high.
The content of the invention
It is an object of the invention to provide a kind of control technology, solve automation photovoltaic scavenging machine and enter to photovoltaic module array
During row cleaning, because photovoltaic module adjusts not in place, or really block because in photovoltaic scavenging machine operation caused by weather environment influences
Dead or false stuck phenomenon.
In order to achieve the above object, the invention provides a kind of for the very stuck and false stuck control of photovoltaic cleaner judgement
Method processed, wherein, described method is included：Control mould on sensor and range unit, cleaner is set in cleaning motor spindle
Block is by described range unit come detection sensor and the vertical range on photovoltaic module surface, or detection sensor and photovoltaic group
The vertical range of structural member or ground below part；By the contrast of the distance detected and duration and preset value,
And the change of distance values brings and judges walking situation of the cleaner on photovoltaic module to automatically control the fortune of adjustment cleaner
OK.Described cleaner is the intelligent photovoltaic cleaner of automatic running, and described control module is intelligent control module.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described range unit
It is that ultrasonic distance measuring module or infrared distance measurement are popped one's head in.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described method is included：
Cleaner is along often row's photovoltaic apparatus operation, since the initiating terminal aircraft gate without photovoltaic module, by some photovoltaic module regions
And without photovoltaic device region, reach the end aircraft gate without photovoltaic module.Initiating terminal aircraft gate and end aircraft gate are set respectively
There is triggering cleaner to shut down the component of reactive switches, can shut down cleaner.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described method is included：
Ranging is carried out by uniform time interval within the duration of cleaner running, 60ms intervals are such as pressed；Immediately detect
Sensor to photovoltaic module surface or to photovoltaic module using lower member or the distance value on ground as L1, for carrying out contrast judgement
The preset value of distance be L, such as L values are set to 25mm；The time that distance value L1 the ＞ L or L1≤L being continuously detected are kept is S1,
The time preset value judged for carrying out contrast is S, and cleaner is by theoretical time needed for the most long region without photovoltaic module
S2.That is, S values were set under scavenging machine normal running speed by average time used by each column photovoltaic panel；S2 values are set to clean
Pass through the average time without photovoltaic device region of longest distance in the photovoltaic module row at power station scene under machine normal running speed.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described method is included：
Cleaner is set to positive operation from the direction of the original position terminad position operation on photovoltaic module row, from photovoltaic module row
On terminal position be set to inverted running to the direction that original position is run；In cleaner forward direction operation each time or inverted running
Preceding all to carry out System self-test, whether whether self-measuring battery electricity sufficient normal with driving and communication system.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described method is included：
When cleaner is in positive running, within duration S1≤S values, the distance value detected each time is by L1 ＞ L
When switching to L1≤L, it is judged as normal operation, proceeds by plus coujnt, positive running and occur the situation each time
When, cumulative 1 on current count value；When cleaner inverted running, within duration S1≤S values, detect each time
Distance when switching to L1 ＞ L by L1≤L, be judged as cleaner normal operation, start in cleaner obtained by forward direction operation
When carrying out occurring the situation each time during subtraction count, inverted running on accumulated number, subtract 1 on current count value.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described method is included：
In positive running, cleaner original position start before self-inspection, charged in situ when not enough power supply, when faulty on
Pass failure code, it is to be repaired after self-inspection again；Start after self-inspection is qualified in positive operation, positive running when detecting
Apart from L1≤L duration S1 ＞ S, or detect apart from L1 ＞ L duration S1 ＞ S2 when, be judged as that cleaner exists
Counting position operation exception, records the control module on current location numerical value, cleaner and starts control cleaner inverted running one
After the cleaning stroke of section setting（Such as：It is set to after 2 meters of inverted running）, then control to run for forward direction, attempt to pass through last time exception
The position of counting, if the L1≤L detected again in the position equally counted duration S1 ＞ S, or detect away from
During duration S1 ＞ S2 from L1 ＞ L, be then determined as that cleaner is very stuck in current location, accordingly obtain S1≤S or
During S1≤S2, then it is determined as false stuck.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described method is included：
When judging that cleaner is very stuck, cleaner reports current location and alerted, and is arrived while cleaner automatically controls for inverted running
Charging is shut down in the initiating terminal aircraft gate of row's photovoltaic apparatus, waits attendant to release failure and alarm；When being determined as false card
When dead, cleaner continues normal operation.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described method is included：
Cleaner starts in end aircraft gate returns to self-inspection before operation, is charged in situ when self-inspection not enough power supply, when self-inspection is faulty
Shi Shangchuan failure codes, it is to be repaired after self-inspection again；Start inverted running after self-inspection is qualified, in the inverted running process of return
In, as the duration S1 ＞ S for L1≤L that cleaner is detected, or the duration S1 ＞ S2 apart from L1 ＞ L detected
When, it is judged as in this position operation exception, records the control module on current location numerical value, cleaner and starting control cleaner just
To after the cleaning stroke of one section of setting of operation（Such as：It is set to after positive 2 meters of operation）, then control for inverted running, to attempt to pass through
The position of last time anomalous counts the, if L1≤L detected again in the position equally counted duration S1 ＞ S or detection
Arrive apart from L1 ＞ L duration S1 ＞ S2 when, then be determined as that cleaner is very stuck in current location, accordingly obtain S1
During≤S or S1≤S2, then it is determined as false stuck.
