CN107977010A - A kind of cleaning robot control method applied to photovoltaic array - Google Patents
A kind of cleaning robot control method applied to photovoltaic array Download PDFInfo
- Publication number
- CN107977010A CN107977010A CN201711182688.XA CN201711182688A CN107977010A CN 107977010 A CN107977010 A CN 107977010A CN 201711182688 A CN201711182688 A CN 201711182688A CN 107977010 A CN107977010 A CN 107977010A
- Authority
- CN
- China
- Prior art keywords
- ferry
- cleaning
- photovoltaic array
- boat platform
- moved
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 244
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001105 regulatory effect Effects 0.000 claims abstract description 25
- 230000005611 electricity Effects 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000035807 sensation Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a kind of cleaning robot control method applied to photovoltaic array, including：Cleaning robot is moved to the row end of photovoltaic array；When the ferry-boat platform of cleaning robot and the plane at row end of photovoltaic array are in predeterminated position, cleaning robot is out of service；The control system of cleaning robot obtains the position relationship of ferry-boat platform and photovoltaic array, and the adjusting position and posture of ferry-boat platform is calculated；Ferry-boat platform is adjusted to can be moved to target location for cleaning system according to the adjusting position that is calculated and posture to adjust the pose regulating device of ferry-boat position of platform and posture；Cleaning system on ferry-boat platform is moved on photovoltaic array, and performs cleaning；And/or the cleaning system on photovoltaic array is moved on ferry-boat platform, plate is changed in completion.Above-mentioned cleaning robot control method, without human intervention, it is possible to achieve the cleaning of multirow photovoltaic array, cleaning efficiency significantly improve.
Description
Technical field
The present invention relates to photovoltaic array cleaning robot technical field, more particularly to a kind of cleaning applied to photovoltaic array
Robot control method.
Background technology
As society constantly increases the proportion of clean energy resource demand, photovoltaic cleaning also deepens continuously and refines, from research and development
To each link is applied, a variety of different types of photovoltaic cleaning equipments have gradually obtained numerous concerns.
The factor of photovoltaic cleaning way is influenced in addition to landform, automatization level, cost, component safety, efficiency, photovoltaic
The characteristics of component itself, also determines the characteristics of suitable cleaning way.Tracking array column system is a kind of new photovoltaic system
System, can automatic tracking system by real-time tracking solar motion, make sunlight direct projection photovoltaic array, so as to increase photovoltaic array
The solar radiation quantity received, improves the overall power generation amount of solar energy photovoltic power system.
On existing market, photovoltaic array surface cleaning equipment mainly has two kinds：The big roller swabbing of large chassis of ground running
Wash walking roller brush dry-washing type on formula and plate.Above two mode is primarily present following shortcoming：
First, the big roller brush rinsing type cleaning equipment of the large chassis of existing photovoltaic array, it is low to the adaptability of landform, easily
Photovoltaic panel is damaged by pressure, it is necessary to manual operation, and operation difficulty is big, cleaning is of high cost, not at adverse circumstances (high temperature, more dirt, night
Deng) under operation ability；
Secondly, walking roller brush dry-washing type cleaning equipment on existing photovoltaic array plate, can not change plate operation, complete in order to cover
The cleaning area in portion requires photovoltaic bracket to do with being arranged, it is necessary to the cleaning equipment quantity disposably put into is very huge
Meter, the equipment and matching operation cost input of cleaning are huge, and cleaning equipment maintenance task is heavy.
The content of the invention
The object of the present invention is to provide a kind of cleaning robot control method applied to photovoltaic array, without manually behaviour
Make, a cleaning robot can realize the cleaning of multirow photovoltaic array, and cleaning efficiency significantly improves.
To achieve the above object, the present invention provides a kind of cleaning robot control method applied to photovoltaic array, including：
The cleaning robot for being equipped with multiple cleaning systems is moved to the row end of photovoltaic array；
It is described clear when the ferry-boat platform of the cleaning robot and the plane at row end of photovoltaic array are in predeterminated position
It is out of service to wash robot；
The control system of the cleaning robot obtains the position relationship of the ferry-boat platform and photovoltaic array, and calculates
To the adjusting position and posture of the ferry-boat platform, to realize that the cleaning system can be moved to target location；
To adjust the pose regulating device of the ferry-boat position of platform and posture according to the adjusting position that is calculated and
Posture adjusts the ferry-boat platform to can be moved to target location for the cleaning system；
Cleaning system on the ferry-boat platform is moved on photovoltaic array, and performs cleaning；And/or positioned at light
Cleaning system on photovoltaic array is moved on the ferry-boat platform, and plate is changed in completion.
