CN107947723B - Cleaning method of photovoltaic cleaning robot - Google Patents
Cleaning method of photovoltaic cleaning robot Download PDFInfo
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- CN107947723B CN107947723B CN201711183699.XA CN201711183699A CN107947723B CN 107947723 B CN107947723 B CN 107947723B CN 201711183699 A CN201711183699 A CN 201711183699A CN 107947723 B CN107947723 B CN 107947723B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention discloses a cleaning method of a photovoltaic cleaning robot, which comprises the following steps: controlling a transportation device to move to a target position of a photovoltaic panel to be cleaned, wherein at least one cleaning machine is placed on the transportation device; and sequentially placing the cleaning machines on the transportation equipment on the photovoltaic panel to be cleaned, and independently executing cleaning by the cleaning machines. The cleaning method provided by the invention has the advantages that at least one cleaning machine is arranged on one piece of transportation equipment, and the cleaning machine can be separated from the transportation equipment and then independently execute cleaning work, so that the influence of the transportation equipment on the cleaning machine is avoided, and the cleaning effect is reliable and uniform; meanwhile, when the transportation equipment transports a plurality of cleaning machines simultaneously, the cleaning efficiency of the photovoltaic panel is effectively improved in a one-to-many mode, the plurality of cleaning machines can be transferred among target positions which cannot be reached by the direct movement of the cleaning machines in the inter-row and inter-string states of the photovoltaic panel under the assistance of the transportation equipment, and the applicability is improved.
Description
Technical Field
The invention relates to the technical field of photovoltaic module cleaning machines, in particular to a cleaning method of a photovoltaic cleaning robot.
Background
With the increasing proportion of the society on the demand of clean energy, the photovoltaic application is also deepened and refined, and various photovoltaic devices of different types gradually get much attention in various links from research and development to application.
In addition to the above-mentioned topography, level of automation, cost, module safety, efficiency, the characteristics of the photovoltaic module itself also determine the characteristics of the appropriate cleaning regime. The tracking array system is a novel photovoltaic system, and can enable sunlight to directly irradiate a photovoltaic module through an automatic tracking system by tracking the movement of the sun in real time, so that the solar radiation quantity received by the photovoltaic module is increased, and the total generated energy of the solar photovoltaic power generation system is improved.
In the existing market, photovoltaic module surface transportation equipment mainly has two kinds: a ground walking large chassis large roller brush water washing type and a board walking roller brush dry washing type. The two methods mainly have the following defects:
firstly, the existing large-chassis large-roller-brush water-washing type transportation equipment for the photovoltaic module has low adaptability to terrain, is easy to crush a photovoltaic panel, needs manual operation, has high operation difficulty and high cleaning cost, and has no capability of working in severe environment (high temperature, dustiness, night and the like);
secondly, the existing transport equipment with the roller brush-drying and washing on the photovoltaic module plate cannot be used for plate replacement, the number of transport equipment which needs to be put into once is very large in order to cover the whole cleaning area, and the photovoltaic support is required to be designed in a matching way, so that the investment of the cleaning equipment and the construction cost of the matching equipment is huge, and the maintenance task of the transport equipment is heavy.
Meanwhile, in the application scenes of the tracking array and the double-glass plate, higher requirements are put forward on the cleaning scheme, but the existing solution mentioned in the foregoing cannot meet the cleaning requirement under the scene that the double-glass plate is installed on the tracking array, and the combination mode is just the mainstream photovoltaic power generation mode in a long time at present and later.
Therefore, how to effectively improve the efficiency and applicability of the cleaning robot and reduce the cost is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a cleaning method of a photovoltaic cleaning robot, which is used for reducing the input of manpower, avoiding the influence of topographic factors on the cleaning effect and achieving high cleaning efficiency.
In order to achieve the purpose, the invention provides the following technical scheme:
a cleaning method of a photovoltaic cleaning robot comprises the following steps:
controlling a transportation device to move to a target position of a photovoltaic panel to be cleaned, wherein at least one cleaning machine is placed on the transportation device;
and sequentially placing the cleaning machines on the transportation equipment on the photovoltaic panel to be cleaned, and independently executing cleaning by the cleaning machines.
Preferably, the step of "placing the cleaning machine on the transportation device on the photovoltaic panel to be cleaned in sequence, and after the cleaning machine independently performs cleaning", further includes:
retrieving the cleaning machine which has completed the cleaning work to the transportation device;
and placing a cleaning machine on the transportation equipment on the photovoltaic panel to be cleaned, wherein the cleaning machine independently performs cleaning.
Preferably, the method further comprises the following steps:
monitoring whether the electric quantity of the cleaning machine is lower than a preset electric quantity, if so, taking back the cleaning machine which is lack of power to the transportation equipment for charging; or the cleaning machine which is lack of power is taken back to the transportation equipment, and the transportation equipment is controlled to move to a charging position to charge the cleaning machine which is lack of power; or controlling the cleaning machine with power shortage to move to the edge charging port of the photovoltaic panel for charging.
Preferably, the method further comprises the following steps:
and detecting whether the electric quantity of the transportation equipment is lower than a preset electric quantity, and if so, controlling the transportation equipment which is lack of power to move to a charging position for charging.
Preferably, the method further comprises the following steps:
and detecting whether the cleaning machine completes cleaning, and if so, controlling the transportation equipment to take back the cleaning machine which completes the cleaning work.
Preferably, the step of "controlling the transportation device to move to the target position of the photovoltaic panel to be cleaned" includes:
and controlling the transportation equipment to move towards the row end of the photovoltaic panel to be cleaned, and stopping moving when the carrier platform of the transportation equipment moves to the target position of the row end of the photovoltaic panel to be cleaned.
Preferably, the step of sequentially placing the cleaning machine on the transportation device on the photovoltaic panel to be cleaned specifically comprises:
acquiring position information of a cleaning machine on the transportation equipment, and acquiring the adjustment displacement and/or the adjustment angle of the cleaning machine required to move according to the initial cleaning position of the photovoltaic panel;
and controlling a carrying mechanism on the transportation equipment to start, and moving the cleaning machine to an initial cleaning position of the photovoltaic panel according to the adjusting displacement and/or the adjusting angle.
