CN107876469A - Photovoltaic cleaning equipment and its control method - Google Patents

Photovoltaic cleaning equipment and its control method Download PDF

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Publication number
CN107876469A
CN107876469A CN201711106225.5A CN201711106225A CN107876469A CN 107876469 A CN107876469 A CN 107876469A CN 201711106225 A CN201711106225 A CN 201711106225A CN 107876469 A CN107876469 A CN 107876469A
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CN
China
Prior art keywords
round brush
module
traveling
photovoltaic
control module
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.)
Granted
Application number
CN201711106225.5A
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Chinese (zh)
Other versions
CN107876469B (en
Inventor
王丰东
王明海
丁辉
刘恒
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CRRC Qingdao Sifang Rolling Stock Research Institute Co Ltd
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CRRC Qingdao Sifang Rolling Stock Research Institute Co Ltd
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Priority to CN201711106225.5A priority Critical patent/CN107876469B/en
Publication of CN107876469A publication Critical patent/CN107876469A/en
Application granted granted Critical
Publication of CN107876469B publication Critical patent/CN107876469B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/04Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/001Cleaning by methods involving the use of tools, brushes, or analogous members characterised by the type of cleaning tool
    • B08B1/002Brushes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00Accessories or details of general applicability for machines or apparatus for cleaning
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • 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
    • 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 present invention proposes a kind of photovoltaic cleaning equipment and its control method, including photovoltaic module and the photovoltaic clearing apparatus for being cleaned to the photovoltaic module, the photovoltaic clearing apparatus includes framework, round brush, travelling wheel and automatic control system, the framework both ends further respectively have traveling master end component and round brush master end component, the automatic control system includes control unit and two range sensors, the photovoltaic module is provided at both ends with sensor block, described two range sensors send induced signal with the sensor block wireless connection to sense the sensor block respectively.Photovoltaic cleaning equipment of the present invention and its control method can effectively reduce impulsive force of the photovoltaic clearing apparatus to photovoltaic module when targetedly can clean and shut down according to dust how many situation of photovoltaic module.

Description

Photovoltaic cleaning equipment and its control method
Technical field
The present invention relates to clearing apparatus technical field, more particularly to a kind of photovoltaic cleaning equipment and its control method.
Background technology
In known technical field, for solar panel due to being placed in outdoor for a long time, its surface easily produces dust stratification.Dust stratification The light radiation of photovoltaic module reception is not only reduced, influences system effectiveness, reduces generated energy, photovoltaic panel is produced hot spot Effect, cause generated energy to lose, influence the life-span of component, while cause potential safety hazard.At present, photovoltaic sweeping robot uses single Motor mechanism, at work, walking wheel speed and round brush rotating speed are fixed value, it is impossible to according to operating mode voluntarily for the robot of the structure Setting.The time that this allows for cleaning a needs in the case where more than photovoltaic panel surface dirt with dust lacking is identical, to dust How many cleaning situations do not have specific aim;And current photovoltaic clearing apparatus, generally in its both sides install sensor, work as sensor When sensing signal, stop motor and rotate, but robot is from sensing that signal, can be because inertia walk out one to during shutdown Segment distance, this will be such that the sensor of robot bumps against on the sensor block at photovoltaic module both ends, cause necessarily to rush to photovoltaic module Hit.
In consideration of it, can effectively it be reduced when being necessary to provide a kind of shutdown to the impulsive force of photovoltaic module and can be according to light The photovoltaic cleaning equipment and its control method dust how many situation of volt component targetedly clean.
The content of the invention
In view of the deficienciess of the prior art, to photovoltaic module impulsive force when being shut down it is an object of the invention to provide one kind Less photovoltaic cleaning equipment and its control method.
The technical solution adopted in the present invention is:
A kind of photovoltaic cleaning equipment, including photovoltaic module and the photovoltaic for being cleaned to the photovoltaic module clean dress Put, the photovoltaic clearing apparatus includes framework, round brush, travelling wheel and automatic control system, and the framework both ends further respectively have Drive the traveling master end component that the travelling wheel rotates and the round brush master end component for driving the round brush to rotate;It is described automatic Control system includes control unit and range sensor, and the range sensor includes the first range sensor and second distance passes Sensor, the photovoltaic module include the photovoltaic module head end and photovoltaic module tail end being oppositely arranged, the photovoltaic clearing apparatus position Between the photovoltaic module head end and photovoltaic module tail end, the photovoltaic module head end and the photovoltaic module tail end are respectively provided with There is sensor block, first range sensor and the second distance sensor can sense the sensor block and send sensing letter Number, described control unit includes:
Timing module:The timing module is used for the cleaning time for calculating photovoltaic clearing apparatus;
Walking direction module:The walking direction module electrically connects with the range sensor, for walking direction module Induced signal that first range sensor sends is received to judge that the travelling wheel should be towards the photovoltaic module head end Direction rotates the round brush simultaneously and rotated away from the photovoltaic module head end direction;Walking direction module receive described second away from The induced signal sent from sensor is to judge that it is simultaneously described that the travelling wheel should rotate towards the photovoltaic module tail end direction Round brush rotates away from the photovoltaic module tail end direction;
Rate control module:The rate control module and traveling master end component and round brush master end component It is electrically connected to the velocity of rotation for controlling the travelling wheel and the round brush respectively;
Course changing control module:The course changing control module and traveling master end component and round brush master end component It is electrically connected to the rotation direction for controlling the travelling wheel and the round brush respectively;
Central control module:The central control module respectively with the timing module, the walking direction module, described Rate control module and course changing control module electrical connection, to receive the timing module and walking direction module hair The information that goes out while the timing module timing is controlled, the central control module is according to parameter preset and the information received point It is other that control instruction is sent to the rate control module and the course changing control module to control the travelling wheel and institute respectively State the velocity of rotation and rotation direction of round brush.
