CN107065852A - A kind of photovoltaic plant inspection operational system and its method - Google Patents
A kind of photovoltaic plant inspection operational system and its method Download PDFInfo
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- CN107065852A CN107065852A CN201611182579.3A CN201611182579A CN107065852A CN 107065852 A CN107065852 A CN 107065852A CN 201611182579 A CN201611182579 A CN 201611182579A CN 107065852 A CN107065852 A CN 107065852A
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- car body
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- 238000007689 inspection Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000003028 elevating effect Effects 0.000 claims abstract description 40
- 238000004891 communication Methods 0.000 claims abstract description 33
- 230000002000 scavenging effect Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 56
- 230000009184 walking Effects 0.000 claims description 43
- 238000010408 sweeping Methods 0.000 claims description 35
- 229910052742 iron Inorganic materials 0.000 claims description 28
- 230000033001 locomotion Effects 0.000 claims description 16
- 239000000428 dust Substances 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims description 6
- 238000012806 monitoring device Methods 0.000 claims description 6
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical group C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
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- 238000004458 analytical method Methods 0.000 claims description 2
- 208000037873 arthrodesis Diseases 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 abstract description 2
- 238000003491 array Methods 0.000 description 9
- 230000007423 decrease Effects 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 4
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- 229910000831 Steel Inorganic materials 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of photovoltaic plant inspection operational system and its method, including Universal wheel, car body, elevating lever camera, robotic arm, carrying mechanism and master controller.Universal wheel, elevating lever camera, robotic arm, carrying mechanism, master controller are fixedly mounted on car body, and chassis of vehicle body can walk in gentle ground or concrete roof.Universal wheel is walked along inspection line and stopped in dwell point；Elevating lever camera is in dwell point by rising or dropping and rotate to be directed at observed object, and robotic arm operates light current to switch the button with field device, and photovoltaic scavenging machine is transported to another row's photovoltaic panel by carrying mechanism from row's photovoltaic panel；Master controller obtains data by sensing detection and communication interface, is controlled by application flow；Master controller is contacted by wireless communication interface with remote monitoring center.The present invention highlights each electrical equipment in itself, therefore the present invention has practical value in large-sized photovoltaic power station and the application of roof photovoltaic power station inspection O＆M.
Description
Technical field
The present invention relates to a kind of photovoltaic plant inspection operational system and its method, belong to intelligent electromechanical equipment neck
Domain.
Background technology
Photovoltaic generation is clean energy resource（Such as wind-power electricity generation, hydroelectric generation, biomass power generation）Topmost form.Photovoltaic
Power station must region be directly facing the sun in spacious region.Current photovoltaic plant be mainly installed on Subsidence Land in Coal Mining Area, western desert area,
House roof and metope, lake sluice face, hillside massif.
As shown in figure 1, the photovoltaic plant that level land and roof are installed, photovoltaic panel will keep certain oblique angle and guarantee when running
Do not blocked between one row's photovoltaic array and adjacent row photovoltaic array, therefore, between row's photovoltaic array and adjacent row photovoltaic array
Array pitch is about between 910mm-1000mm.This is defined as the several rows of pitch layout of photovoltaic array.One row's photovoltaic array
About 30Kw, large-sized photovoltaic power station is between 100 row's photovoltaic arrays, 500 row's photovoltaic arrays, 1000 row's photovoltaic arrays, one
Building roof photovoltaic plant is between 10 row's photovoltaic arrays, 50 row's photovoltaic arrays, 100 row's photovoltaic arrays.
As shown in Fig. 2 photovoltaic plant is by photovoltaic array, supporting frame with steel structure, cable, bus-bar, inverter, grid-connected distribution
The electromechanical electrical equipment composition of the machinery such as switch.
Over time, damage, exception, failure can all occur in photovoltaic plant links.As battery panel components surface is
Whether the no wiring having between disrepair phenomenon, battery panel components is firm, and it is existing whether the positive and negative wiring of cell panel has aging to gall ground connection
As fixed component loosens abnormal, photovoltaic panel surface dirt situation, and and for example whether inverter heat dissipation exhaust system is normal, show boundary
Whether face is intact etc..
As shown in figure 3, photovoltaic plant and other electromechanical equipments（Such as transformer station, power station）, in order to make an inspection tour inspection equipment fortune
Row state and exception, there is provided making an inspection tour inspection circuit and dwell point.
Traditional electro-mechanical equipment-patrolling inspection system be by related personnel at the appointed time, check circuit row along described tour
Walk, stopped in the dwell point, related personnel with seeing, the approach such as listen, hear, touching judge the running status of electromechanical equipment, and record
On inspection daily record is thin.