Preferably, the step of sequentially placing the cleaning machine on the transportation device on the photovoltaic panel to be cleaned specifically comprises:
and sequentially placing the cleaning machines on the transportation equipment on the same or different photovoltaic panels to be cleaned.
Preferably, the step of "the cleaning machine independently performs cleaning" specifically includes:
the cleaning machine enters a cleaning state and moves according to a preset cleaning path; and after the cleaning machine finishes the preset cleaning path, returning to the initial cleaning position of the photovoltaic panel to wait for the transportation equipment to take back the cleaning machine.
Preferably, the preset cleaning path specifically includes:
and (3) a preset cleaning path which is planned in advance, or a preset cleaning path which is generated by the cleaning machine according to the current environmental parameters.
The cleaning method of the photovoltaic cleaning robot provided by the invention comprises the following steps: controlling a transportation device to move to a target position of a photovoltaic panel to be cleaned, wherein at least one cleaning machine is placed on the transportation device; and sequentially placing the cleaning machines on the transportation equipment on the photovoltaic panel to be cleaned, and independently executing cleaning by the cleaning machines. According to the cleaning method, at least one cleaning machine is placed on one piece of transportation equipment, and the cleaning machine can be separated from the transportation equipment and then independently perform cleaning work, so that the influence of the transportation equipment on the cleaning machine is avoided, and the cleaning effect is reliable and uniform; meanwhile, when the transportation equipment transports a plurality of cleaning machines simultaneously, the cleaning efficiency of the photovoltaic panel is effectively improved in a one-to-many mode, the plurality of cleaning machines can be transferred among target positions which cannot be reached by the direct movement of the cleaning machines in the inter-row and inter-string states of the photovoltaic panel under the assistance of the transportation equipment, and the applicability is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of a cleaning method of a photovoltaic cleaning robot provided by the invention;
FIG. 2 is a schematic structural diagram of a photovoltaic cleaning robot apparatus capable of operating separately according to the present invention;
FIG. 3 is a schematic top view of a photovoltaic cleaning robot apparatus for separable operations according to the present invention;
FIG. 4 is a schematic structural diagram of one embodiment of a cleaning machine of the photovoltaic cleaning robot apparatus shown in FIG. 3;
FIG. 5 is a schematic structural diagram of one embodiment of a handling system of the photovoltaic cleaning robot apparatus shown in FIG. 3;
FIG. 6 is a schematic structural diagram of another embodiment of a handling system of the photovoltaic cleaning robot apparatus shown in FIG. 3;
fig. 7 is a schematic diagram of a plate placing work flow of the photovoltaic cleaning robot device provided by the invention;
FIG. 8 is a schematic diagram of a plate-changing work flow of the photovoltaic cleaning robot apparatus provided by the present invention;
wherein: 1: a transportation device; 2: a cleaning machine; 2-1: cleaning the execution element; 2-2: moving the chassis; 2-3: cleaning the detection element; 2-4: grabbing positions; 3: a handling system; 3-1-1: a telescopic member; 3-1-2: grasping parts and accessories; 3-2-1: a rotational degree of freedom joint; 3-2-2: a first revolute joint; 3-2-3: a second revolute joint; 3-2-4: a third revolute joint; 4-photovoltaic panel.
Detailed Description
The core of the invention is to provide the cleaning method of the photovoltaic cleaning robot, which can effectively reduce the utilization of manpower resources, avoid the influence of topographic factors on the cleaning effect, and has high cleaning efficiency and good cleaning effect.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 8, fig. 1 is a flowchart illustrating a cleaning method of a photovoltaic cleaning robot according to the present invention; FIG. 2 is a schematic structural diagram of a photovoltaic cleaning robot apparatus capable of operating separately according to the present invention; FIG. 3 is a schematic top view of a photovoltaic cleaning robot apparatus for separable operations according to the present invention; FIG. 4 is a schematic structural diagram of one embodiment of a cleaning machine of the photovoltaic cleaning robot apparatus shown in FIG. 3; FIG. 5 is a schematic structural diagram of one embodiment of a handling system of the photovoltaic cleaning robot apparatus shown in FIG. 3; FIG. 6 is a schematic structural diagram of another embodiment of a handling system of the photovoltaic cleaning robot apparatus shown in FIG. 3; fig. 7 is a schematic diagram of a plate placing work flow of the photovoltaic cleaning robot device provided by the invention; fig. 8 is a schematic diagram of a plate replacing work flow of the photovoltaic cleaning robot device provided by the present invention.
In this embodiment, the cleaning method of the photovoltaic cleaning robot, which can realize the separation operation, includes the following steps:
controlling the transportation equipment 1 to move to a target position of the photovoltaic panel 4 to be cleaned, wherein at least one cleaning machine 2 is placed on the transportation equipment 1, and specifically, one or two or more cleaning machines 2 can be placed on the transportation equipment 1;
the cleaning machines 2 on the transportation equipment 1 are sequentially placed on the photovoltaic panel 4 to be cleaned, and the cleaning machines 2 independently perform cleaning.
Specifically, the carrier platform can be installed on the transportation equipment 1, the cleaning machine 2 is placed on the carrier platform, the movement of the transportation equipment 1 can drive the cleaning machine 2 to move, and the carrier platform can be specifically a ferry platform or other platforms capable of placing the cleaning machine 2. After placing cleaning machine 2 on photovoltaic board 4, cleaning machine 2 can wash photovoltaic board 4 alone, and other work can be carried out alone to transportation equipment 1.
Further, the step "place cleaning machine 2 on the transportation equipment 1 in proper order on waiting to wash photovoltaic board 4, after the cleaning machine independently carries out the washing", still include:
the cleaning machine 2 which completes the cleaning work is taken back to the transportation equipment 1;
the cleaning machine 2 on the transport device 1 is placed on the photovoltaic panel 4 to be cleaned, and the cleaning machine independently performs cleaning.
The transport device 1 can transfer the cleaning machine 2 that has completed the cleaning work to any other photovoltaic panel 4 to be cleaned, and of course, in order to save the moving distance of the transport device 1, the cleaning machine 2 that has completed the cleaning work can be transferred to the photovoltaic panel 4 to be cleaned at the closest distance.