Preferably, traveling master end component also includes traveling installation base plate, set on the inside of the traveling installation base plate Running motor is put, the running motor is electrically connected to described in control with the rate control module and the course changing control module The velocity of rotation and rotation direction of running motor and then the velocity of rotation and rotation direction for controlling the travelling wheel, the traveling peace Fill and traveling main synchronous pulley is set on the outside of substrate, the running motor is connected with the main synchronous pulley of the traveling, the traveling master Synchronous pulley both sides are provided with the auxiliary synchronous pulley of traveling, and the main synchronous pulley of traveling outside the auxiliary synchronous pulley of the traveling with being cased with Traveling timing belt, so that the running motor drives the main synchronous pulley of traveling is synchronous with the auxiliary synchronous pulley of the traveling to turn It is dynamic.
Preferably, traveling master end component also includes running motor power transmission shaft, the running motor with it is described walk Row motor transmission shaft connects, and the running motor power transmission shaft connects through the traveling installation base plate and the main synchronous pulley of the traveling Connect.
Preferably, round brush master end component also includes round brush installation base plate, set on the inside of the round brush installation base plate Round brush motor is put, the round brush motor is electrically connected to control with the rate control module and the course changing control module The velocity of rotation and rotation direction of the round brush motor and then the velocity of rotation and rotation direction for controlling the round brush, the round brush Round brush main synchronous pulley is set on the outside of installation base plate, and the round brush motor is connected with the main synchronous pulley of the round brush, the round brush Main synchronous pulley side is provided with the auxiliary synchronous pulley of round brush, the main synchronous pulley of round brush and the auxiliary synchronous pulley overcoat of the round brush There is round brush timing belt, turn so that the main synchronous pulley of round brush described in the round brush motor driven is synchronous with the auxiliary synchronous pulley of the round brush It is dynamic.
Preferably, round brush master end component also includes round brush motor transmission shaft, the round brush motor and the rolling Brush motor is driven axis connection, and the round brush motor transmission shaft connects through the round brush installation base plate and the main synchronous pulley of the round brush Connect.
Preferably, first range sensor and the second distance sensor are arranged on the round brush installation base plate Bottom and the direction of the photovoltaic module tail end is pointed to along the photovoltaic module head end set gradually so as to the walking direction mould The direction of motion of the block along the photovoltaic clearing apparatus is sequentially received first range sensor and second distance sensing The induced signal that device is sent.
Preferably, being provided with traveling driving shaft on the inside of the component of the traveling master end, the traveling driving shaft is described in Traveling installation base plate connects the auxiliary synchronous pulley of traveling, and the traveling driving shaft is arranged the travelling wheel, and the round brush is actively Be provided with traveling driven shaft on the inside of side component, the traveling driven shaft is arranged the travelling wheel, the traveling driving shaft and it is described walk Traveling power transmission shaft is provided between row driven shaft, so that the running motor drives the traveling driving shaft and the traveling driven shaft On the travelling wheel synchronous walking.
Preferably, being provided with round brush driving shaft on the inside of the component of the round brush master end, the round brush driving shaft is described in Round brush installation base plate connects the auxiliary synchronous pulley of round brush, and round brush driven shaft is provided with the inside of the component of the traveling master end, described Round brush is arranged between round brush driving shaft and round brush driven shaft and is fixedly connected with round brush driving shaft and round brush driven shaft, with toilet The round brush described in round brush motor driven between traveling master end composition and round brush master end composition is stated to rotate.
Preferably, the main synchronous pulley of the traveling and the auxiliary timing belt of the traveling on the outside of the traveling installation base plate Tensioner component is installed, the main synchronous pulley of the round brush on the outside of the round brush installation base plate is auxiliary same with the round brush between wheel Tensioner component is also installed between step belt wheel, to compress the traveling timing belt and the round brush timing belt.
Preferably, the tensioner component includes pedestal, sliding block and expansion tightening wheel, the pedestal is provided with rectangular recess, described Sliding block can slide along rectangular recess, and the sliding block connects the expansion tightening wheel, to adjust the sliding block in the rectangular recess Position so that adjust expansion tightening wheel position.