Inverter is the most important equipment of photovoltaic plant, and inverter itself configuration smart machine has data-interface,
There is the photovoltaic plant monitoring operational system based on data communication based on inverter.
Present city and countryside dust storm greasy weather gas again and again, especially in the more area of western dust and sand weather, hold by photovoltaic panel
Easy dust stratification, sparrow defecation be also after an important influence factor, dust stratification photovoltaic panel be difficult to self-cleaning, reduce the effect of photovoltaic generation
Rate, while artificial periodic cleaning is organized, domestic and international mechanism has developed photovoltaic panel automatic sweeping machine（With ability of swimming, Waterless）,
Because the several rows of pitch layout's feature of photovoltaic array causes these automatic sweeping machines all only to be transported within row's photovoltaic array
OK.As large-sized photovoltaic power station have 333 row's photovoltaic arrays, if want supporting 330 automatic sweeping machines, such as building roof photovoltaic plant
There are 26 row's photovoltaic arrays then to want supporting 26 automatic sweeping machines.Automatic sweeping machine is bound and is limited in the pattern of row's photovoltaic array
Have much room for improvement.
In more than State Grid Corporation of China 220KV（Including 500KV, 1000KV）Transformer station, because the technical parameter of its own
Index and background is needed, be equipped with Intelligent Mobile Robot and automatic temperature-adjusting infrared imaging especially is carried out to main transformer equipment
Inspection.This kind of Intelligent Mobile Robot mainly highlight walking and contactlass observtion, be not equipped with maintenance mechanical arm and
Carry mobile mechanism.
Centralized Monitoring O＆M, automatic sweeping machine, Intelligent Mobile Robot above based on inverter etc. are all from a side
The technical solution that face is given, but towards whole including electromechanical equipments such as mechanical support, photovoltaic panel, primary equipment, secondary meters
The photovoltaic plant of body, how the intensive correlation technique measure on robot platform so that formed one comprehensively grasp control light
Overhead utility inspection operational system, be at present in the urgent need to just solve the problem of.Although also having some other photovoltaic plants now
Inspection technology, such as publication date are on 01 20th, 2016, in Publication No. CN105263000A Chinese patent, disclose one kind
Large-sized photovoltaic power station inspection device based on UAV system double camera, and for example publication date is 08 month 2016 10 days, Publication No.
In CN105844732A Chinese patent, a kind of photovoltaic plant Multifunction infrared logging is disclosed, but these technologies are also difficult
Effectively to solve the above problems.
The content of the invention
It is an object of the invention to overcome above shortcomings in the prior art, and provide a kind of photovoltaic plant inspection fortune
Tie up system and method, it is intended to stand in the design angle of " oppose information island, oppose function isolated island ", to photovoltaic plant each group
While into part link automatic detecting, electrical equipment is directly contacted, photovoltaic panel dust automatic cleaning pattern is given and optimized,
And with remote center's data interaction, provide technology for the comprehensive automation of photovoltaic plant, the automatic O＆M of unmanned and automatic detecting
Support.
The present invention the used technical scheme that solves the above problems is：The design feature of the photovoltaic plant inspection operational system
It is：Including Universal wheel, car body, elevating lever camera, mechanical arm, carrying mechanism and master controller；
The Universal wheel be installed on the both sides of the car body and per side two or be installed on the car body four while and per while one
Branch, the Universal wheel is guided in light after obtaining inspection line dwell point information through the elevating lever camera by the master controller
Overhead utility advances or retreated along any angle；
The car body carries the elevating lever camera, the robotic arm, the carrying mechanism and the master controller
It is fixedly mounted, battery and walking driver is also installed in the car body；
The elevating lever camera includes elevating lever, lifting rod controller and camera, and the base of elevating lever is fixed on the car
On body；
The robotic arm is four to six automatic lightweight arms, including each manipulator arm joint, the clamper of end and
Motion controller, the first arthrodesis of the robotic arm is arranged on the car body；
The carrying mechanism includes lifting frame, lifting motor, horizontal arm, horizontal arm magnet iron piece and plays hoisting controller, described to remove
Mechanism is transported to be fixedly mounted with the car body by the base of lifting frame；
The master controller be industrial control computer or embedded controller, including serial communication interface, USB communication interface,
RJ45 communication interfaces, WiFi communication interface, Zigbee communication interface, are connected by the walking driver of communication interface and the car body
Connect, be connected by communication interface with the lifting rod controller and camera data-interface of the elevating lever camera, pass through communication
Interface is connected with the motion controller of the robotic arm, is connected by the hoisting controller that rises of communication interface and the carrying mechanism
Connect.