Preferably, the control system of the cleaning robot obtains the position relationship of the ferry-boat platform and photovoltaic array,
And the adjusting position and posture of the ferry-boat platform is calculated, to realize that the cleaning system can be moved to target location tool
Body is：
The detection device of the cleaning robot is obtained between the plane at the row end of photovoltaic array and current ferry-boat platform
Current Ubiety, and current Ubiety is sent to control system；
The control system is according to the current Ubiety and the ferry-boat platform that get and photovoltaic array row end
Default position relationship between plane, obtains the adjustment angle of ferry-boat platform；
The control system will be adjusted the angle to send to adjust the pose of the ferry-boat position of platform and posture and adjusted
Device, the pose regulating device are adjusted to can be for cleaning system according to the adjustment angle control ferry-boat platform received
It is moved to the position of photovoltaic array.
Preferably, the cleaning system positioned at the ferry-boat platform is moved on photovoltaic array, and after performing cleaning,
Further include：
After the detection device detects that the cleaning system is moved on photovoltaic array, the pose regulating device
The ferry-boat platform is controlled to adjust to initial attitude.
Preferably, the initial attitude of the ferry-boat platform is specially：The center of gravity vertical projection of the ferry-boat platform is located at institute
State the posture in the mobile system horizontal extent of cleaning robot.
Preferably,
It is described to adjust it is described ferry-boat position of platform and posture pose regulating device according to the adjusting position being calculated
Put to adjust the ferry-boat platform to target location can be moved to for the cleaning system with posture and be specially：
To adjust the pose regulating device of the ferry-boat position of platform and posture according to the adjusting position that is calculated and
Surface of the posture by the upper plate position of the ferry-boat platform in alignment with photovoltaic array row end, to realize that the cleaning system can move
To target location；
And：
The cleaning system on the ferry-boat platform is moved on photovoltaic array, and performs cleaning；And/or position
It is moved in the cleaning system on photovoltaic array on the ferry-boat platform, completion changes plate and is specially：
Cleaning system positioned at the default upper plate position of the ferry-boat platform is moved on photovoltaic array, and performs cleaning；With/
Or, the cleaning system on photovoltaic array is moved on the default upper plate position of the ferry-boat platform, plate is changed in completion.
Preferably, the cleaning system positioned at the default upper plate position of the ferry-boat platform is moved on photovoltaic array, and
After performing cleaning, further include：
Treat that another cleaning system of operating position is moved to upper plate position positioned at the ferry-boat platform, with pending next photovoltaic
The cleaning of array；And upper plate position is with treating diverse location of the operating position positioned at the ferry-boat platform.
Preferably, the upper plate position of the ferry-boat platform is specially：The edge of the ferry-boat platform and it can only park one
The position of cleaning system described in platform.
Preferably, further include：
When any cleaning system short of electricity, the cleaning system of short of electricity is moved to the ferry-boat default charge position of platform
Put, charge.
Preferably, described when any cleaning system short of electricity, the cleaning system of short of electricity is moved to the ferry-boat platform
Default charge position, after being charged, further includes：
After the cleaning system charging of short of electricity, be moved to the ferry-boat platform treats working position, with pending photovoltaic
The cleaning of array.
Preferably, the ferry-boat default charge position of platform is specially：It is described ferry-boat platform edge and be different from
At the upper plate position of the ferry-boat platform.
Relative to above-mentioned background technology, a kind of cleaning robot controlling party applied to photovoltaic array provided by the invention
Method, the cleaning robot for being equipped with multiple cleaning systems are moved to the row end of photovoltaic array；When the ferry-boat of the cleaning robot
When the plane at the row end of platform and photovoltaic array is in predeterminated position, the cleaning robot is out of service；The cleaning robot
The control system of people obtains the position relationship of the ferry-boat platform and photovoltaic array, and the adjusting of the ferry-boat platform is calculated
Position and posture, to realize that the cleaning system can be moved to target location；To adjust the ferry-boat position of platform and appearance
The pose regulating device of state is adjusted the ferry-boat platform to can be for cleaning according to the adjusting position that is calculated and posture
System is moved to target location；Cleaning system on the ferry-boat platform is moved on photovoltaic array, and performs cleaning；With/
Or, the cleaning system on photovoltaic array is moved on the ferry-boat platform, plate is changed in completion.It is so set, flat using ferry-boat
Platform shifts cleaning system, and realization ferry-boat platform is docked with photovoltaic array, and cleaning system is from ferry-boat platform automatic moving to photovoltaic
Array, without manually participating in, can operation in the presence of a harsh environment, and cleaning system can cover whole cleanings of photovoltaic array
Area, cleaning efficiency significantly improve.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
The flow chart for the cleaning robot control method applied to photovoltaic array that Fig. 1 is provided by the embodiment of the present invention；
The overall structure diagram for the cleaning robot applied to photovoltaic array that Fig. 2 is provided by the embodiment of the present invention；
Fig. 3 is schematic diagram of the cleaning robot during upper plate in Fig. 2；
Fig. 4 is schematic diagram of the cleaning robot in charging process in Fig. 2.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with the accompanying drawings and it is embodied
The present invention is described in further detail for mode.
The cleaning robot control applied to photovoltaic array provided to Fig. 4, Fig. 1 by the embodiment of the present invention is be provided
The flow chart of method processed；The overall structure for the cleaning robot applied to photovoltaic array that Fig. 2 is provided by the embodiment of the present invention
Schematic diagram；Fig. 3 is schematic diagram of the cleaning robot during upper plate in Fig. 2；Fig. 4 is that cleaning robot was charging in Fig. 2
Schematic diagram in journey.