Preferably, the tensioner component also includes installing plate and top tight pieces, the installing plate is fixed with the pedestal to be connected Connect, described sliding block one end is placed in the rectangular recess of the pedestal, and the other end of the sliding block is provided with expansion tightening wheel, described to hold out against Part one end is connected on the installing plate, and the top tight pieces other end withstands on the sliding block being placed in the pedestal rectangular recess On one end, to fix the slide position.
Preferably, the tensioner component also includes compressing member, long strip through hole, the compressing member are provided among the sliding block It is connected through the long strip through hole with the pedestal, to fix position and then fixation of the sliding block in the rectangular recess The position of the expansion tightening wheel.
Preferably, described control unit also includes the metering mould for being used for the cleaning number for calculating the photovoltaic clearing apparatus Block, the metering module are electrically connected to central control module with the central control module and receive metering information.
A kind of photovoltaic cleans control method, using the photovoltaic cleaning equipment that such as claim is foregoing, successively including following step Suddenly:
S1:Parameter preset is inputted to the central control module, the parameter preset includes setting time t, round brush speed V1, the first traveling speed v1 ', the second traveling speed v2 ', wherein the first traveling speed v1 ' is more than the second traveling speed v2 ';
S2:After the range sensor experiences sensor block and sends induced signal, the walking direction module is according to sense Induction signal judges the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent into central control module;
S3:Central control module control timing module starts timing and to the rate control module and course changing control module Send control instruction;
S4:The rate control module and the course changing control module according to control instruction control the round brush and it is described walk Road wheel is rotated with the round brush speed v1 and the first traveling speed v1 ' respectively along the rotation direction specified;
S5:After the range sensor experiences sensor block and sends induced signal, the walking direction module is according to sense Induction signal judges the rotation direction of the round brush and the travelling wheel, and direction of motion information is sent into central control module;
S6:The central control module judges whether the timing module timing time is less than setting time t, if so, then The information that the central control module is sent to this direction controlling module does not process while jumps to step 4;If it is not, Then perform step 7;
S7:The central control module sends control instruction control institute to the rate control module and course changing control module Round brush and the travelling wheel is stated along the rotation direction specified respectively with the round brush speed v1 and the second traveling speed v2 ' to turn It is dynamic;
S8:After the range sensor experiences sensor block and sends induced signal, the walking direction module is according to sense Induction signal judges the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent into central control module;
S9:The central control module sends control instruction control institute to the rate control module and course changing control module State round brush and the travelling wheel stops operating, the photovoltaic clearing apparatus completes a cleaning process;
Preferably, the parameter preset in the step S1 also includes that frequency n should be cleaned, the photovoltaic cleans control method Also include:
S10:The photovoltaic clearing apparatus 1 is completed after once cleaning, and the central control module 1220 controls the metering Module metering number adds 1;
S11:The central control module, which judges whether the metering module metering number is less than, default should clean number N, if so, then the timing module timing is reset, while jump to step 2;If it is not, then the photovoltaic clearing apparatus is shut down.
Compared with prior art, the beneficial effects of the present invention are:
1. the sensing that photovoltaic cleaning equipment of the present invention and its control method will be received by two range sensors Signal sends described control unit to, and described control unit receives the signal that described two range sensors are sent and subtracted successively Speed that is slow and stopping the travelling wheel is to prevent because the photovoltaic clearing apparatus caused by effect of inertia is in higher speed state Hit after lower shutdown with the sensor block on the photovoltaic module, so as to reduce the photovoltaic clearing apparatus to the photovoltaic group The impact that part is brought.
2. the rotating speed of the round brush, the rotating speed of the road wheel and cleaning number can be set respectively before operation Put, when dust is more, the speed of travel of increase cleaning number and the reduction road wheel improves the rotation speed of the round brush simultaneously Degree, when dust is less, reduces and clean number and improve the speed of travel of the road wheel while reduce the rotation of the round brush Speed, targetedly cleaned with the situation for realizing how many to dust.
Brief description of the drawings
Invention is described in detail with reference to the accompanying drawings and examples
Fig. 1 is a kind of working state schematic representation of photovoltaic cleaning equipment of the present invention
Fig. 2 is the structural representation of photovoltaic clearing apparatus in photovoltaic cleaning equipment of the present invention
Fig. 3 is the front view of photovoltaic clearing apparatus traveling master end of the present invention component
Fig. 4 is the top view of photovoltaic clearing apparatus traveling master end of the present invention component
Fig. 5 is the front view of photovoltaic clearing apparatus round brush master end of the present invention component
Fig. 6 is the top view of round brush master end of the present invention component
Fig. 7 is the structural representation of the tensioner component of the present invention
Fig. 8 is the method flow diagram of photovoltaic cleaning equipment of the present invention
Fig. 9 is the schematic diagram of photovoltaic cleaning equipment of the present invention
Wherein, 1, photovoltaic clearing apparatus;10th, framework;11st, round brush;12nd, automatic control system;120th, charge photovoltaic panel; 122nd, control unit;1220th, central control module;1221st, timing module;1222nd, metering module;1223rd, walking direction module; 1224th, rate control module;1225th, course changing control module;124th, battery;126th, range sensor;1261st, the first distance passes Sensor;1262nd, second distance sensor;13rd, travelling wheel;14th, traveling master end component;140th, traveling installation base plate;141st, walk Row motor;142nd, traveling power transmission shaft;143rd, the main synchronous pulley of traveling;144th, the auxiliary synchronous pulley of traveling;145th, traveling timing belt; 146th, traveling driving shaft;147th, round brush driven shaft;15th, power transmission shaft 16, round brush master end component;160th, round brush installation base plate; 161st, round brush motor;162nd, round brush motor transmission shaft;163rd, the main synchronous pulley of round brush;164th, the auxiliary synchronous pulley of round brush;165th, roll Brush timing belt;166th, round brush driving shaft;167th, traveling driven shaft;17th, tensioner component;171st, installing plate;172nd, top tight pieces;173、 Pedestal;174th, compressing member;175th, sliding block;176 expansion tightening wheels;18th, directive wheel;2nd, photovoltaic module;21st, frame is shut down;22nd, sensor block; 23rd, photovoltaic array;24th, photovoltaic module head end;25th, photovoltaic module tail end.
