CN107065852B - Photovoltaic power station inspection operation and maintenance system and method thereof - Google Patents

Photovoltaic power station inspection operation and maintenance system and method thereof Download PDF

Info

Publication number
CN107065852B
CN107065852B CN201611182579.3A CN201611182579A CN107065852B CN 107065852 B CN107065852 B CN 107065852B CN 201611182579 A CN201611182579 A CN 201611182579A CN 107065852 B CN107065852 B CN 107065852B
Authority
CN
China
Prior art keywords
main controller
vehicle
photovoltaic
lifting rod
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201611182579.3A
Other languages
Chinese (zh)
Other versions
CN107065852A (en
Inventor
周崇波
程雪山
陈飞飞
李旭东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huadian Electric Power Research Institute Co Ltd
Original Assignee
Huadian Electric Power Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huadian Electric Power Research Institute Co Ltd filed Critical Huadian Electric Power Research Institute Co Ltd
Priority to CN201611182579.3A priority Critical patent/CN107065852B/en
Publication of CN107065852A publication Critical patent/CN107065852A/en
Application granted granted Critical
Publication of CN107065852B publication Critical patent/CN107065852B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278Control 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
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02SGENERATION OF ELECTRIC POWER BY CONVERSION OF INFRA-RED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10Cleaning arrangements
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0203Cleaning or polishing vehicle
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy

Abstract

The invention discloses a photovoltaic power station inspection operation and maintenance system and a method thereof. The universal wheels, the lifting rod cameras, the robot arms, the carrying mechanism and the main controller are fixedly mounted on the vehicle body, and the chassis of the vehicle body can walk on the gentle ground or a concrete roof. The universal wheels travel along the inspection line and stay at the staying points; the lifting rod camera is lifted or lowered and rotated at the residence point to align to an observation target, the weak current switch and a button of the field device are operated by a robot arm, and the photovoltaic sweeper is conveyed to another row of photovoltaic panels from one row of photovoltaic panels by the conveying mechanism; the main controller obtains data through a sensing detection and communication interface and controls the data through an application process; the main controller is connected with the remote monitoring center through a wireless communication interface. The invention highlights each electrical device, so the invention has practical value in the routing inspection operation and maintenance application of large photovoltaic power stations and roof photovoltaic power stations.