In addition to the above embodiments, the present invention further includes:
monitoring whether the electric quantity of the cleaning machine 2 is lower than a preset electric quantity, if so, taking back the cleaning machine 2 which is lack of power to the transportation equipment 1 for charging; or the cleaning machine 2 which is lack of power is taken back to the transportation equipment 1, and the transportation equipment 1 is controlled to move to a charging position to charge the cleaning machine 2 which is lack of power; or the cleaning machine 2 which is controlled to be lack of power moves to the edge charging port of the photovoltaic panel 4 for charging.
Specifically, the detection of the electric quantity of the cleaning machine 2 can be realized through an electric quantity detection element installed on the cleaning machine 2, the detection of the electric quantity of the cleaning machine 2 can be performed when the cleaning machine 2 does not leave the photovoltaic panel 4, and the electric quantity of the cleaning machine can be transferred to the transportation equipment 1 after the cleaning is completed.
In addition to the above embodiments, the present invention further includes:
whether the electric quantity of the transportation equipment 1 is lower than the preset electric quantity or not is detected, and if yes, the transportation equipment 1 which is lack of power is controlled to move to a charging position for charging.
Specifically, install electric quantity detecting element on the transportation equipment 1, through the testing result who acquires the electric quantity detecting element on the transportation equipment 1, judge whether the electric quantity of transportation equipment 1 is less than and predetermine the electric quantity, if yes, then control transportation equipment 1's navigation component and drive element open, and the transportation equipment 1 that control transportation equipment 1 lacks the electricity removes to the department of charging and charges.
In addition to the above embodiments, the present invention further includes:
whether the washing machine 2 completes the washing is detected, and if so, the transportation device 1 is controlled to take back the washing machine 2 which completes the washing work.
In addition to the above embodiments, the present invention further includes:
whether the cleaning machine 2 finishes cleaning work or whether the electric quantity is lower than preset electric quantity or not is detected, if yes, the cleaning machine 2 is controlled to send out an alarm signal, and the transportation equipment 1 can charge the cleaning machine 2 or transfer the cleaning machine 2 to other photovoltaic panels 4 to be cleaned by receiving the alarm signal sent by the cleaning machine 2.
On the basis of the above embodiments, the step "controlling the transportation device 1 to move to the target position of the photovoltaic panel 4 to be cleaned" is specifically:
and controlling the transportation equipment 1 to move towards the row end of the photovoltaic panel 4 to be cleaned, and stopping moving when the carrier platform of the transportation equipment 1 moves to the target position of the row end of the photovoltaic panel 4 to be cleaned.
On the basis of the above embodiments, the step "placing the cleaning machine 2 on the transportation device 1 onto the photovoltaic panel 4 to be cleaned in sequence" specifically includes:
acquiring position information of a cleaning machine 2 on the transportation equipment 1, and acquiring an adjusting displacement and/or an adjusting angle of the cleaning machine 2 required to move according to an initial cleaning position of the photovoltaic panel 4;
the handling mechanism on the transport device 1 is controlled to start and the cleaning machine 2 is moved to the initial cleaning position of the photovoltaic panel 4 according to the adjustment displacement and/or the adjustment angle.
In particular, the handling mechanism may be a robotic arm with a gripper, or other handling mechanism that enables the transfer of the washing machine 2.
On the basis of the above embodiments, the step "placing the cleaning machine 2 on the transportation device 1 onto the photovoltaic panel 4 to be cleaned in sequence" specifically includes:
the cleaning machines 2 on the transport device 1 are placed in sequence on the same or different rows of photovoltaic arrays to be cleaned.
Specifically, the photovoltaic array row to be cleaned refers to one row in a photovoltaic array formed by arranging a plurality of photovoltaic panels 4, two cleaning machines 2 can be respectively arranged at two ends of the photovoltaic array row to be cleaned, and the two cleaning machines respectively start cleaning from the two ends of the photovoltaic array row to be cleaned to the middle position; when the cleaning machine 2 is placed on the same photovoltaic array row to be cleaned, the time can be preset at intervals between the front cleaning machine 2 and the rear cleaning machine 2, or the cleaning machines 2 can be placed at different target positions on the same photovoltaic array row to be cleaned, so that the state that the cleaning machines 2 work simultaneously on the same photovoltaic array row to be cleaned is realized, and the cleaning effect is improved. Of course, each cleaning machine 2 may be placed on different rows of photovoltaic arrays to be cleaned, as shown in fig. 7 and 8, and of course, different numbers of cleaning machines 2 may also be placed on different rows of photovoltaic arrays to be cleaned, which may specifically depend on the extent of soiling of the photovoltaic panel 4 or the area of the row of photovoltaic arrays to be cleaned.
On the basis of the above embodiments, the step "the cleaning machine 2 performs cleaning independently" specifically includes:
the cleaning machine 2 enters a cleaning state and moves according to a preset cleaning path; after the cleaning machine 2 finishes the preset cleaning path, the cleaning machine 2 returns to the initial cleaning position of the photovoltaic panel 4, and the transportation equipment 1 is taken back to the cleaning machine 2.
Preferably, the preset cleaning path specifically includes:
the preset cleaning path is planned in advance, that is, the path planned in advance by the controller, or the preset cleaning path generated by the cleaning machine 2 according to the current environmental parameters, specifically, the current environmental parameters may be the stain degree and the size parameters of the photovoltaic panel 4 or the photovoltaic array row, or the number of the cleaning machines, and the electric quantity and the power of the cleaning machines.
Specifically, the mobile device comprises a main step of placing and grasping the cleaning machine 2, as shown in fig. 7 and 8, and in the placing process, specific embodiments can be as follows:
controlling the transportation equipment 1 to move towards the row end of the first photovoltaic panel 4, moving the first cleaning machine 2 positioned on the carrier platform onto the first photovoltaic panel 4, and controlling the cleaning machine of the first cleaning machine 2 to independently perform cleaning;
controlling the transportation equipment 1 to move towards the row end of the second photovoltaic panel 4, moving the second cleaning machine 2 positioned on the carrier platform onto the second photovoltaic panel 4, and controlling the cleaning machine of the second cleaning machine 2 to independently perform cleaning;
and controlling the transportation equipment 1 to move towards the row end of the Nth photovoltaic panel 4, moving the Nth cleaning machine 2 positioned on the carrier platform to the Nth photovoltaic panel 4, and controlling the cleaning machine of the Nth cleaning machine 2 to independently execute cleaning.