Embodiment
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, below in conjunction with the accompanying drawings and specifically Embodiment is specifically stated the present invention, it being understood, however, that in the case where not being further discussed below, an implementation Element, structure and features in mode can also be advantageously incorporated into other embodiment.
As shown in Fig. 1 and Fig. 9, the present invention proposes a kind of photovoltaic cleaning equipment, including photovoltaic module 2 and for the light The photovoltaic clearing apparatus 1 that is cleaned of volt component 2, the photovoltaic clearing apparatus 1 include framework 10, round brush 11, travelling wheel 13 and Automatic control system 12, the both ends of framework 10 further respectively have the traveling master end component 14 for driving the travelling wheel 13 to rotate And the round brush master end component 16 for driving the round brush 11 to rotate;The automatic control system 12 include control unit 122 and away from From sensor 126, the range sensor 126 includes the first range sensor 1261 and second distance sensor 1262, described Photovoltaic module 2 includes the photovoltaic module head end 24 and photovoltaic module tail end 25 being oppositely arranged, and the photovoltaic clearing apparatus 1 is located at institute State between photovoltaic module head end 24 and photovoltaic module tail end 25, the photovoltaic module head end 24 and the photovoltaic module tail end 25 are equal Sensor block 22 is provided with, first range sensor 1261 and the second distance sensor 1262 can sense the sensing Block 22 and send induced signal, described control unit 122 includes:
Timing module 1221:The timing module 1221 is used for the cleaning time for calculating photovoltaic clearing apparatus 1;
Walking direction module 1223:The walking direction module 1223 electrically connects with the range sensor 126, for side Induced signal that first range sensor 1261 sends is received to judge module 1223 to judge that the travelling wheel 13 should The round brush 11 simultaneously is rotated towards the direction of photovoltaic module head end 24 to rotate away from the direction of photovoltaic module head end 24, side Induced signal that the second distance sensor 1262 sends is received to judge module 1223 to judge that the travelling wheel 13 should The round brush 11 simultaneously is rotated towards the direction of photovoltaic module tail end 25 to rotate away from the direction of photovoltaic module tail end 25;
Rate control module 1224:The rate control module 1224 and traveling master end component 14 and the round brush Master end component 16 is electrically connected to control the velocity of rotation of the travelling wheel 13 and the round brush 11 respectively;
Course changing control module 1225:The course changing control module 1225 and traveling master end component 14 and the round brush Master end component 16 is electrically connected to control the rotation direction of the travelling wheel 13 and the round brush 11 respectively;
Central control module 1220:The central control module 1220 respectively with the timing module 1221, the direction Judge module 1223, the rate control module 1224 and the course changing control module 1225 electrically connect, to receive the meter When the information that sends of module 1221 and the walking direction module 1223 while control the timing of timing module 1221, in described Centre control module 1220 is according to parameter preset and the information received respectively to the rate control module 1224 and the steering Control module 1225 sends control instruction to control velocity of rotation and the rotation of the travelling wheel 13 and the round brush 11 respectively Direction.
Metering module 1222:The metering module 1222 is used for the cleaning number for calculating the photovoltaic clearing apparatus 1, described Metering module 1222 is electrically connected to central control module with the central control module 1220 and receives metering information.
With reference to shown in Fig. 3 and Fig. 4, traveling master end component 14 includes traveling installation base plate 140, the traveling installation The inner side of substrate 140 sets running motor 141, and the running motor 141 is controlled with the rate control module 1224 and described turn to Molding block 1225 is electrically connected to control the velocity of rotation and rotation direction and then the control travelling wheel of the running motor 141 13 velocity of rotation and rotation direction, the running motor 141 include running motor output shaft (not shown), the traveling master Dynamic side component 14 also includes running motor power transmission shaft 142, and the running motor output shaft is placed in the running motor power transmission shaft 142 Interior, the running motor output shaft connects with the key of running motor power transmission shaft 142, and the running motor power transmission shaft 142 passes through institute State traveling installation base plate 140 and be connected with the main synchronous pulley 143 of traveling, the main both sides of synchronous pulley 143 of traveling are provided with traveling Auxiliary synchronous pulley 144, the main synchronous pulley 143 of traveling outside the auxiliary synchronous pulley 144 of the traveling with being cased with traveling timing belt 145, when described control unit 122 controls running motor 141 to rotate, to be driven by the running motor power transmission shaft 142 The main synchronous pulley 143 of traveling and the auxiliary synchronous axial system of synchronous pulley 144 of the traveling.The lower section of traveling installation base plate 140 It is provided with directive wheel 18.