Description

Photovoltaic power station inspection operation and maintenance system and method thereof
Technical Field
The invention relates to a photovoltaic power station inspection operation and maintenance system and a method thereof, and belongs to the field of electromechanical integrated intelligent equipment.
Background
Photovoltaic power generation is the most prominent form of clean energy (e.g., wind power generation, hydroelectric power generation, biomass power generation, etc.). Photovoltaic power plants must face directly into the sun in open areas. At present, a photovoltaic power station is mainly installed in a coal mine subsidence area, a western desert area, a house roof and wall surface, a lake weir water surface and a hillside and hillock.
In a flat-ground and roof-mounted photovoltaic power plant, as shown in fig. 1, the photovoltaic panels are operated at a certain oblique angle and the photovoltaic panels are kept from being shielded from each other between one row of photovoltaic arrays and the adjacent row of photovoltaic arrays, and therefore, the array spacing between one row of photovoltaic arrays and the adjacent row of photovoltaic arrays is about 910mm to 1000 mm. This is defined as a row-by-row pitch layout of a photovoltaic array. A row of photovoltaic arrays is about 30Kw, a large photovoltaic power station is different among 100 rows of photovoltaic arrays, 500 rows of photovoltaic arrays and 1000 rows of photovoltaic arrays, and a roof photovoltaic power station of a building is different among 10 rows of photovoltaic arrays, 50 rows of photovoltaic arrays and 100 rows of photovoltaic arrays.
As shown in fig. 2, the photovoltaic power station is composed of mechanical electromechanical and electrical devices such as a photovoltaic array, a steel structure support frame, a cable, a bus bar, an inverter, a grid-connected power distribution switch and the like.
Over time, damage, abnormity and faults occur in all links of the photovoltaic power station. If there is the damage phenomenon on battery board subassembly surface, whether the wiring between the battery board subassembly is firm, whether there is ageing wearing and tearing ground connection phenomenon in the positive negative connection of panel, the fixed part is not hard up unusual, photovoltaic panel surface dust condition, if again the inverter heat dissipation exhaust system is normal, the display interface is whether intact etc..
As shown in fig. 3, in order to inspect the operation state and abnormality of the photovoltaic power station and other electromechanical devices (such as a transformer substation and a hydropower station), an inspection line and a residence point are set.
In the traditional inspection system for inspecting the electromechanical equipment, relevant personnel walk along the inspection line at the appointed time, stay at the residence point, judge the running state of the electromechanical equipment by looking, hearing, smelling, touching and the like, and record the running state on an inspection log book.
The inverter is the most important device of the photovoltaic power station, and the inverter is configured with an intelligent device with a data interface, and a photovoltaic power station monitoring operation and maintenance system based on data communication on the basis of the inverter already exists.
At present, in cities and villages, the weather of wind, sand and fog is frequent, particularly in regions with more sand and dust weather in western regions, the photovoltaic panel is easy to accumulate dust, the defecation of birds and sparrows is also an important influence factor, the photovoltaic panel is difficult to self-clean after dust accumulation, the efficiency of photovoltaic power generation is reduced, and when manual regular cleaning is organized, domestic and foreign institutions have developed automatic photovoltaic panel cleaning machines (water-using type and waterless type), and the automatic cleaning machines only operate in one row of photovoltaic arrays due to the arrangement characteristics of the row spacing of the photovoltaic arrays. If a large photovoltaic power station has 333 rows of photovoltaic arrays, 330 automatic cleaning machines are matched, and if a building roof photovoltaic power station has 26 rows of photovoltaic arrays, 26 automatic cleaning machines are matched. The pattern of automatic sweepers binding and confining to a row of photovoltaic arrays is to be improved.
In the transformer substation of more than 220KV (including 500KV and 1000 KV) of the national power grid company, because of the technical parameter indexes and the required background, the transformer substation inspection robot is equipped, and especially the automatic temperature infrared imaging inspection is carried out on main transformer equipment. The inspection robot for the transformer substation mainly highlights walking and non-contact observation, and is not provided with a robot arm for maintenance and a mechanism for carrying and moving.
Like above based on the technical solution that centralized monitoring fortune dimension, automatic scavenging machine, transformer substation patrolled and examined robot etc. of dc-to-ac converter all give from a side, but to including the holistic photovoltaic power plant of electromechanical device such as mechanical support, photovoltaic board, primary equipment, secondary instrument, how to gather together relevant technical measure on the robot platform to form a photovoltaic power plant that holds accuse entirely and patrol fortune dimension system, be the problem that needs just to solve at present. Although there are other photovoltaic power station inspection technologies, such as a large photovoltaic power station inspection device based on an unmanned airborne dual camera disclosed in chinese patent publication No. CN105263000A with publication No. 20/01/2016, and a multifunctional infrared inspection instrument for photovoltaic power stations disclosed in chinese patent publication No. CN105844732A with publication No. 10/2016, these technologies are difficult to solve the above problems.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a photovoltaic power station inspection operation and maintenance system and a method thereof, aiming at standing at a design angle of resisting information islands and resisting functional islands, automatically inspecting each component link of a photovoltaic power station, simultaneously directly contacting electrical equipment, optimizing an automatic dust cleaning mode of a photovoltaic panel, interacting with remote central data, and providing technical support for comprehensive automation, unmanned and automatic inspection automatic operation and maintenance of the photovoltaic power station.