In each of the above steps, one cleaning machine 2 is respectively placed on each nth photovoltaic panel 4 until all cleaning machines 2 on the transportation device 1 are placed, and certainly, all cleaning machines 2 may not be placed on the photovoltaic panels to be cleaned, that is, at least one cleaning machine is left on the transportation device 1 for standby, preferably, the nth photovoltaic panels 4 should be the nth photovoltaic panels 4 close to each other, so as to reduce the total moving distance of the transportation device 1.
In the grabbing process, the method specifically comprises the following steps:
controlling the transportation equipment 1 to return to the row end of the first photovoltaic panel 4, moving the first cleaning machine 2 positioned on the first photovoltaic panel 4 to the carrier platform, controlling the transportation equipment 1 to move to the row end of the (N + 1) th photovoltaic panel 4, moving the first cleaning machine 2 positioned on the carrier platform to the (N + 1) th photovoltaic panel 4, and controlling the first cleaning machine 2 to independently perform cleaning;
controlling the transportation equipment 1 to return to the row end of the second photovoltaic panel 4, moving the second cleaning machine 2 positioned on the second photovoltaic panel 4 to the carrier platform, controlling the transportation equipment 1 to move to the row end of the (N + 2) th photovoltaic panel 4, moving the second cleaning machine 2 positioned on the carrier platform to the (N + 2) th photovoltaic panel 4, and controlling the second cleaning machine 2 to independently perform cleaning;
and controlling the transportation equipment 1 to return to the row end of the Nth photovoltaic panel 4, moving the Nth cleaning machine 2 positioned on the Nth photovoltaic panel 4 to the carrier platform, controlling the transportation equipment 1 to move to the row end of the (N + N) th photovoltaic panel 4, moving the Nth cleaning machine 2 positioned on the carrier platform to the (N + N) th photovoltaic panel 4, and controlling the cleaning machine 2 of the Nth cleaning machine to independently execute cleaning.
In the above steps, the cleaning machines 2 on the first photovoltaic panel 4, the second photovoltaic panel 4 and the nth photovoltaic panel 4 are sequentially transferred to the (N + 1) th photovoltaic panel 4, the (N + 1) th photovoltaic panel 4 and the (N + N) th photovoltaic panel 4, and the most preferable scheme is that when the transportation device 1 returns to the row end of the first photovoltaic panel 4, the cleaning machines 2 on the first photovoltaic panel 4 just complete the cleaning work.
It should be noted here that at least one cleaning machine 2 is installed on the carrier platform of the transportation device 1, the carrier platform may specifically be a mother vehicle with a driving device, and multiple cleaning machines 2 may also be installed on one carrier platform, the route transferred by the transportation device 1, the number of cleaning machines 2 transferred by the mother vehicle at the same time, and the number N of cleaning machines 2 carried by the mother vehicle should be calculated according to the moving speed of the mother vehicle, the cleaning efficiency of the cleaning machines 2, the single row length of the photovoltaic array, and the row spacing of the photovoltaic array, and the like, and is not limited to the parameter values given in this embodiment.
According to the cleaning method, one or more cleaning machines 2 are placed on one conveying device 1, so that the conveying device 1 can simultaneously convey the cleaning machines 2, on the premise that the work of one cleaning machine 2 is not influenced, the other cleaning machine 2 is transferred to other photovoltaic panels 4, the transfer of a single cleaning machine 2 on different photovoltaic panels 4 is realized, the cleaning efficiency of the photovoltaic panels 4 is effectively improved in a one-to-many mode, the cleaning work can be independently executed by the cleaning machines after the cleaning machines 2 are separated from the conveying device 1, the influence of the conveying device 1 on the cleaning machines 2 is avoided, the cleaning effect is reliable and uniform, meanwhile, the transfer among target positions which cannot be directly reached by the cleaning machines 2 in a moving mode, such as lines, clusters and the like of the photovoltaic panels 4 can be realized by the aid of the plurality of cleaning machines 2 under the assistance of the conveying device 1, and the applicability is improved.
The cleaning method can be realized by a photovoltaic cleaning robot device capable of operating in a separable manner, and specifically, the photovoltaic cleaning robot device capable of operating in a separable manner comprises:
the transportation equipment 1 is used for driving the cleaning machine 2 to move to a target position and providing energy for the cleaning machine 2, at least one cleaning machine 2 is arranged on each transportation equipment 1, namely, at least one cleaning machine is arranged on each mother vehicle, and the transportation equipment 1 can also charge the cleaning machine 2 so as to ensure the energy consumption after the cleaning machine 2 is separated from the transportation equipment 1.
The cleaning machine 2 is used for moving on the photovoltaic panel 4 and cleaning the photovoltaic panel 4, and the cleaning machine 2 can work independently without the transportation equipment 1 to clean the photovoltaic panel 4;
a handling system 3 for moving the cleaning machine 2 from the transport device onto the photovoltaic panel 4;
and the control system is used for acquiring detection information of each detection element on the transportation equipment 1, the cleaning machine 2 and the conveying system 3 and controlling each execution element on the transportation equipment 1, the cleaning machine 2 and the conveying system 3 to work.
In particular, the transport device 1 has the following effects: 1. the carrying platform of the cleaning machine 2 can also charge the cleaning machine 2 on line, certainly, the online charging function is optional, the concept of online charging is to supplement electric quantity to the energy supply element of the cleaning machine 2 through the energy supply element of the transportation equipment 1, and other energy forms can be supplemented if the energy supply element is not driven by electricity; 2. the mounting platform of the carrying system 3 is also an energy supply element, energy which needs to be consumed when the carrying system 3 acts is supplied by the transportation equipment 1, and of course, the carrying system 3 can also independently supply energy consumption, and the energy is uniformly supplied by the transportation equipment 1 so as to be convenient for optimization and implementation; 3. as part of the "torso" of the present invention, the power core of the present invention is disposed on this part, responsible for powering all the dissipative elements in the solution; 4. as the main long-distance transportation equipment 1, the relationship with other parts is similar to the relationship between an "aircraft carrier" and a "carrier-based aircraft", "catapult", and the like; 5. as a carrier of the "control system", a series of devices having functions of detection, transmission, calculation, and the like of the "control system" are mounted.