With reference to Fig. 5 and Fig. 6, round brush master end component 16 includes round brush installation base plate 160, the round brush installation base plate 160 inner sides set round brush motor 161, and the round brush motor 161 is controlled with the rate control module 1224 and described turn to Molding block 1225 is electrically connected to control the velocity of rotation and rotation direction and then the control round brush 11 of the round brush motor 161 Velocity of rotation and rotation direction, the round brush motor 161 includes round brush motor output shaft (not shown), and the round brush is actively Side component 160 also includes round brush motor transmission shaft 162, and the round brush motor output shaft is placed in the round brush motor transmission shaft 162 Interior, the round brush motor output shaft connects 162 with the round brush motor transmission shaft key, and the round brush motor transmission shaft 162 passes through institute State round brush installation base plate 160 and be connected with the main synchronous pulley 163 of round brush, the main side of synchronous pulley 163 of round brush is provided with round brush Auxiliary synchronous pulley 164, the main synchronous pulley 163 of round brush outside the auxiliary synchronous pulley 164 of the round brush with being cased with round brush timing belt 165, when described control unit 122 controls round brush motor 161 to rotate, to be driven by the round brush motor transmission shaft 162 The main synchronous pulley 163 of round brush and the auxiliary synchronous axial system of synchronous pulley 164 of the round brush.The lower section of round brush installation base plate 160 It is provided with directive wheel 18.
With reference to Fig. 3 to Fig. 6, the inner side of traveling master end component 140 is provided with traveling driving shaft 146, and the traveling is actively Axle 146 connects the auxiliary synchronous pulley 144 of the traveling through the traveling installation base plate 140, and the traveling driving shaft 146 is arranged with Travelling wheel 13, the inner side of round brush master end component 160 are provided with traveling driven shaft 167, and the traveling driven shaft 167 is arranged with away Road wheel 13, power transmission shaft 15 is provided between the traveling driving shaft 146 and the traveling driven shaft 147, so as to the speed control Module 1224 and the course changing control module 1225 control the running motor 141 to drive the traveling driving shaft 146 and described The synchronous walking of the travelling wheel 13 on traveling driven shaft 167.
With continued reference to Fig. 3 to Fig. 7, the inner side of round brush master end component 160 is provided with round brush driving shaft 166, the round brush Driving shaft 166 connects the auxiliary synchronous pulley 164 of the round brush, traveling master end component through the round brush installation base plate 160 140 inner sides are provided with round brush driven shaft 147, and the round brush 11 is arranged at the round brush driving shaft 166 and the round brush driven shaft 147 Between and be fixedly connected with the round brush driving shaft 166 and the round brush driven shaft 147, so as to the rate control module 1224 The round brush motor 161 is controlled to drive traveling master end component 140 and round brush active with the course changing control module 1225 The round brush between side component 160 rotates.
As shown in Figure 5 and Figure 6, first range sensor 1261 and the second distance sensor 1262 are installed on institute State the bottom of round brush installation base plate 160 direction of the photovoltaic module tail end 25 is pointed to along the photovoltaic module head end 24 and set gradually And along the Central Symmetry of round brush installation base plate 160, so that the walking direction module 1223 is along the photovoltaic clearing apparatus 1 The direction of motion is sequentially received the sensing letter that first range sensor 1261 and the second distance sensor 1262 are sent Number.
As shown in Figures 1 to 7, the automatic control system 12 also includes charging photovoltaic panel 120 and battery 124, described Battery 124 is set on the framework 10 between traveling master end component 140 and round brush master end component 160, the charging light Volt electroplax 120 is arranged on the top of framework 10;In the case where there is illumination, by charging, photovoltaic panel 120 is charged, and by The electric energy that the battery 124 is sent to charging photovoltaic panel 120 is stored, then the intelligent photovoltaic cleaning equipment is supplied Electricity.The automatic control system 12 electrically connects with traveling master end component 140 and round brush master end component 160, with toilet The automatic control unit 122 of automatic control system 12 is stated to traveling master end component 140 and round brush master end component 160 control and then the travelling wheel 13 and the round brush 11 are controlled respectively respectively.
As shown in Figures 1 to 7, the outside of the traveling installation base plate 140 the main synchronous pulley 143 of the traveling with it is described Tensioner component 17 is installed between the auxiliary synchronous pulley 144 of traveling;The round brush master in the outside of round brush installation base plate 160 is same Tensioner component 17 is also installed between step belt wheel 163 and the auxiliary synchronous pulley 164 of the round brush, to compress the traveling timing belt 145 and the round brush timing belt 165, prevent the traveling timing belt 145 and the round brush timing belt 165 from skidding.