The technical scheme adopted by the invention for solving the problems is as follows: this photovoltaic power plant patrols and examines operation and maintenance system's structural feature lies in: the device comprises universal wheels, a vehicle body, a lifting rod camera, a robot arm, a carrying mechanism and a main controller;
the universal wheels are mounted on two sides of the vehicle body, two universal wheels are mounted on each side, or the universal wheels are mounted on four sides of the vehicle body, one universal wheel is mounted on each side, and the main controller guides the universal wheels to move forwards or backwards at any angle in the photovoltaic power station after the information of the stay points of the routing inspection lines is obtained through the lifting rod cameras;
the vehicle body bears the fixed installation of the lifting rod camera, the robot arm, the carrying mechanism and the main controller, and a storage battery and a walking driver are also installed in the vehicle body;
the lifting rod camera comprises a lifting rod, a lifting rod controller and a camera, and a base of the lifting rod is fixed on the vehicle body;
the robot arm is four to six automatic light arms and comprises various robot arm joints, a tail end clamp holder and a motion controller, and a first joint of the robot arm is fixedly arranged on the vehicle body;
the carrying mechanism comprises a hoisting frame, a hoisting motor, a horizontal arm magnet piece and a hoisting controller, and is fixedly installed with the vehicle body by a base of the hoisting frame;
the main controller is an industrial control computer or an embedded controller and comprises a serial communication interface, a USB communication interface, an RJ45 communication interface, a WiFi communication interface and a Zigbee communication interface, the main controller is connected with the walking driver of the vehicle body through the communication interface, is connected with the lifting rod controller and the camera data interface of the lifting rod camera through the communication interface, is connected with the motion controller of the robot arm through the communication interface, and is connected with the lifting controller of the carrying mechanism through the communication interface.
Preferably, the universal wheel is a Mecanum wheel, the radius of the universal wheel is larger than 100mm, and the universal wheel can walk on a flat ground and a slope smaller than 30 degrees.
Preferably, the vehicle body comprises a main beam and a carriage, and the lifting rod camera, the robot arm, the carrying mechanism and the main controller are all fixedly arranged on the main beam; the storage battery and the walking driver are arranged in the carriage; the storage battery provides power supply for each electric loop; the power supply loop of the walking driver is connected with the universal wheels, and the communication interface of the walking driver is connected with the main controller; the lifting rod camera shoots pictures and transmits the pictures to the main controller to judge the position of the vehicle body, or the main controller receives GPS Beidou data, or the main controller receives RFID data and then judges the position of the vehicle body.
Preferably, the lifting rod can enable the camera to descend below 1m and ascend above 2m, and the rotating angle is less than 5 degrees; and at the residence point, ascending or descending or rotating, the camera is guided to shoot the surface of the photovoltaic panel, or shoot electrical equipment, or shoot a monitoring instrument, or shoot a photovoltaic panel support frame.
Preferably, the gripper of the robot arm is provided with two fingers, and each finger independently stretches and contracts; two fingers are simultaneously extended to form a closed loop to operate a clockwise or counterclockwise rotary type switch, and one finger is retracted and the other finger is extended to operate a push button type switch.
Preferably, the horizontal arm magnet pieces of the carrying mechanism are four magnet pieces arranged in a square shape or six magnet pieces arranged in a field shape, and the lifting controller gives magnetism or extinguishes magnetism; the carrying mechanism hoisting motor is arranged at the top of the carrying mechanism hoisting frame, and the horizontal arm of the carrying mechanism moves on the hoisting frame up or down and is guided and adjusted by the camera and the main controller.
Preferably, the master controller receives video information of a camera, receives GPS or Beidou position data and receives RFID data; the main controller gives the vehicle body or the walking command or the rotating command or the stopping command after receiving the data, the main controller identifies a target object through image analysis, the main controller guides the identification target to operate various electrical switches of the robot arm, the main controller guides the vehicle body to walk or rotate to align the sweeper, the main controller guides the carrying mechanism to suck the sweeper through the horizontal arm magnet piece, and the main controller exchanges data with the remote monitoring center through a wireless interface.