Preferably, Universal wheel of the present invention is Mecanum wheel, Universal wheel radius is more than 100mm, universal car
Wheel can be in level land and less than 30 degree slope walkings.
Preferably, car body of the present invention include girder and compartment, the elevating lever camera, the robotic arm,
The carrying mechanism and the master controller are fixedly mounted on girder；Battery and walking driver are in compartment；Electric power storage
Pond provides power supply to each electric loop；Walking driver electric power loop is connected with the Universal wheel, and walking driver communication connects
Mouth is connected with master controller；As the elevating lever camera shoot picture be transferred to the master controller judge car body residing for position
Put, or judge car body present position after master controller reception GPS Big Dippeves data or master controller reception RFID data.
Preferably, elevating lever of the present invention can make camera drop under 1m and be raised on 2m, the anglec of rotation
Less than 5 degree；In dwell point or rise or fall or rotate, guiding camera photograph photovoltaic plate surface or shoot electrical equipment or
Shoot monitoring device or shoot photovoltaic plate bracing frame.
Preferably, the clamper of robotic arm of the present invention refers to for both hands, each finger independent telescope；Both hands refer to together
When stretch out to form cyclization to operate type switch clockwise or counterclockwise, a finger another finger of retracting is stretched out to operate
Button type switches.
Preferably, the horizontal arm magnet iron piece of carrying mechanism of the present invention be four magnet iron piece cloth be set to square shape shape or
Six magnet iron piece cloth are set to matrix pattern shape, and hoisting controller gives magnetic or extinguishes magnetic by；The carrying mechanism lifts by crane motor
Frame top is lifted by crane installed in carrying mechanism, the horizontal arm or up or down of the carrying mechanism are taken the photograph in lifting machine frame movement by described
As head and the master controller guide adjustment.
Preferably, master controller of the present invention receives camera video information, receive GPS or Big Dipper position data,
Receive RFID data；Master controller provides the car body or walking order or rotation order after data are received or stops life
Order, master controller is by graphical analysis and recognizes destination object, and master controller is operated to robotic arm described in identification goal directed
All kinds of electric switches, master controller guiding car body walking or rotary alignment scavenging machine, master controller guiding carrying mechanism pass through water
Flat arm magnet iron piece holds scavenging machine, and master controller exchanges data by wave point with remote monitoring center.
A kind of photovoltaic plant inspection O＆M method, based on described photovoltaic plant inspection operational system, its feature is：Institute
Stating photovoltaic plant inspection O＆M method is included along inspection line walking workflow；Grope destination object workflow in dwell point；
Carry scavenging machine workflow.
Preferably, of the present invention comprise the following steps along inspection line walking workflow：
（1）When selecting GPS or Beidou navigation walking, walking path and dwell point position data are gathered by hand-held location equipment,
Download to master controller routing database；Master controller guiding car body is walked along path, and is stopped in dwell point；
（2）When selecting vision with FRFID tab-navigations, the white face scribbled on the several rows of photovoltaic panel edge of visual focusing or ground
Color yellow color path, dwell point or with pin bifurcation mark or RFID tag point out；
（3）When selecting magnetic stripe navigation, inspection track laying magnetic stripe, dwell point laying FRFID labels, master controller detection magnetic stripe
Walk and stop with RFID tag.
Grope destination object workflow preferably, of the present invention in dwell point and comprise the following steps：
（1）Item is safeguarded in the inspection of configuration dwell point in advance, indicates this resident point feature such as RFID tag number；
（2）Main controller controls car body rotates and/or control elevating lever, to ensure that camera is directed at subject object；
（3）When subject object is monitoring device, or then directly shooting image or first actuation button activation plant running clap again
Take the photograph；
（4）When it is that photovoltaic panel has dust to judge subject object, carrying automatic sweeping machine flow is transferred to.
Preferably, carrying scavenging machine workflow of the present invention comprises the following steps：
（1）It is to carry automatic sweeping machine to confirm this dwell point destination object；
（2）Master controller rotates car body or control elevating lever to ensure that camera is directed at automatic sweeping machine；
（3）Moving body ensures that the horizontal arm of carrying mechanism aligns with automatic sweeping machine；
（4）The energization of horizontal arm magnet iron piece is given, with adhesive automatic sweeping machine；
（5）Balance Iron is moved to horizontal arm opposite side simultaneously for the lifting upward hoist engine pull-up of motor；
（6）Master controller rotates to leave row's photovoltaic array by car body；
（7）Dwell point of the master controller guiding car body walking to another row's photovoltaic array；
（10）Master controller makes horizontal arm be in another row's photovoltaic array by car body rotation；
（11）The lifting downward elevator of motor is down to another row's photovoltaic array surface；
（12）Allow horizontal arm magnet iron piece to power off, voluntarily worked in another row's photovoltaic array with discharging automatic sweeping machine.