The above-mentioned photovoltaic cleaner that is used for judges very stuck and false stuck control method, wherein, described method bag
Contain：When judging that cleaner is very stuck, cleaner reports current location and alerted, while cleaner is automatically controlled as forward direction operation
Charging is shut down to the end aircraft gate of row's photovoltaic apparatus, waits attendant to release failure and alarm；When being determined as false card
When dead, cleaner continues normal operation.
Judge that very stuck and false stuck control method has advantages below provided by the present invention for photovoltaic cleaner：
After this method, can make photovoltaic cleaner to photovoltaic module carry out cleaning function on the basis of it is very simple and it is low into
It is local to distinguish very stuck or false stuck phenomenon, it can run attitude to overcome false stuck phenomenon to reduce by cleaner adjustment
Maintenance cost, and accurately detect very stuck position positioning and alarm and auto-returned aircraft gate.Make installation and attendant timely
It was found that position and the processing of machine, even if attendant does not arrive on-site maintenance in time, will not also cause damage to photovoltaic module, improve
Use the reliability of photovoltaic clean robot in the process of running.It can ensure that the photovoltaic module safety continuous height of cleaning generates electricity to imitate
Rate improves income.
Brief description of the drawings
Fig. 1 judges that the cleaner operation of very stuck and false stuck control method is shown for the photovoltaic cleaner that is used for of the present invention
It is intended to.
Fig. 2 judges the very stuck positive operational process with false stuck control method for the photovoltaic cleaner that is used for of the present invention
Figure.
Fig. 3 judges the very stuck direction operational process with false stuck control method for the photovoltaic cleaner that is used for of the present invention
Figure.
Embodiment
The embodiment of the present invention is further described below in conjunction with accompanying drawing.
Judge very stuck and false stuck control method provided by the present invention for photovoltaic cleaner, be at the bottom of cleaner 1
Portion sets the control module on sensor and range unit, cleaner 1 by range unit come detection sensor and photovoltaic module
The vertical range on surface, or detection sensor and the structural member or the vertical range on ground below photovoltaic module；By detecting
Distance and duration and preset value contrast, and the change of distance values brings and judges cleaner 1 in photovoltaic module
On walking situation come automatically control adjustment cleaner 1 operation.Wherein, range unit is ultrasonic distance measuring module or infrared survey
Away from probe.
Cleaner 1 is run along every row's photovoltaic apparatus, since the initiating terminal aircraft gate 2 without photovoltaic module, by some light
Device region 3-1 ~ 3-N is lied prostrate, and it is some without photovoltaic device region 4, reach the end aircraft gate 5 without photovoltaic module, initiating terminal
Aircraft gate 2 and end aircraft gate 5 are respectively equipped with the component that triggering cleaner 1 shuts down reactive switches, can shut down cleaner 1.
It is shown in Figure 1.
Ranging is carried out by uniform time interval within the duration of the running of cleaner 1,60ms intervals are such as pressed.
All carry out System self-test before the positive operation each time of cleaner 1 or inverted running, whether self-measuring battery electricity sufficient and driving and
Whether communication system is normal.Report and alarm and failure code if faulty, original place etc. are to be repaired, and not enough power supply then fill by original place
Electricity.