A photovoltaic power station inspection operation and maintenance method is based on the photovoltaic power station inspection operation and maintenance system and is characterized in that: the photovoltaic power station inspection operation and maintenance method comprises the following working process of walking along an inspection line; searching a target object workflow at a resident point; and carrying the working process of the sweeper.
Preferably, the work flow of walking along the inspection line comprises the following steps:
(1) when a GPS or Beidou navigation system is selected to walk, the handheld positioning equipment collects data of a walking path and a staying point position and downloads the data to a path database of the main controller; the main controller guides the vehicle body to walk along the path and stop at the residence point;
(2) when the vision and RFID label navigation is selected, the vision focuses on a white-color yellow-color path painted on the edge of a row of photovoltaic panels or the ground, and a staying point or a sole mark or an RFID label prompt;
(3) when magnetic stripe navigation is selected, the routing inspection line is laid with magnetic stripes, the residence point is laid with RFID labels, and the main controller detects the walking and residence of the magnetic stripes and the RFID labels.
Preferably, the workflow of searching for the target object at the residence point comprises the following steps:
(1) configuring a routing inspection maintenance item of a residence point in advance, and indicating the characteristics of the residence point such as an RFID label number;
(2) the main controller controls the vehicle body to rotate and/or controls the lifting rod so as to ensure that the camera is aligned with the target;
(3) when the object is a monitoring instrument, the image is directly shot or a button activating device is firstly touched to operate and then shot;
(4) and when the photovoltaic panel is judged to have dust as the target, the process of carrying the automatic sweeper is carried out.
Preferably, the work flow of the conveying sweeper comprises the following steps:
(1) confirming that the resident point target object is a conveying automatic cleaning machine;
(2) the main controller rotates the vehicle body or controls the lifting rod to ensure that the camera is aligned with the automatic sweeper;
(3) moving the vehicle body to ensure that the horizontal arm of the carrying mechanism is aligned with the automatic sweeper;
(4) energizing the horizontal arm magnet piece to attract the automatic cleaning machine;
(5) the hoisting motor is pulled up to the winch, and the balance iron moves to the other side of the horizontal arm;
(6) the main controller enables the vehicle body to rotate to leave the row of photovoltaic arrays;
(7) the main controller guides the vehicle body to travel to the residence point of the other row of photovoltaic arrays;
(8) the main controller enables the vehicle body to rotate to enable the horizontal arm to be positioned in the other row of photovoltaic arrays;
(9) the hoisting motor hoists downwards to the surface of the other row of photovoltaic arrays;
(10) and the horizontal arm magnet piece is powered off to release the automatic sweeper to work on the other row of photovoltaic arrays.
Compared with the prior art, the invention has the following advantages and effects: the automatic sweeper is searched and aligned by the lifting rod camera at the appointed staying point, and is carried to another row of photovoltaic arrays from one row of photovoltaic arrays by the carrying mechanism to be continuously cleaned, so that a brand-new photovoltaic panel dust cleaning mode is created: 60-80 rows of photovoltaic arrays share one high-quality automatic sweeper, and the current situation that the automatic sweeper is bound in one row of photovoltaic arrays is thoroughly changed. The robot system has the advantages that the robot arm directly operates and contacts mechanical parts and electrical equipment through continuous walking, so that the measures of seeing, touching and recording in the traditional manual inspection are reserved in a new way, and the robot system is matched with the traditional inverter-based centralized monitoring operation and maintenance system, so that the effects that the robot inspection operation and maintenance replaces the manual inspection operation and maintenance and even exceeds the manual inspection operation and maintenance are really realized. The invention highlights each electrical equipment, so the invention has more practical value in the routing inspection operation and maintenance application of large photovoltaic power stations and roof photovoltaic power stations.
Drawings
Fig. 1 is a schematic diagram of a photovoltaic array layout of a photovoltaic power station in the prior art.
FIG. 2 is a schematic diagram of the components of a photovoltaic power plant of the prior art.
Fig. 3 is a schematic diagram of a patrol line residence point in the prior art.
Fig. 4 is a schematic diagram of the general components of the present invention.
Fig. 5 is a schematic structural view of the lifter camera of the present invention with the camera removed.
FIG. 6 is a schematic view of the gripper arrangement of the robot arm part of the present invention.
FIG. 7 is a schematic view of the handling mechanism of the present invention.
In the figure: the robot comprises a universal wheel 1, a vehicle body 2, a lifting rod 3, a camera 4, a robot arm joint 5, a gripper 6, a lifting frame 7, a horizontal arm magnet 8, a main controller 9, a lifting rod controller 10, an ascending loop 11, a descending loop 12, a motion controller 13, a left clamp 14, a right clamp 15, an arm base 16, a lifting motor 17, a horizontal arm 18, a balance iron 19 and a lifting controller 20.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
Examples are given.
The manual inspection operation and maintenance is carried out on each part on the site as shown in fig. 2, an inspection line and a residence point as shown in fig. 3 are arranged, and the manual inspection operation and maintenance work is carried out by walking along the inspection line at the residence point on time to perform the inspection operation and maintenance work required by the development regulations.