Further, the transport apparatus 1 includes a movement actuator, a power element, a movement detection element, and an arithmetic control element.
Wherein, the mobile executive component refers to a functional component which endows the transportation equipment 1 with active space transfer capability, and the implementation mode of the mobile executive component is a mobile chassis 2-2, such as a common automobile type wheel chassis, a common crawler chassis and the like; or a ship, an air cushion motorcycle and the like on water; the vehicle can also be an aircraft moving in the air and the like, has a vehicle with driving capability, and is not limited to implementation scenes;
the power element is used for outputting and supplying energy consumption, and can be a fuel tank and internal combustion engine combination, a storage battery and motor combination, a nuclear energy and generator set or a solar battery and motor combination, and the like, namely a component capable of providing energy and outputting power, and the storage battery and motor combination is preferably used.
The movement detection element belongs to an element of the control system, so that the transport apparatus 1 has an autonomous movement function for locating the position of the transport apparatus 1 itself and the position of the target point. The common navigation modes include magnetic stripe navigation, two-dimensional code navigation, 2D laser navigation, 3D laser navigation, GPS navigation, inertial navigation, mileage navigation and the like, and generally two or more navigation modes are combined for use to ensure the navigation precision and reliability. Another type of movement detection elements for safety includes ultrasound, safety laser, edge touch, pull-cord switch, etc., and these sensors are used to detect the environment around the transportation device 1, and if an obstacle or a target object appears on the driving route of the transportation device 1 or appears in the detection range of these sensors, the target information can be acquired, and then the target information is fed back to the arithmetic control element for information processing, and a next action command is provided. Other movement detection elements are mainly used for realizing automatic control of the movement actuating element in a matching way, such as battery power detection, chassis movement speed detection, three-dimensional angle change detection of a chassis or a machine body and the like.
The operation control element is one of the components of a control system and mainly comprises hardware with an operation function, compiled software, a controller of each component for control and an I/O. After receiving the information fed back by the movement detection element, the operation control element processes the information according to a set program through software to obtain a corresponding instruction, the instruction is output to the controller of each part through I/O, and the controller controls the specific operation of the execution element of each part, so that the control function is realized. In the application of automatic control, the movement detection element often collects the operation result of the movement execution element and feeds back the operation result to the operation control element, the execution condition is judged through the comparison of built-in software, and if the control requirement is not met, a new round of control adjustment is output until the execution result meets the control requirement.
Specifically, the cleaning machine 2 is a core part for realizing specific functions in the context of photovoltaic application, and mainly comprises a cleaning execution element 2-1, a moving chassis 2-2, a cleaning detection element 2-3 and a control element.
The cleaning actuator 2-1 is a structure having a cleaning capability, and the cleaning structure has a powered active cleaning manner, such as a rotatable cylindrical roller brush, a rotatable disc brush, or a structure having a dust suction function. Of course, the cleaning component has passive cleaning mode without power, the moving chassis 2-2 provides thrust and pressure, the mop cleaning mode is adopted, and the cleaning head can be in a block, strip, brush and other structural forms formed by one or more materials such as cloth, rubber, nylon and the like. Meanwhile, the mode of additionally spraying water to the surface to be cleaned or directly wetting the cleaning material is not excluded from the inside or the outside of the cleaning head, and the mode of adding a cleaning agent can be selected and matched, and the structure is similar to a water spraying structure.
The movable chassis 2-2 is a wheel type or crawler type component with linear controllable movement capacity, is powered by a storage battery and driven by a motor, and is applied to the photovoltaic panel 4, so that the required surface pressure is small, the mirror surface abrasion is small, the crawler chassis is selected, and the functions of chassis turning and turning around can be realized through differential control.
The cleaning detection element 2-3 is arranged on the chassis and is responsible for collecting information of the mobile chassis 2-2 and the surrounding environment, the cleaning detection element 2-3 is composed of a sensor group, and the cleaning detection element 2-3 is an important component of the automatic moving function of the mobile chassis 2-2. The cleaning detection element 2-3 can be composed of one or more of ultrasound, laser, a proximity switch, a camera, 3D laser, a speedometer, and the like. Navigation path recognition and vehicle body state confirmation are mainly completed by cleaning the detection elements 2-3.
The control element is an upper-layer control part of the cleaning machine 2, mainly comprises a controller and a driver with computing capability, compiling capability and driving capability, and can receive environment information fed back by the cleaning detection elements 2-3 and state information of the chassis. According to the compiled software flow, corresponding instructions are output to the execution elements of the cleaning machine 2 according to different feedbacks, such as the switch, acceleration and deceleration, positive and negative rotation and the like of the cleaning execution element 2-1, and the acceleration and deceleration, turning and the like of the moving chassis 2-2.
Specifically, the control system is responsible for information processing and decision making of the whole set of cleaning robot, is responsible for receiving information fed back by respective detection elements of the three systems of cleaning, carrying and moving, processes information input by the systems according to a software program arranged in the controller, and outputs control instructions for independent operation or matched operation of the three systems of cleaning, carrying and moving according to a set strategy, and the control system comprises a main controller, controllers and drivers of the systems and the detection elements of the systems.
The carrying system 3 comprises a grabbing part and a multi-degree-of-freedom adjusting part, wherein the grabbing part is used for grabbing the cleaning machine 2, and the multi-degree-of-freedom adjusting part is used for driving the grabbing part to move.
The conveying system 3 has the function of providing a method which can automatically identify the spatial position of the conveyed object, calculate a conveying and placing path in cooperation with a control system and flexibly place the conveyed object. From the background of the application of photovoltaic cleaning: the aim of the invention of the system is to achieve an automatic transfer of the washing machine 2 or the installation.
The function of the handling system 3 is divided into two parts: the grabbing part for collecting and releasing the cleaning machine 2 and the multi-degree-of-freedom adjusting part of the mechanical arm can realize space position transfer, adjustment and flexible picking and placing on the cleaning machine 2 through the combined action of the grabbing part and the multi-degree-of-freedom adjusting part.