As shown in fig. 7, the tensioner component 17 includes installing plate 171, top tight pieces 172, pedestal 173, compressing member 174, cunning Block 175 and expansion tightening wheel 176, multiple tapped through holes are provided with after the pedestal 173, so as to traveling installation base plate 140 and the round brush Installation base plate 160 is screwed connection with the tensioner component 17.
With continued reference to Fig. 7, the installing plate 171 is threadedly coupled fixation with the pedestal 173, and the pedestal 173 is provided with square Connected in star, described one end of sliding block 175 are placed in the rectangular recess, and its other end is provided with expansion tightening wheel 176, the top tight pieces 172 threaded one ends are connected on the installing plate 171, and its other end withstands on the sliding block being placed in the pedestal rectangular recess 175 one end are to adjust position of the sliding block 175 in the rectangular recess and then to adjust the position of expansion tightening wheel 176;It is described Long strip through hole is provided among sliding block 175, the compressing member 174 is threadedly coupled through the long strip through hole with the pedestal 173, with Just the position of position and then the fixed expansion tightening wheel 176 of the sliding block 175 in the rectangular recess is fixed.
As shown in figure 8, for the control method of photovoltaic cleaning equipment of the present invention, comprise the following steps successively:
S1:Parameter preset is inputted to the central control module 1220, the parameter preset includes setting time t, Ying Qing Sweep frequency n, round brush speed v1, the first traveling speed v1 ', the second traveling speed v2 ', wherein the first traveling speed v1 ' is more than the Two traveling speed v2 ';
S2:After the range sensor 126 experiences sensor block 22 and sends induced signal, the walking direction module 1223 judge the rotation direction of the round brush 11 and the travelling wheel 13 according to induced signal, and rotation direction information is sent to Central control module 1220;
S3:Central control module 1220 controls timing module 1221 to start timing and to the He of rate control module 1224 Course changing control module 1225 sends control instruction;
S4:The rate control module 1224 controls the round brush with the course changing control module 1225 according to control instruction 11 and the travelling wheel 13 along specified rotation direction respectively with the round brush speed v1 and the first traveling speed v1 ' turn It is dynamic;
S5:After the range sensor 126 experiences sensor block 22 and sends induced signal, the walking direction module 1223 judge the rotation direction of the round brush 11 and the travelling wheel 13 according to induced signal, and direction of motion information is sent to Central control module 1220;
S6:The central control module 1220 judges whether the timing time of timing module 1221 is less than setting time t, If so, the information that then central control module 1220 is sent to this direction controlling module 1223 is not processed while jumped Go to step 4;If it is not, then perform step 7;
S7:The central control module 1220 sends control to the rate control module 1224 and course changing control module 1225 System instruction controls the round brush 11 and the travelling wheel 13 along specified rotation direction respectively with the round brush speed v1 and described Second traveling speed v2 ' is rotated;
S8:After the range sensor 126 experiences sensor block 22 and sends induced signal, the walking direction module 1223 judge the rotation direction of the round brush 11 and the travelling wheel 13 according to induced signal, and rotation direction information is sent to Central control module 1220;
S9:The central control module 1220 sends control to the rate control module 1224 and course changing control module 1225 System instruction controls the round brush 11 and the travelling wheel 13 to stop operating, and the photovoltaic clearing apparatus 1 completes a cleaning process;
S10:The photovoltaic clearing apparatus 1 is completed after once cleaning, and the central control module 1220 controls the metering Module metering number adds 1;
S11:The central control module 1220 judges whether the metering number of metering module 1222 is less than default answer Frequency n is cleaned, if so, then the timing of timing module 1221 is reset, while jumps to step 2;If it is not, then the photovoltaic cleans Device 1 is shut down.
From such scheme as can be seen that present embodiments providing a kind of photovoltaic cleaning equipment and its control method, pass through two The individual range sensor 126 sends the induced signal sensed to described control unit 122, described control unit 122 receive the induced signal that described two range sensors 126 are sent and slow down and stop the travelling wheel 13 successively Speed with prevent after being shut down due to the photovoltaic clearing apparatus 1 caused by effect of inertia under higher speed state with the photovoltaic The sensor block 22 on component 2 hits, and is brought so as to reduce the photovoltaic clearing apparatus 1 to the photovoltaic module 2 Impact.The rotating speed of the round brush 11, the rotating speed of the road wheel 13 and cleaning number can be entered respectively before operation simultaneously Row is set, and when dust is more, increase cleans number and the traveling speed of the reduction travelling wheel 13 improves the round brush 11 simultaneously Rotary speed, when dust is less, reduce clean number and improve the travelling wheel 13 traveling speed reduce simultaneously described in The rotary speed of round brush 11, targetedly cleaned with the situation for realizing how many to dust.