Very stuck and false stuck control method is judged provided by the present invention for photovoltaic cleaner, in intelligent cleaning machine 1
Distance measurement function is added in system, positioning function is counted and the process of the very stuck and false stuck discrimination of identification.Intelligent photovoltaic is cleaned
Machine 1 contrasts to sentence by ultrasonic distance measuring module or the real-time measurement distance L1 values of infrared distance measurement probe and time S1 value with preset value
Disconnected cleaner 1 whether normal operation.Photovoltaic cleaner 1 is on photovoltaic module row in running, and cleaner 1 is by measuring itself
Range finding probe and photovoltaic module surface or the interval region without photovoltaic module contrast to sentence automatically apart from L1 values and the L values set
Determine to be photovoltaic module or the interval region without photovoltaic module below the range finding probe of cleaner 1；Pass through the distance value of test constantly
Whether duration S1 and arranges value S contrasts to judge cleaner 1 smoothly from a row photovoltaic module in automatically during L1≤L
Between be spaced on another row photovoltaic module.Pass through distance value L1 ＞ L institute when, values retention time S1 and arranges value S2 of test constantly
Automatic contrast is stepped up on another row component to judge whether cleaner 1 passes through the region of no photovoltaic module.Pass through cleaner 1
Test constantly to L1≤L when and L1 ＞ L forward direction operation or reverse direction operation during L1 cut between two data areas
Change number of times and run to the positioning of photovoltaic module orientation quantity to count cleaner 1.Cleaner 1 during operating above by examining
The result of judgement is surveyed to automatically control the operation conditions of cleaner 1.
As shown in Fig. 2 Y is Yes in figure（It is）, N is No（It is no）.In forward direction operation, when in a counting position detection
To be changed to positive operation after cleaner 1 inverted running, one section of setpoint distance again true and false to judge with judging to automatically control during operation exception
Stuck state, after forward direction operation is attempted, or in same counting position card machine, be determined as it is very stuck in forward direction operation,
Control program reports counting position and the alarm of card machine automatically, and controls the inverted running of cleaner 1 to initiating terminal aircraft gate 2, when
When being passed through in previous card machine position position, then it is determined as that vacation is stuck, cleaner 1 is continued to run with.
As shown in figure 3, Y is Yes in figure（It is）, N is No（It is no）.In inverted running, when in a counting position detection
During with judging to pass through, be determined as the operation exception of cleaner 1, automatically control one section of setting of the positive operation of cleaner 1 away from
It is changed to inverted running again from after to judge very stuck or false stuck state, after inverted running is attempted, or same
Counting position card machine, then judge very stuck state in the inverted running of cleaner 1, and control program reports position and the announcement of card machine automatically
It is alert, and the inverted running of cleaner 1 is controlled to end aircraft gate 5；When cleaner 1 is passed through in previous card machine counting position, then
It is determined as that vacation is stuck, cleaner 1 continues normal operation.
With reference to embodiment to judging very stuck and false stuck controlling party provided by the present invention for photovoltaic cleaner
Method is further described.
Embodiment 1
It is a kind of to judge very stuck and false stuck control method for photovoltaic cleaner, set in the bottom of cleaner 1 sensor and
Control module on range unit, cleaner 1 by range unit come detection sensor and the vertical range on photovoltaic module surface,
Or detection sensor and the structural member or the vertical range on ground below photovoltaic module；By the distance that detects and lasting
Time and the contrast of preset value, and the change of distance values bring and judge that walking situation of the cleaner 1 on photovoltaic module comes from
The operation of dynamic control adjustment cleaner 1.Wherein, range unit is that ultrasonic distance measuring module or infrared distance measurement are popped one's head in.Cleaner 1 is
The intelligent photovoltaic cleaner of automatic running, control module is intelligent control module.
Cleaner 1 is run along every row's photovoltaic apparatus, since the initiating terminal aircraft gate 2 without photovoltaic module, by some light
Lie prostrate device region and without photovoltaic device region, reach the end aircraft gate 5 without photovoltaic module.Initiating terminal aircraft gate 2 and end
Aircraft gate 5 is respectively equipped with the component that triggering cleaner 1 shuts down reactive switches, can shut down cleaner 1.
Ranging is carried out by uniform time interval within the duration of the running of cleaner 1,60ms intervals are such as pressed.I.e.
When the sensor that detects to photovoltaic module surface or to photovoltaic module using lower member or the distance value on ground as L1, for carrying out
The preset value for contrasting the distance judged is L, and such as L values are set to 25mm；What distance value L1 the ＞ L or L1≤L being continuously detected were kept
Time is S1, and the time preset value judged for carrying out contrast is S, and cleaner needed for the most long region without photovoltaic module by managing
It is S2 by the time.That is, S values were set under scavenging machine normal running speed by average time used by each column photovoltaic panel；S2 values are set
Be set under scavenging machine normal running speed by the photovoltaic module row at power station scene longest distance without photovoltaic device region
Average time.
Cleaner 1 is set to positive operation from the direction of the original position terminad position operation on photovoltaic module row, from
Terminal position on photovoltaic module row is set to inverted running to the direction that original position is run；In cleaner 1, forward direction is transported each time
System self-test is all carried out before row or inverted running, whether self-measuring battery electricity is whether sufficient normal with driving and communication system.Such as
Really faulty then report and alarm and failure code, original place etc. are to be repaired, and not enough power supply then charge by original place.