A kind of cleaning robot control method applied to photovoltaic array provided by the invention, as shown in Figure of description 1,
Mainly include：
S1, be equipped with the cleaning robot of multiple cleaning systems 1 to the row end movement of photovoltaic array；
S2, when the plane at the row end of ferry-boat platform 6 and the photovoltaic array of the cleaning robot is in predeterminated position, institute
It is out of service to state cleaning robot；
S3, the control system of the cleaning robot obtain the position relationship of the ferry-boat platform 6 and photovoltaic array, and count
Calculate and obtain the adjusting position and posture of the ferry-boat platform 6, to realize that the cleaning system 1 can be moved to target location；
S4, to adjust it is described ferry-boat 6 position of platform and posture pose regulating device according to the adjusting position being calculated
Put and adjust the ferry-boat platform 6 to target location can be moved to for the cleaning system 1 with posture；
S5, the cleaning system 1 on the ferry-boat platform 6 are moved on photovoltaic array, and perform cleaning；And/or position
It is moved in the cleaning system 1 on photovoltaic array on the ferry-boat platform 6, plate is changed in completion.
With reference to shown in Figure of description 2, cleaning robot mainly includes multiple cleaning systems 1, ferry-boat system 2 and mobile system
System 3, wherein, ferry-boat system 2 includes detection device 4, driving unit 5 and ferry-boat platform 6；It can be parked on ferry-boat platform 6 more
Platform cleaning system 1, mobile system 3 can realize movement, driving unit 5 can include the six roots of sensation can independent telescope telescopic rod, often
The top of root telescopic rod is all connected to the bottom surface of ferry-boat platform 6, and the bottom of every telescopic rod is all connected to the upper of mobile system 3
Surface, when at least one of six roots of sensation telescopic rod flexible, can realize the position of ferry-boat platform 6 and the adjusting of posture.Pose tune
Regulating device can control six roots of sensation telescopic rod independent telescope, so as to fulfill the position of ferry-boat platform 6 and the adjusting of posture.
Moved for step S1, cleaning robot to the row end of photovoltaic array 9；Namely under the action of mobile system 3, clearly
Wash robot and integrally realize movement, more cleaning systems 1 are with 3 synchronizing moving of mobile system, and towards the row end of photovoltaic array 9
Advance；
Preset for step S2, when the ferry-boat platform 6 of the cleaning robot is in the plane at the row end of photovoltaic array
During position, the cleaning robot is out of service；Wherein, predeterminated position can be decided according to the actual requirements, it could be provided as
Between specific numerical value, such as the plane at the row end of the ferry-boat platform 6 of cleaning robot and photovoltaic array at a distance of 0.5 meter when clean
Robot is out of service.
The position relationship of the ferry-boat platform 6 and photovoltaic array is obtained for the control system of step S3, cleaning robot,
And the adjusting position and posture of the ferry-boat platform 6 is calculated, to realize that the cleaning system 1 can be moved to target position
Put；That is, when cleaning robot stops at predeterminated position, ferry-boat platform 6 is detected positioned at the detection device of cleaning robot
Current location and the current location of photovoltaic array, and position relationship between the two is obtained, according to the position relationship, calculate
The adjusting angle for going out to ferry needed for platform 6, namely in six roots of sensation telescopic rod each telescopic rod distance of stretch out and draw back, and pass through pose tune
Regulating device adjusts corresponding telescopic rod so that ferry-boat platform 6 is adjusted to the position that photovoltaic array can be moved to for cleaning system 1；
For step S4, adjusting the pose regulating device of ferry-boat 6 position of platform and posture according to being calculated
Adjusting position and posture the ferry-boat platform 6 is adjusted to can be moved to target location for the cleaning system 1；That is,
Pose regulating device gets control system and the regulated quantity ferried needed for platform 6 is calculated, which puts to adjust
Cross position and the posture of platform 6；And it is pose regulating device to perform the component adjusted, by pose regulating device to platform of ferrying
The distance of stretch out and draw back of 6 corresponding telescopic rod is adjusted, to ensure that ferry-boat platform 6 can be crossed over for cleaning system 1 after adjusting, and be realized
Action of the cleaning system 1 by ferry-boat platform 6 to photovoltaic array and by photovoltaic array to ferry-boat platform 6.
Cleaning system 1 for step S5, on the ferry-boat platform 6 is moved on photovoltaic array, and performs cleaning；
And/or the cleaning system 1 on photovoltaic array is moved on the ferry-boat platform 6, plate is changed in completion.When ferry-boat platform 6 is adjusted
After, the cleaning system 1 positioned at ferry-boat platform 6 just can be moved on photovoltaic array 9, complete under the action of cleaning system 1
The cleaning of the paired photovoltaic array 9；Certainly, the cleaning system 1 on photovoltaic array can equally be moved to ferry-boat platform 6
On, plate is changed in completion.Wherein, the power supply that cleaning system 1 can be self-contained is completed to change plate, its concrete shape construction is not made herein
Go out limitation, may be referred to sweeping robot of the prior art etc..