The present invention compared with prior art, with advantages below and effect：Looked into specified dwell point by elevating lever camera
Alignment automatic sweeping machine is looked for, is transported to by carrying mechanism from row's photovoltaic array in another row's photovoltaic array and continues to clean, started
One brand-new photovoltaic panel dust cleaning modes：60-80 row's photovoltaic arrays share a high-quality automatic sweeping machine, revolutionize
Automatic sweeping machine is bundled in the present situation in row's photovoltaic array.By ceaselessly walking, by mechanical arm to mechanical part and electricity
Gas equipment directly operates contact so that the measure that Traditional Man inspection is had a look at, touched, remembering is protected with a kind of new approach
It is left behind, coordinates with Centralized Monitoring operational system of the tradition based on inverter, the present invention is truly realized robot inspection fortune
Dimension substitutes manual inspection O＆M or even the effect more than manual inspection O＆M.The present invention highlights each electrical equipment in itself, therefore
The present invention is more with practical value in large-sized photovoltaic power station and the application of roof photovoltaic power station inspection O＆M.
Brief description of the drawings
Fig. 1 is photovoltaic plant photovoltaic array schematic layout pattern in the prior art.
Fig. 2 is photovoltaic plant part composition schematic diagram in the prior art.
Fig. 3 is inspection circuit dwell point schematic diagram in the prior art.
Fig. 4 is each part main assembly schematic diagram of the invention.
Fig. 5 is that elevating lever camera of the present invention removes the structural representation after camera.
Fig. 6 is robotic arm member holder structural representation of the present invention.
Fig. 7 is that the present invention carries automatic sweeping machine process schematic.
Fig. 8 is carrying mechanism schematic diagram of the present invention.
In figure：1- Universal wheels, 2- car bodies, 3- elevating levers, 4- cameras, 5- manipulator arm joints, 6- clampers, 7- rise
Gantry, 8- horizontal arms magnet iron piece, 9- master controllers, 10- liftings rod controller, 11- riser circuits, 12- decline loop, 13-
The left folder of motion controller, 14-, the right folders of 15-, 16- arms base, 17- lifting motor, 18- horizontal arms, 19- Balance Irons, 20- rise
Hoisting controller.
Embodiment
Below in conjunction with the accompanying drawings and the present invention is described in further detail by embodiment, following examples are to this hair
Bright explanation and the invention is not limited in following examples.
Embodiment.
Manual inspection O＆M lays inspection circuit as shown in Figure 3 and dwell point in live each part as described in Figure 2,
The inspection maintenance work of development regulatory requirements is stopped in dwell point by manually being walked along inspection circuit on time.
The photovoltaic plant inspection operational system of the present invention realizes more additional work(on the basis of manual inspection O＆M is substituted
Energy.Each part main assembly of photovoltaic plant inspection operational system is as shown in figure 4, Fig. 4 includes Universal wheel 1, car body 2, risen
Bar 3, camera 4, manipulator arm joint 5, clamper 6, lifting frame 7, horizontal arm magnet iron piece 8, master controller 9 drop.
Universal wheel 1 is Mecanum wheel, and the radius of Universal wheel 1 is more than 100mm, and Universal wheel 1 on level land and can be less than
30 degree of slope walkings.Universal wheel 1 is installed on the both sides of car body 2 and often side two or is installed on the side of car body 2 four and every
Bian Yizhi；Walking driver is arranged in the car body 2, but walking driver is to receive to come from the order rear-guard of master controller 9
Dynamic Universal wheel 1 is rotated and walked with an angle.More expressed intact is that Universal wheel 1 obtains inspection through the camera 4
The Universal wheel 1 is guided to advance or retreat along any angle in photovoltaic plant by the master controller 9 after line dwell point information.