When cleaner 1 is in positive running, within duration S1≤S values, the distance detected each time
When value switches to L1≤L by L1 ＞ L, it is judged as normal operation, proceeds by and go out each time in plus coujnt, positive running
Now during the situation, cumulative 1 on current count value（As being counted as 0+1=1 for the first time, it is counted as being accumulated as 1+1=2 for the second time, the
It is counted as 3 three times, by that analogy）；When 1 inverted running of cleaner, within duration S1≤S values, detect each time
Distance when switching to L1 ＞ L by L1≤L, be judged as the normal operation of cleaner 1, start in cleaner 1 obtained by forward direction operation
Accumulated number on when carrying out occurring the situation each time during subtraction count, inverted running, subtract 1 on current count value
（If current count is 500, is counted when occurring such case for the first time and be changed into 500-1=499, this situation occurred and be counted as the 2nd time
498, by that analogy）.
In positive running, the self-inspection before original position starts of cleaner 1 is charged in situ when not enough power supply,
Upload failure code when faulty, it is to be repaired after self-inspection again；When self-inspection is qualified（OK）After start positive operation, forward direction was run
As the duration S1 ＞ S apart from L1≤L detected in journey, or detect apart from L1 ＞ L duration S1 ＞ S2 when,
It is judged as cleaner 1 in counting position operation exception, records the control module on current location numerical value, cleaner 1 and start control
After the cleaning stroke of 1 inverted running of cleaner, one section of setting（Such as：It is set to after 2 meters of inverted running）, then control to run for forward direction,
The position by last time anomalous counts is attempted, if the L1≤L detected again in the position equally counted duration S1
＞ S, or detect apart from L1 ＞ L duration S1 ＞ S2 when, then be determined as that cleaner 1 is very stuck in current location, phase
When accordingly obtaining S1≤S or S1≤S2, then it is determined as false stuck.When judging that cleaner 1 is very stuck, cleaner 1, which is reported, works as
Front position is simultaneously alerted, and is filled while cleaner 1 automatically controls for the shutdown of initiating terminal aircraft gate 2 of inverted running to row's photovoltaic apparatus
Electricity, waits attendant to release failure and alarm；When being determined as false stuck, cleaner 1 continues normal operation.
Cleaner 1 starts in end aircraft gate 5 returns to self-inspection before operation, is charged in situ when self-inspection not enough power supply, when
Upload failure code when self-inspection is faulty, it is to be repaired after self-inspection again；Self-inspection is qualified（OK）After start inverted running, in return
During inverted running, as the duration S1 ＞ S for L1≤L that cleaner 1 is detected, or the holding apart from L1 ＞ L detected
During continuous time S1 ＞ S2, it is judged as in this position operation exception, the control module recorded on current location numerical value, cleaner 1 is opened
Beginning, control cleaner 1 is positive to be run after one section of cleaning stroke set（Such as：It is set to after positive 2 meters of operation）, then control to be anti-
To operation, the position by last time anomalous counts is attempted, if the L1≤L's detected again in the position equally counted continues
Time S1 ＞ S or detect apart from L1 ＞ L duration S1 ＞ S2 when, then be determined as that cleaner 1 really blocks in current location
Extremely, when accordingly obtaining S1≤S or S1≤S2, then it is determined as false stuck.When judging that cleaner 1 is very stuck, on cleaner 1
Report current location is simultaneously alerted, and is shut down while cleaner 1 automatically controls for the positive end aircraft gate 5 for running to row's photovoltaic apparatus
Charging, waits attendant to release failure and alarm；When being determined as false stuck, cleaner 1 continues normal operation.
Judge very stuck and false stuck control method provided by the present invention for photovoltaic cleaner, be a kind of low cost
, it is for intelligent cleaning equipment, can distinguish very stuck and false stuck phenomenon automatically, and solve stuck control method,
The photovoltaic scavenging machine for thoroughly solving existing field applies the problem of meeting is stuck on photovoltaic module.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of judge very stuck and false stuck control method for photovoltaic cleaner, it is characterised in that described method bag
Contain：
The control module on sensor and range unit, cleaner is set to be examined by described range unit in cleaning motor spindle
Survey the vertical range on sensor and photovoltaic module surface, or detection sensor and the structural member below photovoltaic module or ground are hung down
Straight distance；Judgement is brought by the change of the contrast of the distance detected and duration and preset value, and distance values
Walking situation of the cleaner on photovoltaic module adjusts the operation of cleaner to automatically control.