Herein, when cleaning robot stops at the position of ferry-boat platform 6 and the planes align at the row end of photovoltaic array 9
Afterwards, enabling signal, after cleaning system 1 receives the enabling signal, automatic moving to photovoltaic battle array can be sent to cleaning system 1
Row 9, and perform cleaning.
For step S3, can be specially：
The detection device of the cleaning robot is obtained between the plane at the row end of photovoltaic array and current ferry-boat platform
Current Ubiety, and current Ubiety is sent to control system；
The control system is according to the current Ubiety and the ferry-boat platform 6 that get and photovoltaic array row end
Default position relationship between plane, obtains the adjustment angle of ferry-boat platform；
The control system will be adjusted the angle to send to adjust the pose of the ferry-boat position of platform and posture and adjusted
Device, the pose regulating device are adjusted to can be for cleaning system according to the adjustment angle control ferry-boat platform received
It is moved to the position of photovoltaic array.
That is, stopping after cleaning robot is moved to predeterminated position, light is obtained using the detection device of cleaning robot
Current Ubiety between the plane at the row end of photovoltaic array and current ferry-boat platform, and current Ubiety is sent to control
System.Wherein, detection device can use position detection component of the prior art, such as vision-based detection component etc..
After control system obtains above-mentioned current Ubiety, according to the plane at ferry-boat platform 6 and photovoltaic array row end it
Between default position relationship, obtain ferry-boat platform 6 adjustment angle；Wherein, ferry platform 6 and photovoltaic array row end plane it
Between default position relationship refer to：Ferry-boat platform 6 should be adjusted to can be moved to photovoltaic battle array by ferry-boat platform 6 for cleaning system 1
Plate is changed in row 9 or the angle that ferry-boat platform 6 is moved to by photovoltaic array 9, realization.Wherein ferrying platform 6 need not with photovoltaic array 9
Slitless connection, has the gap that can be crossed over for cleaning system 1 between the two；Ferry-boat platform 6 is calculated in control system
Adjustment angle；
Control system will be adjusted the angle and sent to pose regulating device, and pose regulating device is adjusting ferry-boat platform 6
Position and the pose regulating device of posture, after pose regulating device is according to the adjustment angle received, you can control ferry-boat is flat
Platform 6 is adjusted to the position that photovoltaic array can be moved to for cleaning robot, and plate is changed to realize.Wherein, plate is changed to refer to clean
System 1 is moved to photovoltaic array 9 by ferry-boat platform 6 or the process of ferry-boat platform 6 is moved to by photovoltaic array 9.
In other words, it is above-mentioned to change during plate, it can be realized by step in detail below：
First, cleaning robot stops after being moved to predeterminated position；Predeterminated position can refer to：Cleaning robot and photovoltaic battle array
The position that row 9 are separated by a certain distance；After cleaning robot is moved to predeterminated position and stops, cleaning robot and photovoltaic at this time
It is separated by a certain distance between array 9, and the distance can be decided according to the actual requirements；Cleaning robot can be equipped with position sensing
Device, to the spacing of detection cleaning robot and photovoltaic array 9 in real time, when cleaning robot with photovoltaic array 9 at a distance of a spacing
From rear, control cleaning robot stops, namely completes Huan Ban robots and be moved to after predeterminated position the step for stopping；
Then, the detection device 4 of cleaning robot obtain the row end of photovoltaic array 9 plane and current ferry-boat platform 6 it
Between current Ubiety, and current Ubiety is sent to control system；That is, when cleaning robot is moved to default position
Stopping is postponed, the plane and the present bit of current ferry-boat platform 6 at the row end of position sensor detection photovoltaic array 9 can be utilized
Put, obtain current Ubiety between the two, and the current Ubiety is sent to control system；Control system can be
The system for controlling cleaning robot to stop；Herein, the plane at the row end of photovoltaic array 9 and the present bit of current ferry-boat platform 6
Put and be not merely defined in both spacing, should also include both angle differences；Due to each piece of photovoltaic array 9 angle not
It is certain identical, therefore the angle of inclination of photovoltaic array 9 and the angle of inclination of current ferry-boat platform 6 should be obtained, and current location
Relation is both spacing and angle difference.
Then, the control system is according to the current Ubiety and the ferry-boat platform 6 and photovoltaic array 9 got
Default position relationship between the plane at row end, can obtain the cleaning robot needs further movement of adjusting displacement
And/or the adjustment angle of the ferry-boat platform 6；That is, cleaning machine is calculated according to above-mentioned current Ubiety in control system
Device people needs the further movement of adjustment angle for adjusting displacement and/or platform 6 of ferrying, this calculating process should be according to tool situation
Carry out；For example, if position sensor detects that the angle of inclination of photovoltaic array 9 is 60 °, and platform 6 of currently ferrying
Angle of inclination is 50 °, and platform 6 of ferrying at this time also needs to adjust 10 °, to meet the requirement flushed with photovoltaic array 9；It is single in driving
Under the action of member 5, ferry-boat platform 6 adjusts 10 °, reach 60 ° after, if between ferrying at this time between platform 6 and photovoltaic array 9
Away from excessive, it is also necessary to control mobile system 3 to move by control system so that the spacing between ferry-boat platform 6 and photovoltaic array 9
Meet the requirements, realize both flush.