Specifically, the carrying system 3 comprises a grabbing part and an auxiliary part 3-1-2, a telescopic part 3-1-1 connected with the grabbing part and the auxiliary part 3-1-2, a rotary freedom degree joint 3-2-1 for driving the grabbing part and the auxiliary part 3-1-2 to rotate, and a first rotary joint 3-2-2, a second rotary joint 3-2-3 and a third rotary joint 3-2-4 for driving the grabbing part and the auxiliary part 3-1-2 to swing; the grabbing part and the auxiliary part 3-1-2, the telescopic part 3-1-1, the rotary freedom degree joint 3-2-1, the first rotary joint 3-2-2, the second rotary joint 3-2-3 and the third rotary joint 3-2-4 are all provided with sensors for controlling and detecting corresponding angle and/or displacement information.
As can be seen from fig. 5, in the handling system 3, the multi-degree-of-freedom adjustment component has multiple degrees of freedom, each degree of freedom can realize the change of the angle or the displacement under the driving of the corresponding driving element, and the sensor installed at the corresponding position can feed back the change value of the angle or the displacement. Specifically, the telescopic part 3-1-1 is used for finely adjusting the tail end gripping apparatus, including the angle and the displacement, and can be adjusted by a single degree of freedom or simultaneously adjusted by one degree of freedom according to actual requirements; the auxiliary part at the tail end of the gripping apparatus mainly refers to a position detection element of a gripped object, namely the cleaning machine 2, the position information of the target is collected by the position detection element and fed back to the control system, the movement amount of each joint including the multi-degree-of-freedom adjusting part is output through calculation and kinematics calculation, the movement amount includes the variation of angle and displacement, and the corresponding position correspondence between the gripping apparatus at the tail end of the telescopic part 3-1-1 and the cleaning machine 2 is realized after the corresponding control is completed. Specifically, the positions of each joint of the multi-degree-of-freedom adjusting component and the corresponding position of the telescopic component 3-1-1 are provided with position sensors which can feed back the variation of the degree of freedom of the joints, the position sensors collect position information of the joints after the joints execute a command of a control system, the position information is fed back to the control system for comparison, and whether the operation of automatic adjustment is in place or not is confirmed, so that closed-loop control is formed. Of course, the multiple degree of freedom adjustment component may also be a boom structure, as shown in fig. 6.
The grabbing parts and the auxiliary parts 3-1-2 are mainly used for fixing the cleaning machine 2 on the carrying system 3 and carrying out space transfer along with the carrying system 3 and the transportation equipment 1, and finally, the cleaning machine 2 is replaced in a working area; and when the work area is reached, the need to grip the parts releases the washing machine 2. In one action of the taking and the placing, the grabbing part also has the capability of being out of the basic taking and placing functions:
1. the telescopic component 3-1-1 can compensate the execution error at the tail end of the multi-degree-of-freedom adjusting component;
2. the rotational degree-of-freedom joint 3-2-1 can adjust the positional relationship of the washing machine 2 with respect to the conveyance system 3, and ensure that the posture at the time of placing the washing machine 2 is satisfactory.
The sensor at the tail end gripper can sense the position of the cleaning machine 2 and provide secondary positioning for the gripping action, wherein the primary positioning is realized by visual servo operation of a multi-freedom-degree adjusting part of the handling system 3, the sensor at the tail end gripper can inform the gripper to open after sensing a target position, the cleaning machine 2 is gripped, the tail end gripper structure of the gripping part can be in other realization forms, the cleaning machine 2 can be fixed, and the gripping device is not limited to the structure provided by the embodiment.
The photovoltaic cleaning robot provided by the embodiment has the following working method of 1 to N:
the first stage is as follows: the cleaning machine is transferred to the surface of the photovoltaic panel 4 from the back of the mother vehicle;
the mother vehicle is provided with N cleaning machines, under the leading of a navigation element and a control element of the mother vehicle, the N cleaning machines are set according to a program and stay at the row end of the photovoltaic panel 4 in the array, and after the mother vehicle confirms that the position of the mother vehicle reaches the set position through the navigation element, the control system indicates the carrying system 3 to start; a position detection element in the carrying system 3 firstly detects the position of the cleaning machine on a platform at the back of the mother vehicle, position information is fed back to a control system, the control system outputs action instructions to each joint of a multi-degree-of-freedom adjusting part, hereinafter referred to as a mechanical arm for short, under the control of the instructions, the tail end of the mechanical arm moves to the vicinity of the cleaning machine, and the position is determined by the structure of a grabbing part arranged at the tail end of the mechanical arm and the form of grabbing positions 2-4 matched with the grabbing part on the cleaning machine; after the tail end of the mechanical arm is in place, the grabbing part is started, the telescopic part 3-1-1 acts, the driving claw is close to the grabbing position 2-4 of the cleaning machine, a position detection sensor is arranged on the claw, when the distance between the position of the claw and the grabbing position 2-4 reaches a set position, the sensor is triggered, the grabbing action is started, the claw is driven by a grabbing execution element to open, after a certain position is reached, the other position sensor on the claw is triggered, the grabbing action is finished, and the cleaning machine is fixed on the grabbing part; then the telescopic component 3-1-1 acts, the cleaning machine is moved away from the platform at the back of the mother vehicle, the telescopic component 3-1-1 is also provided with a position sensor, when the claw moves to a certain position along with the telescopic component 3-1-1, the sensor is triggered, the action of the telescopic component 3-1-1 is stopped, and the 'taking' action is completely finished.
After the action of taking the cleaning machine is completed, the bottom of the mechanical arm rotates to the direction of the photovoltaic array, as shown in fig. 3, the mechanical arm rotates by 90 degrees, the cleaning machine is positioned above the row end of the photovoltaic array, of course, the rotation angle is determined according to the position relation between the walking direction of the mother vehicle and the photovoltaic array, and is generally 90 degrees. The rotation angle of the mechanical arm is monitored by a sensor, and the rotation is stopped after the rotation angle reaches a set position. And at the moment, the detection system on the mechanical arm detects the position relation between the cleaning machine and the photovoltaic panel 4, the detection result is fed back to the control system, the difference between the current position of the cleaning machine and the target position is determined, the control system calculates and outputs action instructions of all joints of the mechanical arm, and the action results are that the cleaning machine is adjusted to a position with a proper height from the surface of the photovoltaic panel 4. The moved position is detected by a detection part on the mechanical arm, the result is transmitted to a control system for comparison and confirmation, and if the position is not in place, the position is continuously adjusted until the cleaning machine reaches the target position. The process is a closed loop control. After the cleaning machine reaches the target position, the telescopic component 3-1-1 is started, the cleaning machine is slowly lowered to be further close to the surface of the photovoltaic panel 4 until the cleaning machine is completely contacted with the surface of the photovoltaic panel 4, and at the moment, a position sensor at the bottom of the cleaning machine is triggered to inform a control system of placing the cleaning machine at the position. At the moment, the grabbing part and the auxiliary part 3-1-2 of the claw are started, the cleaning machine is released, the telescopic part 3-1-1 is restored to the initial position, the tail end of the mechanical arm is restored to the set position, and the releasing action is finished completely.