Car body 2 is rectangular box body structure, and car body 2 includes girder and compartment, and girder is support stressed member, and compartment is rain-proof
Separator, provides the battery of power for present system and drives the walking driver of Universal wheel 1 to be arranged in compartment, and
Elevating lever 3, the robotic arm joint 5, the carrying mechanism and the master controller 9 are fixedly mounted on the girder of car body 2
On, battery provides power supply to each electric loop of present system；Walking driver electric power loop is connected with Universal wheel 1, OK
Driver communication interface is walked to be connected with master controller 9；Picture is shot as camera 4 to be transferred to residing for master controller 9 judges car body 2
Position and lower step walking path, or master controller 9 receive GPS Big Dipper categorical datas and judge that the present position of car body 2 and lower walking are walked
Path, or master controller 9 receive and judge that the present position of car body 2 and lower walking are walked after pre-buried RFID tag data on the ground
Footpath.
As shown in figure 5, elevating lever camera include elevating lever 3, camera 4, lifting rod controller 10, riser circuit 11 and
Decline loop 12.The base of elevating lever 3 is fixed on the girder of car body 2, and elevating lever controller power source comes from the battery of car body 2,
Riser circuit 11 and decline loop 12 are connected with master controller 9, and it is to have cut-off contact true that riser circuit 11, which rises to extreme higher position,
Guarantor does not continue to rise, and declining loop 12 has when dropping to extreme lower position cut-off contact to ensure not continuing to decline, camera 4 with
With elevating lever 3 or up or down, low to dropping under 1m, Gao Zeke is raised on 2m.
Elevating lever 3 is to be in determine height at one when car body 2 is walked along inspection circuit, and elevating lever 3 is at dwell point
Then select or rise or fall to guide camera 4 to photograph photovoltaic plate surface or shoot electrical equipment or shooting monitoring device
Or shoot photovoltaic plate bracing frame etc..
As shown in fig. 6, robotic arm, which is four, arrives six-freedom degree lightweight arm, including each manipulator arm joint 5, end
Clamper 6, motion controller 13, left folder 14, right folder 15 and arm base 16.The arm base 16 of robotic arm is fixedly mounted
On the girder of car body 2, motion controller 13 is connected with master controller 9.The left folder 14 of robotic arm acts shape simultaneously with right folder 15
Finger cyclization in pairs is turned clockwise or reverse finger rotary-type switch with operating.One of the left folder 14 of robotic arm and right folder 15
Single clip is shunk and another single clip is stretched out and then forms single finger with operation button type switch.
Car body 2 is first close to switch object, and then master controller 9 operates each manipulator arm joint by motion controller 13
5 motions so that the proximity switch object of end gripper 6, last master controller 9 operates left folder 14 or right by motion controller 13
Folder 15 completes the once-through operation of switch object.
As shown in fig. 7, present system completes automatic sweeping machine handling process by following steps：
Firstth, automatic sweeping machine is found；
Secondth, carrying mechanism takes automatic sweeping machine in one's arms；
3rd, automatic sweeping machine have left row's photovoltaic array and be on carrying mechanism；
4th, by along path walking to another row's photovoltaic array；
5th, automatic sweeping machine is placed on another row's photovoltaic array by carrying mechanism.
As shown in figure 8, carrying mechanism include lifting frame 7, it is lifting motor 17, horizontal arm 18, horizontal arm magnet iron piece 9, flat
Weigh iron 19 and a hoisting controller 20.Carrying mechanism is fixedly mounted by the base of lifting frame 7 with the car body 2；The carrying mechanism
Horizontal arm magnet iron piece 9 be set to square shape shape by four magnet iron piece cloth or six magnet iron piece cloth are set to matrix pattern shape, controlled by lifting
Device 20 processed gives magnetic or extinguishes magnetic；The lifting motor 17 of carrying mechanism is arranged on the top of lifting frame 7 of carrying mechanism；It is flat
Weigh iron 19 be in horizontal arm 18 one end and horizontal arm magnet iron piece 9 in the other end of horizontal arm 18.
Master controller 9 is installed in the compartment of car body 2.Master controller 9 is industrial control computer or embedded controller, bag
Include serial communication interface, USB communication interface, RJ45 communication interfaces, WiFi communication interface, Zigbee communication interface, master controller 9
It is connected by communication interface with the walking driver of car body 2, master controller 9 passes through communication interface and the lifting rod controller
11 and the connection of the data-interface of camera 4, master controller 9 is connected by communication interface with the mechanical arm motion controller 13,
Master controller 9 plays hoisting controller 20 by communication interface and the carrying mechanism and is connected, and master controller 9 is by electric loop with rising
Drop the riser circuit 11 of bar and decline loop 12 and connect.