Finally, the cleaning robot according to adjust displacement movement, and/or it is described ferry-boat platform 6 by initial attitude according to
Adjust the angle and adjust posture；That is, after adjusting, ferry-boat platform 6 and the planes align at the row end of photovoltaic array 9, at this time
Either angle or spacing are satisfied by requiring；It can then control cleaning system 1 to be moved to photovoltaic array 9, realize cleaning
Operation.Wherein, above-mentioned position sensor is the detection device 4 shown in Figure of description 2.
When the cleaning system 1 positioned at the ferry-boat platform 6 is moved on photovoltaic array 9, and after performing cleaning, when described
After detection device 4 detects that the cleaning system 4 is moved on photovoltaic array 9, the ferry-boat platform 6 is controlled to adjust to initial
Posture.
Detection device 4 can be utilized to detect whether cleaning system 1 is moved on photovoltaic array 9, when cleaning system 1 is moved to
After photovoltaic array 9 performs cleaning, control system can control ferry-boat platform 6 to adjust to initial attitude, and initial attitude refers to put
The center of gravity vertical projection for crossing platform 6 is located at posture in 3 horizontal extent of mobile system of the cleaning robot.In the above process
In, in order to realize that cleaning system 1 runs to photovoltaic array 9, the position amplitude of accommodation for platform 6 of ferrying is often excessive；When cleaning is
System 1 is moved to after photovoltaic array 9, and in order to avoid the crank of cleaning robot, ferry-boat platform 6 is recycled to mobile system
3 tops, the center of gravity vertical projection of ferry-boat platform 6 are located in 3 horizontal extent of mobile system of cleaning robot, it is ensured that cleaning robot
People is steady in follow-up walking.
In order to realize that the cleaning system 1 of ferry-boat platform 6 runs to photovoltaic array 9, upper plate can be set in ferry-boat platform 6
Position, upper plate position can be specially：It is described ferry-boat platform 6 edge and can only park the position of a cleaning system 1,
Namely the location A shown in Figure of description 3.Upper plate position A is merely capable of parking a cleaning system 1；During the work time, only
The planes align of the upper plate position and the row end of photovoltaic array 9 of ferry-boat platform 6 is needed, positioned at the clear of ferry-boat 6 upper plate position A of platform
Wash system 1 just can change plate from upper plate position A automatic movings to the row end of photovoltaic array 9, completion.
After the cleaning system 1 positioned at ferry-boat 6 upper plate position A of platform is moved to photovoltaic array 9, positioned at the ferry-boat platform 6
Treat that another cleaning system 1 of operating position is moved to upper plate position A, with the cleaning of pending next photovoltaic array 9；And upper plate position with
Treat diverse location of the operating position positioned at the ferry-boat platform 6.
That is, after upper plate position A is vacated, positioned at treating 1 automatic moving of cleaning system of operating position to upper plate position A
Place, when cleaning robot is moved to next piece of photovoltaic array 9, then being now placed in the cleaning system 1 of upper plate position A can voluntarily move
Move to the photovoltaic array 9, completion and change plate.Certainly, positioned at treat 1 automatic moving of cleaning system of operating position at the A of upper plate position this
One process can be located at the cleaning system 1 for treating operating position to start, make its automatic moving extremely by sending corresponding signal
Upper plate position A.Certainly, due to treat working position be equipped with very much, to it is specific which treat operating position cleaning system 1 send signal can
To be decided according to the actual requirements, letter is sent preferably by positioned at the neighbouring cleaning systems 1 for treating operating position of upper plate position A herein
Number, to save the displacement distance of cleaning system 1.
In order to improve the operating time of cleaning system 1, when any 1 short of electricity of cleaning system, the cleaning system 1 of short of electricity
The ferry-boat 6 default charge position of platform is moved to, is charged.Wherein, charge position B is as shown in Figure of description 4；Fill
Electric position is specially：It is described ferry-boat platform 6 edge and different from it is described ferry-boat platform 6 upper plate position at, ferry-boat platform 6 can
To be provided with multiple charge position B.That is, upper plate position A, charge position B and treat that operating position is in diverse location, once it is located at
Ferry platform 61 short of electricity of cleaning system when, then the cleaning system 1 of short of electricity can automatic moving at charge position B, complete to fill
Electricity.Charge position B can set charging pile, wireless charging of the prior art or magnetic can also be used the mode such as to fill, herein
Repeat no more.