The photovoltaic power station inspection operation and maintenance system disclosed by the invention realizes more additional functions on the basis of replacing manual inspection operation and maintenance. Each part of photovoltaic power plant patrols and examines fortune dimension system is generally constituteed as shown in fig. 4, including universal wheel 1, automobile body 2, lifter 3, camera 4, robotic arm joint 5, holder 6, crane frame 7, horizontal arm magnet piece 8, main control unit 9 in fig. 4.
The universal wheel 1 is a Mecanum wheel, the radius of the universal wheel 1 is larger than 100mm, and the universal wheel 1 can walk on the flat ground and a slope smaller than 30 degrees. The universal wheels 1 are arranged on two sides of the vehicle body 2, two universal wheels are arranged on each side, or the universal wheels are arranged on four sides of the vehicle body 2, and one universal wheel is arranged on each side; the walking driver is arranged in the vehicle body 2, but the walking driver drives the universal wheels 1 to rotate at an angle and walk after receiving a command from the main controller 9. More for complete expression is that universal wheel 1 passes through camera 4 obtains to patrol and examine line stay point information after by main controller 9 guides universal wheel 1 advances or retreats along arbitrary angle at photovoltaic power plant.
The vehicle body 2 is a rectangular box structure, the vehicle body 2 comprises a main beam and a carriage, the main beam is a supporting stress part, the carriage is a rainproof isolation part, a storage battery for providing power for the system of the invention and a walking driver for driving the universal wheels 1 are arranged in the carriage, the lifting rod 3, the robot arm joint 5, the carrying mechanism and the main controller 9 are all fixedly arranged on the main beam of the vehicle body 2, and the storage battery provides power for each electric loop of the system of the invention; the power supply loop of the walking driver is connected with the universal wheel 1, and the communication interface of the walking driver is connected with the main controller 9; the camera 4 shoots pictures and transmits the pictures to the main controller 9 to judge the position and the next walking path of the vehicle body 2, or the main controller 9 receives GPS Beidou type data to judge the position and the next walking path of the vehicle body 2, or the main controller 9 receives the data of the RFID tags embedded on the ground and then judges the position and the next walking path of the vehicle body 2.
As shown in fig. 5, the lifter camera includes a lifter 3, a camera 4, a lifter controller 10, an ascending circuit 11, and a descending circuit 12. The base of the lifting rod 3 is fixed on a main beam of the vehicle body 2, the power supply of the lifting rod controller comes from a storage battery of the vehicle body 2, the ascending loop 11 and the descending loop 12 are connected with the main controller 9, the ascending loop 11 ascends to the highest position and is provided with a stop contact to ensure that the ascending is not continued, the descending loop 12 descends to the lowest position and is provided with a stop contact to ensure that the descending is not continued, the camera 4 follows the lifting rod 3 or goes up or down and is descended to below 1m, and the camera 4 ascends to above 2 m.
The lifting rod 3 is located at a determined height when the vehicle body 2 walks along the routing inspection line, and the lifting rod 3 is selected or ascended or descended at a dwell point so as to guide the camera 4 to shoot the surface of the photovoltaic panel or shoot electrical equipment or shoot a monitoring instrument or shoot a photovoltaic panel support frame and the like.
As shown in fig. 6, the robot arm is a four to six degree of freedom lightweight arm, including each robot arm joint 5, a gripper 6 at the end, a motion controller 13, a left gripper 14, a right gripper 15, and an arm base 16. An arm base 16 of the robot arm is fixedly arranged on a main beam of the vehicle body 2, and the motion controller 13 is connected with the main controller 9. The left clamp 14 and the right clamp 15 of the robot arm simultaneously act to form a double-finger loop to operate a clockwise rotation or reverse-pointer rotation type switch. One of the left and right grips 14, 15 of the robot arm is retracted and the other grip is extended to form a single finger to operate a push button type switch.
The vehicle body 2 first approaches the switch object, then the main controller 9 operates each robot arm joint 5 to move through the motion controller 13 so that the end gripper 6 approaches the switch object, and finally the main controller 9 operates the left clamp 14 or the right clamp 15 through the motion controller 13 to complete one operation of the switch object.
The system of the invention completes the carrying process of the automatic sweeper through the following steps:
firstly, finding an automatic sweeper;
secondly, the carrying mechanism holds the automatic sweeper;
thirdly, the automatic cleaning machine leaves a row of photovoltaic arrays and is positioned on the carrying mechanism;
fourthly, walking to the side of the other row of photovoltaic arrays along the path;
and fifthly, placing the automatic sweeper on the other row of photovoltaic arrays by the carrying mechanism.
As shown in fig. 7, the carrying mechanism includes a crane frame 7, a crane motor 17, a horizontal arm 18, a horizontal arm magnet piece 9, a balance iron 19, and a crane controller 20. The carrying mechanism is fixedly arranged on the vehicle body 2 by a base of the lifting frame 7; the horizontal arm magnet pieces 9 of the carrying mechanism are arranged in a square shape by four magnet pieces or in a field shape by six magnet pieces, and are magnetized or extinguished by the hoisting controller 20; a hoisting motor 17 of the conveying mechanism is arranged at the top of the hoisting frame 7 of the conveying mechanism; the balance iron 19 is at one end of the horizontal arm 18 and the horizontal arm magnet piece 9 is at the other end of the horizontal arm 18.