As shown in fig. 7, which is a schematic flow chart of the plate placing work of the cleaning machine, after the cleaning machine is separated from the grabbing component, the cleaning machine starts to move on the photovoltaic plate 4, and the cleaning executive component 2-1 is started, the cleaning executive component 2-1 is active, and the cleaning work is started by a roller brush driven by the motor. The design of the cleaning route should be set according to the arrangement of the photovoltaic panels 4 and the size of the cleaning actuators 2-1, and is not further limited herein.
After the cleaning machine is placed in the mother vehicle, after the mechanical arm is restored to the set position, the mother vehicle is started to move to the next target position according to the navigation route, the next target position is also the row end of the row 4 of the photovoltaic panel, and after the cleaning machine is placed in place, the previous steps of taking and placing the cleaning machine are repeated. The washing machines placed on the surface of the photovoltaic panel 4 are each set in operation to wash the photovoltaic panel, as previously described. In the above operation, when the number of the cleaning machines which clean the surfaces of the photovoltaic arrays simultaneously reaches the set value, the mother vehicle returns to the row end of the photovoltaic array row where the first cleaning machine which starts cleaning work is located, and prepares to transfer the cleaning machine which finishes cleaning work of a single row to the surface of another row of the unwashed photovoltaic panel 4, as shown in fig. 8, a schematic flow diagram of the plate changing work of the cleaning machines is one embodiment of the transfer process.
According to the cleaning machine 2 provided by the embodiment, through the arrangement of the transportation equipment 1, the cleaning machine 2, the carrying system 3 and the control system, the cleaning machine can be separated from the mother vehicle, N cleaning machines can be transferred among target positions which cannot be reached by the direct movement of the cleaning machine, such as photovoltaic array lines, photovoltaic array strings and the like under the assistance of other parts, and the cleaning machine can move on the surface of a photovoltaic panel 4 without depending on the structural form of the panel, so that the autonomous navigation and cleaning can be realized; the transportation device 1 is not limited to the mobile chassis 2-2, and may be a sea, land and air mobile means such as an aircraft, a ship, or the like; the carrying part can be a mechanical arm type grabbing structure and also can be a platform type ferry scheme; the cleaning machine 2 can work independently after being separated from the transportation equipment 1, the influence of the transportation equipment on the cleaning machine 2 is avoided, the cleaning effect is reliable and uniform, and the applicability is improved.
The cleaning method of the photovoltaic cleaning robot provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. A cleaning method of a photovoltaic cleaning robot is characterized by comprising the following steps:
controlling a transportation device to move to a target position of a photovoltaic panel to be cleaned, wherein at least two cleaning machines are placed on the transportation device;
sequentially placing cleaning machines on the transportation equipment on the photovoltaic panel to be cleaned, wherein the cleaning machines independently perform cleaning; the step of "place in proper order the cleaning machine on the haulage equipment on waiting to wash the photovoltaic board, after the cleaning machine independently carries out the washing", still include:
retrieving the cleaning machine which has completed the cleaning work to the transportation device;
placing a cleaning machine on the transportation equipment on the photovoltaic panel to be cleaned, wherein the cleaning machine independently performs cleaning;
during the setting process, the method comprises the following steps:
controlling the transportation equipment to move to the row end of the first photovoltaic panel, moving a first cleaning machine on an on-board platform of the transportation equipment to the first photovoltaic panel, and controlling the first cleaning machine to independently perform cleaning;
controlling the transportation equipment to move to the row end of a second photovoltaic panel, moving a second cleaning machine positioned on the carrier platform to the second photovoltaic panel, and controlling the second cleaning machine to independently perform cleaning;
controlling the transportation equipment to move to the row end of the Nth photovoltaic panel, moving an Nth cleaning machine positioned on the carrier platform to the Nth photovoltaic panel, and controlling the Nth cleaning machine to independently perform cleaning;
in the grabbing process, the method comprises the following steps:
controlling the transportation equipment to return to the row end of the first photovoltaic panel, moving a first cleaning machine positioned on the first photovoltaic panel to the carrier platform, controlling the transportation equipment to move to the row end of the (N + 1) th photovoltaic panel, moving the first cleaning machine positioned on the carrier platform to the (N + 1) th photovoltaic panel, and controlling the first cleaning machine to independently perform cleaning;
controlling the transportation equipment to return to the row end of the second photovoltaic panel, moving a second cleaning machine positioned on the second photovoltaic panel to the carrier platform, controlling the transportation equipment to move to the row end of the (N + 2) th photovoltaic panel, moving the second cleaning machine positioned on the carrier platform to the (N + 2) th photovoltaic panel, and controlling the second cleaning machine to independently perform cleaning;
and controlling the transportation equipment to return to the row end of the Nth photovoltaic panel, moving an Nth cleaning machine positioned on the Nth photovoltaic panel to the carrier platform, controlling the transportation equipment to move to the row end of the (N + N) th photovoltaic panel, moving the Nth cleaning machine positioned on the carrier platform to the (N + N) th photovoltaic panel, and controlling the Nth cleaning machine to independently perform cleaning.
2. The method of cleaning a photovoltaic cleaning robot of claim 1, further comprising:
monitoring whether the electric quantity of the cleaning machine is lower than a preset electric quantity, if so, taking back the cleaning machine which is lack of power to the transportation equipment for charging; or the cleaning machine which is lack of power is taken back to the transportation equipment, and the transportation equipment is controlled to move to a charging position to charge the cleaning machine which is lack of power; or controlling the cleaning machine with power shortage to move to the edge charging port of the photovoltaic panel for charging.