By taking Figure of description 4 as an example, (it is referred to as hereinafter when positioned at 1 short of electricity of cleaning system of photovoltaic array 9 and execution cleaning
For short of electricity cleaning system 11), in plate flow is changed, what short of electricity cleaning system 11 will not be transferred arrives 9 row of next line photovoltaic array
On, mobile system 3 is direct by the row end for charge position B alignment 9 rows of photovoltaic array ferried on platform 6, short of electricity cleaning system 11
It is moved on the charge position B of ferry-boat platform 6, by plugging into and charging, as shown in Figure of description 4；Attached drawing 4 is located at upper plate position
The cleaning system 1 (full power state) of A, which is carried out, awaits orders, and prepares to terminate in mobile system and next row for not cleaning photovoltaic array 9
Shifted when refuting, and continue cleaning process.Then, after short of electricity cleaning system 11 charges, it is moved to the ferry-boat platform 6
Operating position is treated, with the cleaning of pending photovoltaic array 9.
Herein, the definition for short of electricity is：It can refer to when the remaining capacity of cleaning system 1 is less than default remaining capacity
When, it is short of electricity；Default remaining capacity can be decided according to the actual requirements；In addition, short of electricity can also have other definition modes, this
Text repeats no more.
It should be noted that in the present specification, such as first and second etc relational terms are used merely to one
Entity is distinguished with other several entities, and without necessarily requiring or implying between these entities, there are any this actual
Relation or order.
The cleaning robot control method provided by the present invention applied to photovoltaic array is described in detail above.
Specific case used herein is set forth the principle of the present invention and embodiment, and the explanation of above example is simply used
Understand the method and its core concept of the present invention in help.It should be pointed out that for those skilled in the art,
Without departing from the principle of the present invention, some improvement and modification can also be carried out to the present invention, these are improved and modification
Fall into the protection domain of the claims in the present invention.
Claims (10)
- A kind of 1. cleaning robot control method applied to photovoltaic array, it is characterised in that including：The cleaning robot for being equipped with multiple cleaning systems (1) is moved to the row end of photovoltaic array；It is described clear when the ferry-boat platform (6) and the plane at the row end of photovoltaic array of the cleaning robot are in predeterminated position It is out of service to wash robot；The control system of the cleaning robot obtains the ferry-boat platform (6) and the position relationship of photovoltaic array, and calculates To the adjusting position and posture of the ferry-boat platform (6), to realize that the cleaning system (1) can be moved to target location；To adjust the pose regulating device of ferry-boat platform (6) position and posture according to the adjusting position and appearance being calculated State adjusts the ferry-boat platform (6) to can be moved to target location for the cleaning system (1)；Cleaning system (1) on the ferry-boat platform (6) is moved on photovoltaic array, and performs cleaning；And/or it is located at Cleaning system (1) on photovoltaic array is moved on the ferry-boat platform (6), and plate is changed in completion.
- 2. cleaning robot control method according to claim 1, it is characterised in that the control system of the cleaning robot System obtains the ferry-boat platform (6) and the position relationship of photovoltaic array, and the adjusting position of the ferry-boat platform (6) is calculated With posture, it is specially to realize that the cleaning system (1) can be moved to target location：The detection device of the cleaning robot obtains current between the plane at the row end of photovoltaic array and current ferry-boat platform Position relationship, and current Ubiety is sent to control system；The control system is according to the current Ubiety and the ferry-boat platform and the plane at photovoltaic array row end got Between default position relationship, obtain ferry-boat platform adjustment angle；The control system, which will adjust the angle, to be sent extremely to adjust the pose regulating device of the ferry-boat position of platform and posture, The pose regulating device is adjusted to can be moved for cleaning system according to the adjustment angle control ferry-boat platform received To the position of photovoltaic array.
- 3. cleaning robot control method according to claim 2, it is characterised in that described to be located at the ferry-boat platform (6) cleaning system (1) is moved on photovoltaic array, and after performing cleaning, is further included：After the detection device (4) detects that the cleaning system (1) is moved on photovoltaic array, the pose adjusts dress The control ferry-boat platform (6) is put to adjust to initial attitude.
- 4. cleaning robot control method according to claim 3, it is characterised in that the initial of platform (6) of ferrying Posture is specially：The center of gravity vertical projection of the ferry-boat platform (6) is located at mobile system (3) horizontal model of the cleaning robot Enclose interior posture.
- 5. the cleaning robot control method according to Claims 1 to 4 any one, it is characterised in thatIt is described to adjust it is described ferry-boat platform (6) position and posture pose regulating device according to the adjusting position being calculated The ferry-boat platform (6) is adjusted to can be moved to target location for the cleaning system (1) with posture and is specially：To adjust the pose regulating device of ferry-boat platform (6) position and posture according to the adjusting position and appearance being calculated Surface of the state by the upper plate position of the ferry-boat platform (6) in alignment with photovoltaic array row end, to realize that the cleaning system (1) can It is moved to target location；And：The cleaning system (1) on the ferry-boat platform (6) is moved on photovoltaic array, and performs cleaning；And/or Cleaning system (1) on photovoltaic array is moved on the ferry-boat platform (6), and completion changes plate and is specially：Cleaning system (1) positioned at described ferry-boat platform (6) default upper plate position is moved on photovoltaic array, and performs cleaning； And/or the cleaning system (1) on photovoltaic array is moved on described ferry-boat platform (6) default upper plate position, completes to change Plate.