Master controller 9 receives the video information of camera 4 or receives GPS Big Dippeves position data or receive RFID tag data；
Master controller 9 assigns navigation command after Various types of data is received to car body 2, allows car body 2 and Universal wheel 1 to walk or according to one
Determine angle movement；Master controller 9 allows camera 4 to find destination object in dwell point by riser circuit 11 and decline loop 12；
Master controller 9 after dwell point finds destination object, master controller 9 by motion controller 13 drive it is left folder 14 and it is right folder 15 with
Operate all kinds of electric switches；Master controller 9 receives and assigns navigation command to car body 2 after Various types of data, allows car body 2 and universal car
Take turns 1 walking or according to certain angle movement to be directed at automatic sweeping machine, master controller 9, which passes through, plays hoisting controller 20 and horizontal arm magnetic
Ironware 9 holds automatic sweeping machine.Master controller 9 exchanges data by wave point with remote monitoring center.
The photovoltaic plant inspection O＆M method of the present invention includes：Along inspection line walking workflow；Grope mesh in dwell point
Mark object workflow；Carry scavenging machine workflow.
The present invention comprises the following steps along inspection line walking workflow：
（1）When selecting GPS or Beidou navigation walking, walking path and dwell point position data are gathered by hand-held location equipment,
Download to the routing database of master controller 9；The guiding car body of master controller 9 is walked along path, and is stopped in dwell point；
（2）When selecting vision with FRFID tab-navigations, the white face scribbled on the several rows of photovoltaic panel edge of visual focusing or ground
Color yellow color path, dwell point or with pin bifurcation mark or RFID tag point out；
（3）When selecting magnetic stripe navigation, inspection track laying magnetic stripe, dwell point laying FRFID labels, the detection magnetic of master controller 9
Bar is walked and stopped with RFID tag.
The present invention gropes destination object workflow in dwell point and comprised the following steps：
（1）Item is safeguarded in the inspection of configuration dwell point in advance, indicates this resident point feature such as RFID tag number；
（2）The control car body 1 of master controller 9 rotates and controls elevating lever 3, to ensure that camera 4 is directed at subject object；
（3）When subject object is monitoring device, or then directly shooting image or first actuation button activation plant running clap again
Take the photograph；
（4）When it is that photovoltaic panel has dust to judge subject object, carrying automatic sweeping machine flow is transferred to.
The carrying scavenging machine workflow of the present invention comprises the following steps：
（1）It is to carry automatic sweeping machine to confirm this dwell point destination object；
（2）Master controller 9 rotates car body 1 or control elevating lever 3 to ensure that camera 4 is directed at automatic sweeping machine；
（3）Moving body 2 ensures that the horizontal arm 18 of carrying mechanism aligns with automatic sweeping machine；
（4）Give horizontal arm magnet iron piece 8 to be powered, with adhesive automatic sweeping machine；
（5）The upward hoist engine pull-up of motor 17 is lifted by crane, while Balance Iron 19 is moved to the opposite side of horizontal arm 18；
（6）Master controller 9 allows car body 2 to rotate to leave row's photovoltaic array；
（7）Another row's photovoltaic array dwell point is arrived in the guiding walking of car body 2 of master controller 9；
（10）Master controller 9 allows car body 2 to rotate and is in another row's photovoltaic array with horizontal arm 18；
（11）The lifting downward elevator of motor 17 is down to another row's photovoltaic array surface；
（12）Allow horizontal arm magnet iron piece 8 to power off, voluntarily worked in another row's photovoltaic array with discharging automatic sweeping machine.
The present invention is a set of intelligence equipment, can walk, have arm, have eyes, can carry, with each portion of each link of photovoltaic plant
Recycling cross between destination object, workflow is safeguarded in position for inspection, is that photovoltaic plant is unattended unattended and entirety is patrolled
Examine O＆M and provide equipment basis, as a result of elementary technological means, high performance-price ratio, especially with application value.
Furthermore, it is necessary to explanation, the specific embodiment described in this specification, is named the shape of its parts and components
Title etc. can be different, and the above content described in this specification is only to structure example explanation of the present invention.It is all according to
The equivalence changes or simple change done according to the construction described in inventional idea of the present invention, feature and principle, are included in this hair
In the protection domain of bright patent.Those skilled in the art can do various to described specific embodiment
The modification of various kinds or supplement or using similar mode substitute, without departing from the present invention structure or surmount present claims
Scope defined in book, all should belong to protection scope of the present invention.