2. judge very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 1, it is characterised in that
Described range unit is that ultrasonic distance measuring module or infrared distance measurement are popped one's head in.
3. judge very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 1, it is characterised in that
Described method is included：Cleaner is along often row's photovoltaic apparatus operation, since the initiating terminal aircraft gate without photovoltaic module, if by
Dry photovoltaic module region and without photovoltaic device region, reaches the end aircraft gate without photovoltaic module.
4. judge very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 3, it is characterised in that
Described method is included：Ranging is carried out by uniform time interval within the duration of cleaner running, immediately detection
The sensor arrived is sentenced to photovoltaic module surface or to photovoltaic module using lower member or the distance value on ground as L1 for carrying out contrast
The preset value of disconnected distance is L, and the time that distance value L1 the ＞ L or L1≤L being continuously detected are kept is S1, for being contrasted
The time preset value judged is S, and cleaner is S2 by theoretical time needed for the most long region without photovoltaic module.
5. judge very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 4, it is characterised in that
Described method is included：Cleaner is set to positive fortune from the direction of the original position terminad position operation on photovoltaic module row
OK, the direction run from the terminal position on photovoltaic module row to original position is set to inverted running；In cleaner each time just
All carry out System self-test before to operation or inverted running, whether self-measuring battery electricity sufficient and driving and communication system whether just
Often.
6. judge very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 5, it is characterised in that
Described method is included：When cleaner is in positive running, within duration S1≤S values, detect each time
Distance value when switching to L1≤L by L1 ＞ L, be judged as normal operation, proceed by every in plus coujnt, positive running
When once there is the situation, cumulative 1 on current count value；When cleaner inverted running, duration S1≤S values with
It is interior, when the distance detected each time switches to L1 ＞ L by L1≤L, it is judged as cleaner normal operation, starts to exist in cleaner
When carrying out occurring the situation each time during subtraction count, inverted running on the accumulated number obtained by forward direction operation, current
Subtract 1 in count value.
7. judge very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 6, it is characterised in that
Described method is included：In positive running, cleaner self-inspection before original position starts is in situ when not enough power supply
Charging, uploads failure code when faulty, it is to be repaired after self-inspection again；Start positive operation, forward direction operation after self-inspection is qualified
During as the duration S1 ＞ S apart from L1≤L detected, or duration S1 ＞ S2 apart from L1 ＞ L detected
When, it is judged as cleaner in counting position operation exception, records the control module on current location numerical value, cleaner and start control
Cleaner inverted running, then control to run for forward direction, the position by last time anomalous counts is attempted, if equally counted again
The L1≤L duration S1 ＞ S that detect of position, or detect apart from L1 ＞ L duration S1 ＞ S2 when, then sentence
It is set to cleaner very stuck in current location, when accordingly obtaining S1≤S or S1≤S2, is then determined as false stuck.
8. judge very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 7, it is characterised in that
Described method is included：When judging that cleaner is very stuck, cleaner reports current location and alerted, while cleaner is controlled automatically
It is made as inverted running and shuts down charging to the initiating terminal aircraft gate of row's photovoltaic apparatus, waits attendant to release failure and announcement
It is alert；When being determined as false stuck, cleaner continues normal operation.
9. judge very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 6, it is characterised in that
Described method is included：Cleaner starts in end aircraft gate returns to self-inspection before operation, is filled in situ when self-inspection not enough power supply
Electricity, uploads failure code when self-inspection is faulty, it is to be repaired after self-inspection again；Start inverted running after self-inspection is qualified, returning
Inverted running during, as the duration S1 ＞ S for L1≤L that cleaner is detected, or the holding apart from L1 ＞ L detected
During continuous time S1 ＞ S2, it is judged as in this position operation exception, the control module recorded on current location numerical value, cleaner starts
Cleaner forward direction operation is controlled, then is controlled as inverted running, the position by last time anomalous counts is attempted, if again same
The duration S1 ＞ S for L1≤L that the position of counting is detected or detect apart from L1 ＞ L duration S1 ＞ S2 when,
Then it is determined as that cleaner is very stuck in current location, when accordingly obtaining S1≤S or S1≤S2, is then determined as false stuck.
10. judging very stuck and false stuck control method for photovoltaic cleaner as claimed in claim 9, its feature exists
In described method is included：When judging that cleaner is very stuck, cleaner reports current location and alerted, while cleaner is certainly
Dynamic control shuts down charging for the end aircraft gate that forward direction runs to row's photovoltaic apparatus, waits attendant to release failure and announcement
It is alert；When being determined as false stuck, cleaner continues normal operation.
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