- 6. cleaning robot control method according to claim 5, it is characterised in that described to be located at the ferry-boat platform (6) cleaning system (1) of default upper plate position is moved on photovoltaic array, and after performing cleaning, is further included：Treat that another cleaning system (1) of operating position is moved to upper plate position positioned at the ferry-boat platform (6), with pending next light The cleaning of photovoltaic array；And upper plate position is with treating diverse location of the operating position positioned at the ferry-boat platform (6).
- 7. cleaning robot control method according to claim 6, it is characterised in that the upper plate of the ferry-boat platform (6) Position is specially：It is described ferry-boat platform (6) edge and can only park the position of a cleaning system (1).
- 8. cleaning robot control method according to claim 7, it is characterised in that further include：When any cleaning system (1) short of electricity, it is default that the cleaning system (1) of short of electricity is moved to the ferry-boat platform (6) Charge position, charges.
- 9. cleaning robot control method according to claim 8, it is characterised in that described to work as any cleaning system (1) during short of electricity, the cleaning system (1) of short of electricity is moved to described ferry-boat platform (6) default charge position, after being charged, Further include：After cleaning system (1) charging of short of electricity, be moved to the ferry-boat platform (6) treats working position, with pending light The cleaning of photovoltaic array.
- 10. cleaning robot control method according to claim 9, it is characterised in that the ferry-boat platform (6) is default Charge position is specially：It is described ferry-boat platform (6) edge and different from it is described ferry-boat platform (6) upper plate position at.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182688.XA CN107977010A (en) | 2017-11-23 | 2017-11-23 | A kind of cleaning robot control method applied to photovoltaic array |
| PCT/CN2018/079065 WO2019100623A1 (en) | 2017-11-23 | 2018-03-15 | Control method applicable to photovoltaic array cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182688.XA CN107977010A (en) | 2017-11-23 | 2017-11-23 | A kind of cleaning robot control method applied to photovoltaic array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107977010A true CN107977010A (en) | 2018-05-01 |
Family
ID=62011076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711182688.XA Pending CN107977010A (en) | 2017-11-23 | 2017-11-23 | A kind of cleaning robot control method applied to photovoltaic array |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107977010A (en) |
| WO (1) | WO2019100623A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109379037A (en) * | 2018-05-28 | 2019-02-22 | 苏州瑞得恩光能科技有限公司 | It plugs into robot and cleaning systems |
| CN109696127A (en) * | 2019-03-05 | 2019-04-30 | 浙江国自机器人技术有限公司 | A kind of method and apparatus of laser identification |
| CN109696916A (en) * | 2019-03-05 | 2019-04-30 | 浙江国自机器人技术有限公司 | A kind of method and apparatus of cleaning robot transfer |
| CN112564612A (en) * | 2020-11-24 | 2021-03-26 | 合肥仁洁智能科技有限公司 | Photovoltaic cleaning system and control method thereof |
| CN114161386A (en) * | 2021-10-28 | 2022-03-11 | 湖南海森格诺信息技术有限公司 | Photovoltaic module cleaning device intelligent movement robot |
| CN114161384A (en) * | 2021-10-28 | 2022-03-11 | 湖南海森格诺信息技术有限公司 | Alignment mechanism for photovoltaic module cleaning device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116795008A (en) * | 2023-06-19 | 2023-09-22 | 深圳市骏业建筑科技有限公司 | Photovoltaic module cleaning control method, system, equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106712694A (en) * | 2016-11-17 | 2017-05-24 | 浙江国自机器人技术有限公司 | Photovoltaic array cross-panel cleaning method and device |
| CN106734010A (en) * | 2016-08-23 | 2017-05-31 | 协鑫电力设计研究有限公司 | Photovoltaic plant clean method and system |
| CN206254179U (en) * | 2016-11-25 | 2017-06-16 | 杭州品联科技有限公司 | Fixed movable dock |
| CN107088535A (en) * | 2017-05-03 | 2017-08-25 | 苏州富锐联自动化设备有限公司 | The automatic operational system of solar photovoltaic assembly |
| CN206542374U (en) * | 2017-02-09 | 2017-10-03 | 中节能太阳能科技（镇江）有限公司 | A kind of transition apparatus for photovoltaic module cleaning equipment |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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) |
| 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 |
| CN106345781B (en) * | 2016-11-17 | 2019-08-16 | 浙江国自机器人技术有限公司 | A kind of photovoltaic array straddle cleaning method and device |