Claims (10)
1. a kind of photovoltaic plant inspection operational system, it is characterised in that：Including Universal wheel, car body, elevating lever camera, machinery
Arm, carrying mechanism and master controller；
The Universal wheel be installed on the both sides of the car body and per side two or be installed on the car body four while and per while one
Branch, the Universal wheel is guided in light after obtaining inspection line dwell point information through the elevating lever camera by the master controller
Overhead utility advances or retreated along any angle；
The car body carries the elevating lever camera, the robotic arm, the carrying mechanism and the master controller
It is fixedly mounted, battery and walking driver is also installed in the car body；
The elevating lever camera includes elevating lever, lifting rod controller and camera, and the base of elevating lever is fixed on the car
On body；
The robotic arm is four to six automatic lightweight arms, including each manipulator arm joint, the clamper of end and
Motion controller, the first arthrodesis of the robotic arm is arranged on the car body；
The carrying mechanism includes lifting frame, lifting motor, horizontal arm, horizontal arm magnet iron piece and plays hoisting controller, described to remove
Mechanism is transported to be fixedly mounted with the car body by the base of lifting frame；
The master controller be industrial control computer or embedded controller, including serial communication interface, USB communication interface,
RJ45 communication interfaces, WiFi communication interface, Zigbee communication interface, are connected by the walking driver of communication interface and the car body
Connect, be connected by communication interface with the lifting rod controller and camera data-interface of the elevating lever camera, pass through communication
Interface is connected with the motion controller of the robotic arm, is connected by the hoisting controller that rises of communication interface and the carrying mechanism
Connect.
2. photovoltaic plant inspection operational system according to claim 1, it is characterised in that：The car body includes girder and car
Railway carriage or compartment, the elevating lever camera, the robotic arm, the carrying mechanism and the master controller are fixedly mounted on girder
On；Battery and walking driver are in compartment；Battery provides power supply to each electric loop；Walking driver electric power loop with
The Universal wheel connection, walking driver communication interface is connected with master controller；Picture is shot by the elevating lever camera
It is transferred to the master controller and judges car body present position, or master controller receives GPS Big Dippeves data or master controller is received
Car body present position is judged after RFID data.
3. photovoltaic plant inspection operational system according to claim 1, it is characterised in that：The elevating lever can make camera
Drop under 1m and be raised on 2m, the anglec of rotation is less than 5 degree；In dwell point or rise or fall or rotate, guiding shooting
Head photographs photovoltaic plate surface or shoots electrical equipment or shoot monitoring device or shoot photovoltaic plate bracing frame.
4. photovoltaic plant inspection operational system according to claim 1, it is characterised in that：The clamper of the robotic arm
Refer to for both hands, each finger independent telescope；Both hands refer to and meanwhile stretch out form cyclization with operate clockwise or counterclockwise type open
Close, a finger retracts the stretching of another finger with operation button type switch.
5. photovoltaic plant inspection operational system according to claim 1, it is characterised in that：The horizontal arm of the carrying mechanism
Magnet iron piece is that four magnet iron piece cloth are set to square shape shape or six magnet iron piece cloth are set to matrix pattern shape, and hoisting controller gives magnetic by
Property or extinguish magnetic；The carrying mechanism lifting motor is arranged on carrying mechanism and lifts by crane frame top, the water of the carrying mechanism
Flat arm or up or down are in lifting machine frame movement by the camera and the master controller guide adjustment.
6. photovoltaic plant inspection operational system according to claim 1, it is characterised in that：The master controller receives shooting
Head video information, receives GPS or Big Dipper position data, receives RFID data；Master controller provides described after data are received
Car body or walking order or rotation order are ceased and desisted order, and master controller is by graphical analysis and recognizes destination object, main control
Device operates all kinds of electric switches to robotic arm described in identification goal directed, and master controller guiding car body walking or rotary alignment are clear
Machine is swept, master controller guides carrying mechanism to hold scavenging machine by horizontal arm magnet iron piece, and master controller is by wave point and far
Range monitoring center exchanges data.
7. a kind of photovoltaic plant inspection O＆M method, based on the photovoltaic plant inspection described in claim 1~6 any claim
Operational system, it is characterised in that：The photovoltaic plant inspection O＆M method is included along inspection line walking workflow；In dwell point
Grope destination object workflow；Carry scavenging machine workflow.
8. photovoltaic plant inspection O＆M method according to claim 7, it is characterised in that：It is described along inspection line walking work
Flow comprises the following steps：
（1）When selecting GPS or Beidou navigation walking, walking path and dwell point position data are gathered by hand-held location equipment,
Download to master controller routing database；Master controller guiding car body is walked along path, and is stopped in dwell point；
（2）When selecting vision with FRFID tab-navigations, the white face scribbled on the several rows of photovoltaic panel edge of visual focusing or ground
Color yellow color path, dwell point or with pin bifurcation mark or RFID tag point out；
（3）When selecting magnetic stripe navigation, inspection track laying magnetic stripe, dwell point laying FRFID labels, master controller detection magnetic stripe
Walk and stop with RFID tag.
9. photovoltaic plant inspection O＆M method according to claim 7, it is characterised in that：It is described to grope target in dwell point
Object workflow comprises the following steps：
（1）Item is safeguarded in the inspection of configuration dwell point in advance, indicates this resident point feature such as RFID tag number；
（2）Main controller controls car body rotates and/or control elevating lever, to ensure that camera is directed at subject object；
（3）When subject object is monitoring device, or then directly shooting image or first actuation button activation plant running clap again
Take the photograph；
（4）When it is that photovoltaic panel has dust to judge subject object, carrying automatic sweeping machine flow is transferred to.
10. photovoltaic plant inspection O＆M method according to claim 7, it is characterised in that：The carrying scavenging machine work
Flow comprises the following steps：
（1）It is to carry automatic sweeping machine to confirm this dwell point destination object；
（2）Master controller rotates car body or control elevating lever to ensure that camera is directed at automatic sweeping machine；
（3）Moving body ensures that the horizontal arm of carrying mechanism aligns with automatic sweeping machine；
（4）The energization of horizontal arm magnet iron piece is given, with adhesive automatic sweeping machine；
（5）Balance Iron is moved to horizontal arm opposite side simultaneously for the lifting upward hoist engine pull-up of motor；
（6）Master controller rotates to leave row's photovoltaic array by car body；
（7）Dwell point of the master controller guiding car body walking to another row's photovoltaic array；
（10）Master controller makes horizontal arm be in another row's photovoltaic array by car body rotation；
（11）The lifting downward elevator of motor is down to another row's photovoltaic array surface；
（12）Allow horizontal arm magnet iron piece to power off, voluntarily worked in another row's photovoltaic array with discharging automatic sweeping machine.
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| CN201611182579.3A CN107065852B (en) | 2016-12-20 | 2016-12-20 | Photovoltaic power station inspection operation and maintenance system and method thereof |
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| CN201611182579.3A CN107065852B (en) | 2016-12-20 | 2016-12-20 | Photovoltaic power station inspection operation and maintenance system and method thereof |
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| CN108657311A (en) * | 2018-04-28 | 2018-10-16 | 万佳妮 | A kind of large-scale ground photovoltaic plant dust cleaning auxiliary system |
| CN109687331A (en) * | 2018-12-29 | 2019-04-26 | 上海南华兰陵电气有限公司 | It is a kind of can autonomous inspection intelligent Prefabricated Cubical Substation |
| CN109803121A (en) * | 2019-01-17 | 2019-05-24 | 北京国金源富科技有限公司 | Automatic collection video equipment and system in Application of Power Metering Instruments quality check process |
| CN111452014A (en) * | 2020-04-16 | 2020-07-28 | 佛山职业技术学院 | Photovoltaic power plant operation and maintenance passageway and photovoltaic power plant |
| CN112764417A (en) * | 2020-12-24 | 2021-05-07 | 浙江中控太阳能技术有限公司 | Mirror field control system and method based on cleaning vehicle |
| CN113363855A (en) * | 2021-07-19 | 2021-09-07 | 河南省新思源电力科学研究院有限公司 | Photovoltaic power station monitoring and management system |
| CN113591034A (en) * | 2021-06-15 | 2021-11-02 | 隆基光伏科技(上海)有限公司 | Method, device, equipment and readable storage medium for determining cleaning interval time |
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| CN109687331A (en) * | 2018-12-29 | 2019-04-26 | 上海南华兰陵电气有限公司 | It is a kind of can autonomous inspection intelligent Prefabricated Cubical Substation |
| CN109803121A (en) * | 2019-01-17 | 2019-05-24 | 北京国金源富科技有限公司 | Automatic collection video equipment and system in Application of Power Metering Instruments quality check process |
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| CN112764417A (en) * | 2020-12-24 | 2021-05-07 | 浙江中控太阳能技术有限公司 | Mirror field control system and method based on cleaning vehicle |
| CN113591034A (en) * | 2021-06-15 | 2021-11-02 | 隆基光伏科技(上海)有限公司 | Method, device, equipment and readable storage medium for determining cleaning interval time |
| CN113363855A (en) * | 2021-07-19 | 2021-09-07 | 河南省新思源电力科学研究院有限公司 | Photovoltaic power station monitoring and management system |
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