The main controller 9 is installed in the cabin of the vehicle body 2. The main controller 9 is an industrial control computer or an embedded controller, and includes a serial communication interface, a USB communication interface, an RJ45 communication interface, a WiFi communication interface, and a Zigbee communication interface, the main controller 9 is connected to the vehicle body 2 walking driver through the communication interface, the main controller 9 is connected to the lifter controller 11 and the data interface of the camera 4 through the communication interface, the main controller 9 is connected to the robot arm motion controller 13 through the communication interface, the main controller 9 is connected to the carrying mechanism lifting controller 20 through the communication interface, and the main controller 9 is connected to the ascending loop 11 and the descending loop 12 of the lifter through an electrical loop.
The main controller 9 receives video information of the camera 4 or GPS Beidou position data or RFID label data; the main controller 9 issues a navigation command to the vehicle body 2 after receiving various data, so that the vehicle body 2 and the universal wheels 1 walk or move according to a certain angle; the main controller 9 enables the camera 4 to find a target object through the ascending loop 11 and the descending loop 12 at the dwell point; after the main controller 9 finds the target object at the stay point, the main controller 9 drives the left clip 14 and the right clip 15 through the motion controller 13 to operate various electrical switches; the main controller 9 receives various data and then gives a navigation command to the vehicle body 2, the vehicle body 2 and the universal wheels 1 are enabled to walk or move according to a certain angle to align the automatic cleaning machine, and the main controller 9 sucks the automatic cleaning machine through the lifting controller 20 and the horizontal arm magnet piece 9. The main controller 9 exchanges data with a remote monitoring center through a wireless interface.
The photovoltaic power station inspection operation and maintenance method comprises the following steps: walking the working process along the inspection line; searching a target object workflow at a resident point; and carrying the working process of the sweeper.
The walking work flow along the inspection line comprises the following steps:
(1) when a GPS or Beidou navigation system is selected for walking, the handheld positioning equipment collects data of a walking path and a staying point position, and downloads the data to a path database of the main controller 9; the main controller 9 guides the vehicle body to travel along the path and stop at the residence point;
(2) when the vision and RFID label navigation is selected, the vision focuses on a white-color yellow-color path painted on the edge of a row of photovoltaic panels or the ground, and a staying point or a sole mark or an RFID label prompt;
(3) when magnetic stripe navigation is selected, a routing inspection line is laid with magnetic stripes, a residence point is laid with RFID labels, and the main controller 9 detects the walking and residence of the magnetic stripes and the RFID labels.
The work flow of searching the target object at the resident point comprises the following steps:
(1) configuring a routing inspection maintenance item of a residence point in advance, and indicating the characteristics of the residence point such as an RFID label number;
(2) the main controller 9 controls the vehicle body 1 to rotate and controls the lifting rod 3 to ensure that the camera 4 is aligned with the target;
(3) when the object is a monitoring instrument, the image is directly shot or a button activating device is firstly touched to operate and then shot;
(4) and when the photovoltaic panel is judged to have dust as the target, the process of carrying the automatic sweeper is carried out.
The working process of the conveying sweeper comprises the following steps:
(1) confirming that the resident point target object is a conveying automatic cleaning machine;
(2) the main controller 9 rotates the vehicle body 1 or controls the lifting rod 3 to ensure that the camera 4 is aligned with the automatic sweeper;
(3) moving the vehicle body 2 ensures that the horizontal arm 18 of the handling mechanism is aligned with the automatic sweeper;
(4) energizing the horizontal arm magnet piece 8 to attract the automatic cleaning machine;
(5) the hoisting motor 17 is pulled up to the hoisting machine, and simultaneously the balance iron 19 moves to the other side of the horizontal arm 18;
(6) the main controller 9 rotates the car body 2 to leave a row of photovoltaic arrays;
(7) the main controller 9 guides the vehicle body 2 to walk to the other row of photovoltaic array residence points;
(8) the main controller 9 rotates the car body 2 to make the horizontal arm 18 in the other row of photovoltaic arrays;
(9) the hoisting motor 17 hoists downwards to the surface of the other row of photovoltaic arrays;
(10) the horizontal arm magnet 8 is powered off to release the automatic sweeper to work on the other row of photovoltaic arrays.
The intelligent equipment can be moved, has arms and eyes, can be carried, takes each part of each link of the photovoltaic power station as a target object for inspection and maintenance, and circularly crosses the working flows, thereby providing an equipment foundation for unattended operation and integral inspection and maintenance of the photovoltaic power station.
In addition, it should be noted that the specific embodiments described in the present specification may be different in the components, the shapes of the components, the names of the components, and the like, and the above description is only an illustration of the structure of the present invention. Equivalent or simple changes in the structure, characteristics and principles of the invention are included in the protection scope of the patent. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims (8)