| CN106411247A (en) * | 2016-11-17 | 2017-02-15 | 浙江国自机器人技术有限公司 | Photovoltaic array cross board cleaning method and device |
| CN106391627A (en) * | 2016-11-25 | 2017-02-15 | 杭州品联科技有限公司 | Cleaning robot system provided with rotary dock |
| CN107570439B (en) * | 2017-04-21 | 2021-04-06 | 索渥科技 | Cleaning system and layout method for photovoltaic panel of solar power station |
-
2017
- 2017-11-23 CN CN201711182688.XA patent/CN107977010A/en active Pending
-
2018
- 2018-03-15 WO PCT/CN2018/079065 patent/WO2019100623A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106734010A (en) * | 2016-08-23 | 2017-05-31 | 协鑫电力设计研究有限公司 | Photovoltaic plant clean method and system |
| CN106712694A (en) * | 2016-11-17 | 2017-05-24 | 浙江国自机器人技术有限公司 | Photovoltaic array cross-panel cleaning method and device |
| CN206254179U (en) * | 2016-11-25 | 2017-06-16 | 杭州品联科技有限公司 | Fixed movable dock |
| CN206542374U (en) * | 2017-02-09 | 2017-10-03 | 中节能太阳能科技（镇江）有限公司 | A kind of transition apparatus for photovoltaic module cleaning equipment |
| CN107088535A (en) * | 2017-05-03 | 2017-08-25 | 苏州富锐联自动化设备有限公司 | The automatic operational system of solar photovoltaic assembly |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109379037A (en) * | 2018-05-28 | 2019-02-22 | 苏州瑞得恩光能科技有限公司 | It plugs into robot and cleaning systems |
| CN109560767A (en) * | 2018-05-28 | 2019-04-02 | 苏州瑞得恩光能科技有限公司 | One kind is plugged into robot and cleaning systems |
| EP3879699A4 (en) * | 2018-05-28 | 2022-08-17 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Transfer robot and cleaning system |
| CN109379037B (en) * | 2018-05-28 | 2024-01-23 | 苏州瑞得恩光能科技有限公司 | Connection robot and cleaning system |
| CN109560767B (en) * | 2018-05-28 | 2024-01-23 | 苏州瑞得恩光能科技有限公司 | Connection robot and cleaning system |
| CN109696127A (en) * | 2019-03-05 | 2019-04-30 | 浙江国自机器人技术有限公司 | A kind of method and apparatus of laser identification |
| CN109696916A (en) * | 2019-03-05 | 2019-04-30 | 浙江国自机器人技术有限公司 | A kind of method and apparatus of cleaning robot transfer |
| CN109696127B (en) * | 2019-03-05 | 2021-07-23 | 浙江国自机器人技术股份有限公司 | Laser identification method and device |
| CN112564612A (en) * | 2020-11-24 | 2021-03-26 | 合肥仁洁智能科技有限公司 | Photovoltaic cleaning system and control method thereof |
| CN114161386A (en) * | 2021-10-28 | 2022-03-11 | 湖南海森格诺信息技术有限公司 | Photovoltaic module cleaning device intelligent movement robot |
| CN114161384A (en) * | 2021-10-28 | 2022-03-11 | 湖南海森格诺信息技术有限公司 | Alignment mechanism for photovoltaic module cleaning device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019100623A1 (en) | 2019-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107977010A (en) | A kind of cleaning robot control method applied to photovoltaic array | |
| US20190044477A1 (en) | Systems, vehicles, and methods for maintaining rail-based arrays of photovoltaic modules | |
| JP4477685B1 (en) | Cleaning robot system and control method thereof | |
| CN105703703B (en) | Solar panel automatic cleaning device | |
| CN105680789B (en) | A kind of solar panel automatic sweeping system | |
| CN105195488A (en) | Photovoltaic array washing vehicle and photovoltaic array washing method thereof | |
| CN102493630B (en) | Automatic decoration equipment | |
| CN101974971A (en) | Full automatic wall facing concrete injection system | |
| CN109362582B (en) | Cleaning robot and cleaning method suitable for multi-scene pigsty | |
| CN106475332A (en) | Solar energy photovoltaic panel automated cleaning and defect detecting device | |
| CN106000955B (en) | solar panel cleaning robot | |
| CN104259121A (en) | Ash removing device for photovoltaic module | |
| CN107008675A (en) | Photovoltaic panel automatic flushing device | |
| CN209303409U (en) | Tilt adjustable ferry bus and photovoltaic clean ferry device | |
| CN202391085U (en) | Automatic decoration equipment | |
| CN109261578A (en) | Solar panel cleans vehicle | |
| CN105897146A (en) | Multifunctional device for automatically cleaning solar cell panel | |
| CN108325896A (en) | A kind of photovoltaic plate face sweeper | |
| CN205725618U (en) | Solar panel automatic cleaning device | |
| CN108814432B (en) | Self-charging sweeping robot | |
| CN208068276U (en) | A kind of remote control type sweeping robot for the photovoltaic panel that tiles | |
| CN202683511U (en) | Movable dust removing device for photovoltaic module | |
| CN203861150U (en) | Intelligent stair mopping machine | |
| CN105466049A (en) | Heat collecting system with electric device operating tracks | |
| JP2015003298A (en) | Cleaning device of solar panel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180501 |