Claims (15)

1. a kind of photovoltaic cleaning equipment, including photovoltaic module and the photovoltaic for being cleaned to the photovoltaic module clean dress Put, the photovoltaic clearing apparatus includes framework, round brush, travelling wheel and automatic control system, it is characterised in that:The framework both ends The round brush master end group for further respectively having the traveling master end component for driving the travelling wheel to rotate and driving the round brush to rotate Part;The automatic control system includes control unit and range sensor, and the range sensor includes the first range sensor And second distance sensor, the photovoltaic module include the photovoltaic module head end and photovoltaic module tail end being oppositely arranged, the light Clearing apparatus is lied prostrate between the photovoltaic module head end and photovoltaic module tail end, the photovoltaic module head end and the photovoltaic group Part tail end is provided with sensor block, and first range sensor and the second distance sensor can sense the sensor block And induced signal is sent, described control unit includes:
Timing module:The timing module is used for the cleaning time for calculating photovoltaic clearing apparatus;
Walking direction module:The walking direction module electrically connects with the range sensor, receives for walking direction module The induced signal sent to first range sensor is to judge that the travelling wheel should be towards the photovoltaic module head end direction The round brush simultaneously is rotated to rotate away from the photovoltaic module head end direction;Walking direction module receives the second distance and passed The induced signal that sensor is sent with judge the travelling wheel should towards the photovoltaic module tail end direction rotate simultaneously the round brush Rotated away from the photovoltaic module tail end direction;
Rate control module:The rate control module is electrically connected with traveling master end component and round brush master end component Connect to control the velocity of rotation of the travelling wheel and the round brush respectively;
Course changing control module:The course changing control module is electrically connected with traveling master end component and round brush master end component Connect to control the rotation direction of the travelling wheel and the round brush respectively;
Central control module:The central control module respectively with the timing module, the walking direction module, the speed Control module and course changing control module electrical connection, to receive the timing module and the walking direction module is sent Information controls the timing module timing simultaneously, and the central control module is right respectively according to parameter preset and the information received The rate control module and the course changing control module send control instruction to control the travelling wheel and the rolling respectively The velocity of rotation and rotation direction of brush.
2. photovoltaic cleaning equipment according to claim 1, it is characterised in that:Traveling master end component also includes traveling Installation base plate, the traveling installation base plate inner side set running motor, the running motor and the rate control module and institute State velocity of rotation and rotation direction and then the control traveling that course changing control module is electrically connected to control the running motor The velocity of rotation and rotation direction of wheel, set the main synchronous pulley of traveling on the outside of the traveling installation base plate, the running motor with The main synchronous pulley connection of traveling, the main synchronous pulley both sides of traveling are provided with the auxiliary synchronous pulley of traveling, the traveling master Synchronous pulley outside the auxiliary synchronous pulley of the traveling with being cased with traveling timing belt, so that the running motor drives the traveling master same Walk belt wheel and the auxiliary synchronous pulley synchronous axial system of the traveling.
3. photovoltaic cleaning equipment according to claim 2, it is characterised in that:Traveling master end component also includes traveling Motor transmission shaft, the running motor are walked with running motor transmission axis connection, the running motor power transmission shaft described in Row installation base plate is connected with the main synchronous pulley of the traveling.
4. photovoltaic cleaning equipment according to claim 1, it is characterised in that:Round brush master end component also includes round brush Installation base plate, the round brush installation base plate inner side set round brush motor, the round brush motor and the rate control module And the course changing control module is electrically connected to control described in velocity of rotation and rotation direction and then the control of the round brush motor The velocity of rotation and rotation direction of round brush, the round brush installation base plate outside set the main synchronous pulley of round brush, the round brush motor It is connected with the main synchronous pulley of the round brush, the main synchronous pulley side of round brush is provided with the auxiliary synchronous pulley of round brush, the round brush Main synchronous pulley outside the auxiliary synchronous pulley of the round brush with being cased with round brush timing belt, so as to round brush master described in the round brush motor driven Synchronous pulley and the auxiliary synchronous pulley synchronous axial system of the round brush.
5. photovoltaic cleaning equipment according to claim 4, it is characterised in that:Round brush master end component also includes round brush Motor transmission shaft, the round brush motor are connected with the round brush motor transmission shaft, and the round brush motor transmission shaft passes through the rolling Brush installation base plate is connected with the main synchronous pulley of the round brush.
6. photovoltaic cleaning equipment according to claim 1, it is characterised in that:First range sensor and described second Range sensor is arranged on the round brush installation base plate bottom and points to the photovoltaic module tail end along the photovoltaic module head end Direction set gradually so as to the direction of motion of the walking direction module along the photovoltaic clearing apparatus be sequentially received it is described The induced signal that first range sensor and the second distance sensor are sent.
7. the photovoltaic cleaning equipment according to claim 2, it is characterised in that:It is provided with away on the inside of the component of the traveling master end Row driving shaft, the traveling driving shaft connect the auxiliary synchronous pulley of traveling, the traveling master through the traveling installation base plate Moving axis is arranged the travelling wheel, is provided with traveling driven shaft on the inside of the component of the round brush master end, the traveling driven shaft is arranged institute Travelling wheel is stated, traveling power transmission shaft is provided between the traveling driving shaft and the traveling driven shaft, so as to the running motor band The travelling wheel synchronous walking on dynamic the traveling driving shaft and the traveling driven shaft.