1. The utility model provides a photovoltaic power plant patrols and examines operation and maintenance system which characterized in that: the device comprises universal wheels, a vehicle body, a lifting rod camera, a robot arm, a carrying mechanism and a main controller;
the universal wheels are mounted on two sides of the vehicle body, two universal wheels are mounted on each side, or the universal wheels are mounted on four sides of the vehicle body, one universal wheel is mounted on each side, and the main controller guides the universal wheels to move forwards or backwards at any angle in the photovoltaic power station after the information of the stay points of the routing inspection lines is obtained through the lifting rod cameras;
the vehicle body bears the fixed installation of the lifting rod camera, the robot arm, the carrying mechanism and the main controller, and a storage battery and a walking driver are also installed in the vehicle body;
the lifting rod camera comprises a lifting rod, a lifting rod controller and a camera, and a base of the lifting rod is fixed on the vehicle body;
the robot arm is four to six automatic light arms and comprises various robot arm joints, a tail end clamp holder and a motion controller, and a first joint of the robot arm is fixedly arranged on the vehicle body;
the carrying mechanism comprises a hoisting frame, a hoisting motor, a horizontal arm magnet piece and a hoisting controller, and is fixedly installed with the vehicle body by a base of the hoisting frame;
the main controller is an industrial control computer or an embedded controller, comprises a serial communication interface, a USB communication interface, an RJ45 communication interface, a WiFi communication interface and a Zigbee communication interface, is connected with a walking driver of the vehicle body through the communication interface, is connected with a lifting rod controller and a camera data interface of the lifting rod camera through the communication interface, is connected with a motion controller of the robot arm through the communication interface, and is connected with a lifting controller of the carrying mechanism through the communication interface;
the vehicle body comprises a main beam and a carriage, and the lifting rod camera, the robot arm, the carrying mechanism and the main controller are all fixedly arranged on the main beam; the storage battery and the walking driver are arranged in the carriage; the storage battery provides power supply for each electric loop; the power supply loop of the walking driver is connected with the universal wheels, and the communication interface of the walking driver is connected with the main controller; the lifting rod camera shoots pictures and transmits the pictures to the main controller to judge the position of the vehicle body, or the main controller receives GPS Beidou data, or the main controller receives RFID data and then judges the position of the vehicle body;
the master controller receives video information of the camera, GPS or Beidou position data and RFID data; the main controller gives a vehicle body or walking command or rotating command or stopping command after receiving the data, the main controller analyzes and identifies a target object through images, the main controller guides the robot arm to operate various electrical switches for the identified target, the main controller guides the vehicle body to walk or rotate to align the sweeper, the main controller guides the carrying mechanism to suck the sweeper through a horizontal arm magnet piece, and the main controller exchanges data with a remote monitoring center through a wireless interface;
searching and aligning the automatic sweeper at the appointed residence point by a lifting rod camera, and carrying the sweeper from one row of photovoltaic arrays to the other row of photovoltaic arrays by a carrying mechanism to continue sweeping; the mechanical parts and the electrical equipment are directly operated and contacted by the robot arm through continuous walking.
2. The photovoltaic power plant inspection operation and maintenance system according to claim 1, characterized in that: the lifting rod can enable the camera to fall below 1m and rise above 2m, and the rotating angle is less than 5 degrees; and at the residence point, ascending or descending or rotating, the camera is guided to shoot the surface of the photovoltaic panel, or shoot electrical equipment, or shoot a monitoring instrument, or shoot a photovoltaic panel support frame.
3. The photovoltaic power plant inspection operation and maintenance system according to claim 1, characterized in that: the gripper of the robot arm is provided with two fingers, and each finger independently stretches and retracts; two fingers are simultaneously extended to form a closed loop to operate a clockwise or counterclockwise rotary type switch, and one finger is retracted and the other finger is extended to operate a push button type switch.
4. The photovoltaic power plant inspection operation and maintenance system according to claim 1, characterized in that: the horizontal arm magnet pieces of the carrying mechanism are four magnet pieces arranged in a square shape or six magnet pieces arranged in a field shape, and the lifting controller gives magnetism or extinguishes magnetism; the carrying mechanism hoisting motor is arranged at the top of the carrying mechanism hoisting frame, and the horizontal arm of the carrying mechanism moves on the hoisting frame up or down and is guided and adjusted by the camera and the main controller.
5. An inspection operation and maintenance method for a photovoltaic power station is based on the inspection operation and maintenance system for the photovoltaic power station of any claim of claims 1 to 4, and is characterized in that: the photovoltaic power station inspection operation and maintenance method comprises the following working process of walking along an inspection line; searching a target object workflow at a resident point; and carrying the working process of the sweeper.
6. The photovoltaic power station inspection operation and maintenance method according to claim 5, characterized in that: the working process of walking along the inspection line comprises the following steps:
(1) when a GPS or Beidou navigation system is selected to walk, the handheld positioning equipment collects data of a walking path and a staying point position and downloads the data to a path database of the main controller; the main controller guides the vehicle body to walk along the path and stop at the residence point;
(2) when the vision and RFID label navigation is selected, the vision focuses on a white-color yellow-color path painted on the edge of a row of photovoltaic panels or the ground, and a staying point or a sole mark or an RFID label prompt;
(3) when magnetic stripe navigation is selected, the routing inspection line is laid with magnetic stripes, the residence point is laid with RFID labels, and the main controller detects the walking and residence of the magnetic stripes and the RFID labels.
7. The photovoltaic power station inspection operation and maintenance method according to claim 5, characterized in that: the workflow of searching the target object at the resident point comprises the following steps:
(1) configuring a routing inspection maintenance item of a residence point in advance and indicating the characteristics of the residence point;
(2) the main controller controls the vehicle body to rotate and/or controls the lifting rod so as to ensure that the camera is aligned with the target;
(3) when the object is a monitoring instrument, the image is directly shot or a button activating device is firstly touched to operate and then shot;
(4) and when the photovoltaic panel is judged to have dust as the target, the process of carrying the automatic sweeper is carried out.
8. The photovoltaic power station inspection operation and maintenance method according to claim 5, characterized in that: the working process of the carrying sweeper comprises the following steps:
(1) confirming that the resident point target object is a conveying automatic cleaning machine;
(2) the main controller rotates the vehicle body or controls the lifting rod to ensure that the camera is aligned with the automatic sweeper;
(3) moving the vehicle body to ensure that the horizontal arm of the carrying mechanism is aligned with the automatic sweeper;
(4) energizing the horizontal arm magnet piece to attract the automatic cleaning machine;
(5) the hoisting motor is pulled up to the winch, and the balance iron moves to the other side of the horizontal arm;
(6) the main controller enables the vehicle body to rotate to leave the row of photovoltaic arrays;
(7) the main controller guides the vehicle body to travel to the residence point of the other row of photovoltaic arrays;
(8) the main controller enables the vehicle body to rotate to enable the horizontal arm to be positioned in the other row of photovoltaic arrays;
(9) the hoisting motor hoists downwards to the surface of the other row of photovoltaic arrays;
(10) and the horizontal arm magnet piece is powered off to release the automatic sweeper to work on the other row of photovoltaic arrays.
CN201611182579.3A 2016-12-20 2016-12-20 Photovoltaic power station inspection operation and maintenance system and method thereof Active CN107065852B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611182579.3A CN107065852B (en) 2016-12-20 2016-12-20 Photovoltaic power station inspection operation and maintenance system and method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611182579.3A CN107065852B (en) 2016-12-20 2016-12-20 Photovoltaic power station inspection operation and maintenance system and method thereof