3. The method of cleaning a photovoltaic cleaning robot of claim 1, further comprising:
and detecting whether the electric quantity of the transportation equipment is lower than a preset electric quantity, and if so, controlling the transportation equipment which is lack of power to move to a charging position for charging.
4. The method of cleaning a photovoltaic cleaning robot of claim 1, further comprising:
and detecting whether the cleaning machine completes cleaning, and if so, controlling the transportation equipment to take back the cleaning machine which completes the cleaning work.
5. The cleaning method of a photovoltaic cleaning robot according to claim 1, wherein the step of "controlling the transportation device to move to the target position of the photovoltaic panel to be cleaned" is specifically:
and controlling the transportation equipment to move towards the row end of the photovoltaic panel to be cleaned, and stopping moving when the carrier platform of the transportation equipment moves to the target position of the row end of the photovoltaic panel to be cleaned.
6. The cleaning method of a photovoltaic cleaning robot according to claim 1, wherein the step of placing the cleaning machines on the transportation device on the photovoltaic panel to be cleaned in sequence specifically comprises:
acquiring position information of a cleaning machine on the transportation equipment, and acquiring the adjustment displacement and/or the adjustment angle of the cleaning machine required to move according to the initial cleaning position of the photovoltaic panel;
and controlling a carrying mechanism on the transportation equipment to start, and moving the cleaning machine to an initial cleaning position of the photovoltaic panel according to the adjusting displacement and/or the adjusting angle.
7. The cleaning method of a photovoltaic cleaning robot according to any one of claims 1 to 6, wherein the step of placing the cleaning machines on the transportation device on the photovoltaic panel to be cleaned in sequence specifically comprises:
and sequentially placing the cleaning machines on the transportation equipment on the same or different rows of the photovoltaic arrays to be cleaned.
8. The cleaning method of a photovoltaic cleaning robot according to any one of claims 1 to 6, wherein the step "the cleaning machine performs cleaning independently" is specifically:
the cleaning machine enters a cleaning state and moves according to a preset cleaning path; and after the cleaning machine finishes the preset cleaning path, returning to the initial cleaning position of the photovoltaic panel to wait for the transportation equipment to take back the cleaning machine.
9. The cleaning method of a photovoltaic cleaning robot according to claim 8, wherein the preset cleaning path is specifically:
and (3) a preset cleaning path which is planned in advance, or a preset cleaning path which is generated by the cleaning machine according to the current environmental parameters.
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| CN201711183699.XA CN107947723B (en) | 2017-11-23 | 2017-11-23 | Cleaning method of photovoltaic cleaning robot |
| PCT/CN2018/079067 WO2019100625A1 (en) | 2017-11-23 | 2018-03-15 | Cleaning method of photovoltaic cleaning robot |
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| CN201711183699.XA CN107947723B (en) | 2017-11-23 | 2017-11-23 | Cleaning method of photovoltaic cleaning robot |
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| CN109361352B (en) * | 2018-11-09 | 2020-08-04 | 苏州瑞得恩光能科技有限公司 | Control method of cleaning system |
| CN109412529A (en) * | 2018-12-18 | 2019-03-01 | 上海电力设计院有限公司 | Photovoltaic cleaning device on a kind of movable type water |
| CN111408559A (en) * | 2019-01-04 | 2020-07-14 | 河北京电电力建设有限公司 | Photovoltaic power plant cleaning device |
| CN109733340B (en) * | 2019-01-15 | 2021-12-28 | 长沙皓欣工业设备有限公司 | Photovoltaic energy storage battery charging scheduling method based on mobile carriage |
| DE102019115647B4 (en) * | 2019-06-09 | 2021-11-18 | Donald H. Dussault | SYSTEM AND METHOD FOR CLEANING THE COVER GLASS OF PHOTOVOLTAIC MODULES |
| CN112254657A (en) * | 2020-09-21 | 2021-01-22 | 河南颂达信息技术有限公司 | Intelligent snow removal robot scheduling method based on visual perception |
| CN112452843B (en) * | 2021-01-12 | 2022-08-23 | 领碳数字科技(江苏)有限公司 | Automatic cleaning equipment for photovoltaic solar panel |
| CN113182246A (en) * | 2021-04-08 | 2021-07-30 | 广州大学 | Water-saving photovoltaic panel cleaning system and method based on machine vision |
| CN113649322A (en) * | 2021-08-25 | 2021-11-16 | 北京东方星火能源科技有限公司 | Unmanned aerial vehicle cleaning system for photovoltaic panel |
| CN115121528A (en) * | 2022-07-27 | 2022-09-30 | 湖州丽天智能科技有限公司 | Photovoltaic cleaning system and cleaning method |
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| JP4477685B1 (en) * | 2008-12-26 | 2010-06-09 | 三井造船株式会社 | Cleaning robot system and control method thereof |
| JP6583733B2 (en) * | 2014-06-25 | 2019-10-09 | 株式会社未来機械 | Work system using self-propelled robot |
| DE102014009903A1 (en) * | 2014-07-05 | 2016-01-07 | Ridha Azaiz | Method for controlling a missile for cleaning surfaces |
| CN206021073U (en) * | 2016-05-20 | 2017-03-15 | 杭州品联科技有限公司 | Photovoltaic module intelligence cleaning device |
| CN205873818U (en) * | 2016-07-15 | 2017-01-11 | 河南方孔实业有限公司 | Photovoltaic cleans machine people transfer car(buggy) |
| CN106734010B (en) * | 2016-08-23 | 2021-05-07 | 协鑫电力设计研究有限公司 | Photovoltaic power station cleaning method and system |
| 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 |
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| CN107570439B (en) * | 2017-04-21 | 2021-04-06 | 索渥科技 | Cleaning system and layout method for photovoltaic panel of solar power station |
| CN107362994A (en) * | 2017-08-21 | 2017-11-21 | 浙江大学 | Apparatus for work in inclined plane and its apply cleaning method in photovoltaic plant |
| CN107491078A (en) * | 2017-09-30 | 2017-12-19 | 江西洪都航空工业集团有限责任公司 | A kind of intelligent large photovoltaic plant sweeping robot system |
| CN107962054B (en) * | 2017-11-23 | 2020-07-28 | 浙江国自机器人技术有限公司 | Plate replacing method of plate-replaceable operation cleaning robot applied to photovoltaic array |
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