8. photovoltaic cleaning equipment according to claim 4, it is characterised in that:Rolling is provided with the inside of the component of the round brush master end Brush driving shaft, the round brush driving shaft connect the auxiliary synchronous pulley of round brush, the traveling master through the round brush installation base plate Be provided with round brush driven shaft on the inside of dynamic side component, the round brush be arranged between round brush driving shaft and round brush driven shaft and with round brush master Moving axis is fixedly connected with round brush driven shaft, so as to traveling master end composition described in the round brush motor driven and round brush master end group The round brush between rotates.
9. the photovoltaic cleaning equipment according to claim 2 or 4, it is characterised in that:On the outside of the traveling installation base plate Tensioner component is installed between the main synchronous pulley of traveling and the auxiliary synchronous pulley of the traveling, outside the round brush installation base plate Tensioner component is also installed between the main synchronous pulley of the round brush and the auxiliary synchronous pulley of the round brush of side, so as to compress it is described walk Row timing belt and the round brush timing belt.
10. photovoltaic cleaning equipment according to claim 9, it is characterised in that:The tensioner component include pedestal, sliding block and Expansion tightening wheel, the pedestal are provided with rectangular recess, and the sliding block can slide along rectangular recess, and the sliding block connects the expansion tightening wheel, To adjust the position of position and then adjustment expansion tightening wheel of the sliding block in the rectangular recess.
11. photovoltaic cleaning equipment according to claim 10, it is characterised in that:The tensioner component also include installing plate and Top tight pieces, the installing plate are fixedly connected with the pedestal, and described sliding block one end is placed in the rectangular recess of the pedestal, described The other end of sliding block is provided with expansion tightening wheel, and described top tight pieces one end is connected on the installing plate, the top tight pieces other end top On described sliding block one end in the pedestal rectangular recess is placed in, to fix the slide position.
12. photovoltaic cleaning equipment according to claim 11, it is characterised in that:The tensioner component also includes compressing member, Long strip through hole is provided among the sliding block, the compressing member is connected through the long strip through hole with the pedestal, to fix State the position of position and then the fixed expansion tightening wheel of the sliding block in the rectangular recess.
13. photovoltaic cleaning equipment according to claim 1, it is characterised in that:Described control unit also includes being used to calculate The metering module of the cleaning number of the photovoltaic clearing apparatus, the metering module are electrically connected to the central control module Central control module receives metering information.
14. a kind of photovoltaic cleans control method, using the photovoltaic cleaning equipment as described in claim any one of 1-13, its feature It is:Comprise the following steps successively:
S1:Parameter preset is inputted to the central control module, the parameter preset includes setting time t, round brush speed v1, the One traveling speed v1 ', the second traveling speed v2 ', wherein the first traveling speed v1 ' is more than the second traveling speed v2 ';
S2:The range sensor experiences sensor block after sending induced signal, and the walking direction module is believed according to sensing Number judge the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent to central control module;
S3:Central control module control timing module starts timing and sent to the rate control module and course changing control module Control instruction;
S4:The rate control module controls the round brush and the travelling wheel with the course changing control module according to control instruction Rotated respectively with the round brush speed v1 and the first traveling speed v1 ' along the rotation direction specified;
S5:The range sensor experiences sensor block after sending induced signal, and the walking direction module is believed according to sensing Number judge the rotation direction of the round brush and the travelling wheel, and direction of motion information is sent to central control module;
S6:The central control module judges whether the timing module timing time is less than setting time t, if so, then described The information that central control module is sent to this direction controlling module does not process while jumps to step 4;If it is not, then hold Row step 7;
S7:The central control module sends control instruction to the rate control module and course changing control module and controls the rolling Brush and the travelling wheel are rotated with the round brush speed v1 and the second traveling speed v2 ' respectively along the rotation direction specified;
S8:The range sensor experiences sensor block after sending induced signal, and the walking direction module is believed according to sensing Number judge the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent to central control module;
S9:The central control module sends control instruction to the rate control module and course changing control module and controls the rolling Brush and the travelling wheel stop operating, and the photovoltaic clearing apparatus completes a cleaning process.
15. photovoltaic according to claim 14 cleans control method, it is characterised in that:Parameter preset in the step S1 Also include that frequency n should be cleaned, the photovoltaic, which cleans control method, also to be included:
S10:The photovoltaic clearing apparatus 1 is completed after once cleaning, and the central control module controls the metering module metering Number adds 1;
S11:The central control module judge the metering module metering number whether be less than it is default should clean frequency n, if It is that then the timing module timing is reset, while jumps to step 2;If it is not, then the photovoltaic clearing apparatus is shut down.
CN201711106225.5A 2017-11-10 2017-11-10 Photovoltaic cleaning equipment and its control method Active CN107876469B (en)

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