Publications (2)

Publication Number Publication Date
CN107065852A CN107065852A (en) 2017-08-18
CN107065852B true CN107065852B (en) 2020-08-25

Family

ID=59618794

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611182579.3A Active CN107065852B (en) 2016-12-20 2016-12-20 Photovoltaic power station inspection operation and maintenance system and method thereof

Country Status (1)

Country Link
CN (1) CN107065852B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN109803121B (en) * 2019-01-17 2021-02-09 北京国金源富科技有限公司 Automatic video acquisition device and system in quality inspection process of electric power metering equipment

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015150529A1 (en) * 2014-04-03 2015-10-08 Pardell Ricard Agcfds: automated glass cleaning flying drone system
FR3022360B1 (en) * 2015-03-12 2016-09-09 Constructions Ind De La Mediterranee Cnim DEVICE AND METHOD FOR FREELY TRANSPORTING AND POSITIONING A CLEANING ROBOT SUCCESSIVELY WITH MIRROR LINES OF A SOLAR INSTALLATION
KR101676728B1 (en) * 2015-06-25 2016-11-16 선문대학교 산학협력단 Large scale- solar cell cleaning robot for preventing snow accumulation tracking on rail of solar cell

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201849910U (en) * 2010-10-08 2011-06-01 李信 Automatic carrying vehicle
CN202164022U (en) * 2011-05-13 2012-03-14 陈铁光 Novel invertible electromagnetic device for permanent magnetic attraction lifter
CN204913887U (en) * 2015-09-11 2015-12-30 国网安徽省电力公司检修公司 Unattended substation indoor tour of protection and reconnaissance robot
CN105881522B (en) * 2016-03-10 2018-10-02 济南大学 Material carrying machine arm configuration and mobile kitchen transfer robot with it
CN106227215A (en) * 2016-08-31 2016-12-14 宁波易拓智谱机器人有限公司 Robot automatic photovoltaic module purging system and cleaning method thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015150529A1 (en) * 2014-04-03 2015-10-08 Pardell Ricard Agcfds: automated glass cleaning flying drone system
FR3022360B1 (en) * 2015-03-12 2016-09-09 Constructions Ind De La Mediterranee Cnim DEVICE AND METHOD FOR FREELY TRANSPORTING AND POSITIONING A CLEANING ROBOT SUCCESSIVELY WITH MIRROR LINES OF A SOLAR INSTALLATION
KR101676728B1 (en) * 2015-06-25 2016-11-16 선문대학교 산학협력단 Large scale- solar cell cleaning robot for preventing snow accumulation tracking on rail of solar cell

Also Published As

Publication number Publication date
CN107065852A (en) 2017-08-18

Similar Documents

Publication Publication Date Title
CN105835063B (en) Crusing robot system and its method for inspecting in a kind of substation room
CN107065852B (en) Photovoltaic power station inspection operation and maintenance system and method thereof
US10591927B2 (en) Smart mobile detection platform for greenhouse
CN202471867U (en) Automatic substation equipment online detection device
CN201989147U (en) Inspection robot for cable tunnel
CN105149253A (en) Solar cell panel cleaning device and system
CN103605365B (en) The entire roboticized work method that substation equipment filth is patrolled and examined, judges and cleaned
CN105856186A (en) Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof
CN103296753B (en) Monitoring system for photovoltaic power station
CN107650124A (en) A kind of robot for high-voltage hot-line work aerial work platform and its method for unloading gold utensil screw
CN206541195U (en) Navigation system for solar panel sweeping robot
CN104340185B (en) Intensive accumulator charging and replacing station for electric vehicles
CN207731154U (en) A kind of solar panel sweeping robot docking system
CN206521630U (en) A kind of intelligent Outdoor clothes airing rack based on solar energy shrinks control system
CN203311234U (en) Monitoring system for photovoltaic power station
CN109773800A (en) A kind of photovoltaic battery panel cleaning system
CN107287991A (en) Utilize the component installation method and unmanned plane and cradle of BIM combination Quick Response Codes
CN109494617B (en) Obstacle clearing inspection robot and obstacle clearing method thereof
CN208986892U (en) A kind of photovoltaic module cleaning device that can be entered a new line automatically
CN107895981B (en) Online cruising method of cleaning machine applied to photovoltaic array
CN106272336A (en) A kind of intelligent cleaning robot device for photovoltaic battery panel group and the localization method of cleaning robot
CN106354133B (en) Maintenance system and maintenance method for solar cell panel
CN109591906B (en) Control system and control method for transmission tower climbing robot
CN207588792U (en) Photovoltaic power station automatic cleaning and monitoring system
CN203381604U (en) Electric vehicle intensive type battery charging and replacing station

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20200723

Address after: Hangzhou City, Zhejiang Province, 310030 Xihu District science and Technology Park of West Lake Park Road, No. 10

Applicant after: HUADIAN ELECTRIC POWER RESEARCH INSTITUTE Co.,Ltd.

Address before: Hangzhou City, Zhejiang province 310030 Xihu District three Town Xiyuan Road No. 10

Applicant before: HANGZHOU HUADIAN SHUANGGUAN ENERGY TECHNOLOGY Co.,Ltd.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant