CN108262278A - A kind of method that photovoltaic module cleaning equipment and contexture by self clean strategy - Google Patents
A kind of method that photovoltaic module cleaning equipment and contexture by self clean strategy Download PDFInfo
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- CN108262278A CN108262278A CN201711405804.XA CN201711405804A CN108262278A CN 108262278 A CN108262278 A CN 108262278A CN 201711405804 A CN201711405804 A CN 201711405804A CN 108262278 A CN108262278 A CN 108262278A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 184
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000008569 process Effects 0.000 claims description 15
- 230000002159 abnormal effect Effects 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 10
- 239000003550 marker Substances 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000007812 deficiency Effects 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000003786 synthesis reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 13
- 238000010408 sweeping Methods 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002000 scavenging effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B6/00—Cleaning by electrostatic means
-
- 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
- Cleaning In General (AREA)
- Control Of Electrical Variables (AREA)
Abstract
The invention discloses a kind of methods that photovoltaic module cleaning equipment and contexture by self clean strategy, are related to photovoltaic module cleaning technology field.The cleaning equipment has cleaning modes and charge mode, under cleaning modes, it can be according to the extraneous factors such as the pollution level of component and road conditions, the adjust automatically selection speed of service and cleaning speed, under charge mode, parking position can independently be selected and realize charging, so using cleaning equipment provided in an embodiment of the present invention, automation and intelligent level are high, working efficiency is high, and synthesis is at low cost.
Description
Technical field
The present invention relates to photovoltaic module cleaning technology field more particularly to a kind of photovoltaic module cleaning equipments and contexture by self
The method for cleaning strategy.
Background technology
To effectively improve the generating efficiency of photovoltaic plant, the influence that various extraneous factors generate electricity to component, each owner are cut down
Propose various methods, wherein, to the cleaning of assembly surface dust stratification evolution Chu Liang major sects, be respectively using hand sweeping and
Cleaning equipment cleans.Wherein hand sweeping, which exists, to clean in real time, the clean and tidy degree that cleans is uncontrollable, foreseeable future valency
The shortcomings of lattice go up, many owners have started the equipment that pilot is cleaned using automationization.
At present, photovoltaic module cleaning equipment in the market has the disadvantages that：1) using " oneself generate electricity and oneself use "
Pattern bears very big solar panel, and from great, driving power utilization rate is low, and sweeping efficiency is low；2) robot itself can not be perceived
Operating status, the similarities and differences of purging zone can not be distinguished, intelligence degree is low；It 3) can not be into the skills such as row line and speed
The optimization of art parameter leads to not maximumlly utilize cells and the solar panel born, and utilization rate of equipment and installations is low.
Invention content
The purpose of the present invention is to provide a kind of method that photovoltaic module cleaning equipment and contexture by self clean strategy, thus
Solve foregoing problems in the prior art.
To achieve these goals, the technical solution adopted by the present invention is as follows：
A kind of photovoltaic module cleaning equipment, including：Frame is equipped with driving power, processor, distance on the frame and passes
Sensor, clearing apparatus, power plant, driving wheel and directive wheel, the driving power respectively with the processor, clearing apparatus and
Power plant is connected as its power supply, and the power plant is connected as it with the driving wheel and provides power, in use, the guiding
Wheel card is pressed on the outside frame of photovoltaic module, is rotated under the drive of the driving wheel along the outside frame；
The processor respectively with the range sensor, clearing apparatus and power plant data connection；The distance passes
The moving distance information of the cleaning equipment is sent to the processor by sensor in real time, and the processor acquires described clear in real time
The current/voltage information of sweeping device and the power plant, when the clearing apparatus and the current/voltage of the power plant are believed
When breath occurs abnormal, the processor fills the clearing apparatus and the power at corresponding position according to range information
The current/voltage put is regulated and controled；
The processor and the driving power data connection, the processor acquire the electricity letter of the driving power
Breath, and cleaning modes and charge mode are selected according to information about power.
Preferably, the clearing apparatus is located at including cleaning motor, cleaning item, magnechuck and spring, the cleaning item
The inside of the frame, the motor shaft for cleaning motor are connect across the frame with the cleaning item, the cleaning motor
The cleaning item is driven to rotate；
The magnechuck is located at the lower section for cleaning motor, and the magnechuck passes through electromagnetism with the cleaning motor
Effect connection, the magnechuck are fixed on pedestal, and the pedestal is fixed on said frame, described in the processor control
Magnechuck powering on and powering off, one end of the spring with it is described cleaning motor connect, the other end of the spring with it is described
Pedestal connects；
When cleaning equipment normal operation, the magnechuck powers on, under electromagnetic force, the cleaning motor connection
On the magnechuck；When the electric quantity of power supply deficiency of cleaning equipment, the magnechuck power down is described to clean motor and institute
It states magnechuck to disconnect, and under the elastic force effect of the spring, the cleaning motor is flicked.
Preferably, cover board is additionally provided on the frame, the cover board is located at the upper end opening of the frame.
Preferably, the equipment further includes anode and cathode electrical contact device, and the electrical contact device includes push rod, power supply
Contact and tightening spring, the push rod is hinged on said frame by insulating part, one end of the push rod and the driving electricity
Source connects, and the other end of the push rod is touched with the power source head and connect, and one end of the tightening spring is connect with the push rod, institute
The other end for stating tightening spring is connect with the frame；In use, after the cleaning equipment reaches parking position fixation,
Under inertia force effect, the push rod pushes the power contact head to be contacted with the positive and negative anodes of parking position power supply, realizes charging, charging knot
Shu Hou, the positive and negative anodes of the power contact head and parking position power supply disconnect, and the tightening spring pulls under the action of pulling force
The push rod playback.
Preferably, the electrical contact device is located at the bottom outside the frame.
Preferably, the driving power is battery pack, and the driving power is located at the middle part in the frame.
A kind of method that photovoltaic module cleaning equipment contexture by self cleans strategy, includes the following steps：
S1, cleaning equipment is in cleaning process, the location information and at different locations of processor acquisition photovoltaic module
Power plant and clearing apparatus current/voltage information；
S2, processor assign unique number, shape respectively according to the sequencing of photovoltaic module position to each photovoltaic module
Into the position of photovoltaic module and number corresponding file；
S3, processor analyze the current/voltage information of power plant and clearing apparatus, obtain abnormal electric current/
The corresponding location information of information of voltage, and then according to position and the correspondence of number, obtain the corresponding component of the location information
Number, and is marked the number component, forms strategic planning database, in multiple cleaning process, according to situation of change,
Tactful planning database is updated；
S4 according to strategic planning basic database, fills the cleaning motor and power that reach marker number component placement
The current/voltage put is regulated and controled, and cleaning effect is made to reach the requirement of setting.
Preferably, S4 is specially：
S401, processor cleans motor or power plant sets the current/voltage increment of a setting, and record according to this
The operating parameter of increment：Electric current, voltage, transit time,
S402, processor calculates component of the cleaning equipment by marker number according to equation below, before and after increment is set
Required energy W1 and W2：
W=U*I*T,
Wherein, W is energy, i.e. cleaning equipment work done；U is voltage；I is electric current；T is the time；
S403 compares W1 and W2, if W1≤W2, takes the operating parameter before increment, otherwise, repeats S401-S403, until
W1≤W2。
Preferably, step is further included, processor acquires the electricity of driving power in real time, if the electricity of driving power is not
Foot, then processor controls the magnechuck power down, and according to the location information of place photovoltaic module, runs to closest
Parking position charges.
Preferably, during the not enough power supply of driving power, optimize track route in accordance with the following steps：
A1, the number of the component in two sections of paths of former and later two parking positions of processor comparison arrival, required voltage, electric current
And the time, and two sections of required energy in path are calculated according to equation below：
W=U*I*T,
Wherein, W is energy, i.e. cleaning equipment work done；U is voltage；I is electric current；T is the time；
A2 compares the energy size in two sections of paths being calculated, and such as the two is essentially equal or both deviation is not more than threshold
Value, then processor is according to the quantity of abnormal conditions component marked in position paper, the stretch diameter of selected marker negligible amounts；
Otherwise, the path corresponding to smaller one of processor selection.
The beneficial effects of the invention are as follows：Photovoltaic module cleaning equipment and contexture by self provided in an embodiment of the present invention clean plan
Method slightly has cleaning modes and charge mode, can be outer according to the pollution level of component and road conditions etc. under cleaning modes
Boundary's factor, the adjust automatically selection speed of service and cleaning speed under charge mode, can independently select parking position and realize to fill
Electricity, so, using cleaning equipment provided in an embodiment of the present invention, automation and intelligent level are high, and working efficiency is high, it is comprehensive into
This is low.
Description of the drawings
Fig. 1 is the general structure schematic diagram of cleaning equipment of the present invention；
Fig. 2 is the clearing apparatus working state structure schematic diagram of cleaning equipment of the present invention；
Fig. 3 is the clearing apparatus off working state structure diagram of cleaning equipment of the present invention；
Fig. 4 is cleaning equipment electrical contact device of the present invention structure diagram (when being not powered on) under natural conditions；
Fig. 5 is the structure diagram of the moment of cleaning equipment electrical contact device of the present invention action；
Fig. 6 is structure diagram when cleaning equipment electrical contact device of the present invention is powered；
Fig. 7 is the course of work schematic diagram of cleaning equipment of the present invention；
Fig. 8 cleans path schematic diagram for cleaning equipment forward direction of the present invention；
Fig. 9 reversely cleans path schematic diagram for cleaning equipment of the present invention
Figure 10 formulates control strategy flow diagram for cleaning equipment of the present invention；
Contexture by self when Figure 11 is cleaning equipment normal operation of the present invention cleans the method flow diagram of strategy；
Contexture by self when Figure 12 is cleaning equipment not enough power supply of the present invention cleans the method flow diagram of strategy；
Figure 13 is the curve 1 that cleaning equipment range sensor of the present invention obtains；
Figure 14 is the curve 2 that cleaning equipment range sensor of the present invention obtains.
In figure, the meaning of each symbol is as follows：
1 cover board, 2 frames, 3 driving powers, 4 clearing apparatus, 5 driving wheels, 6 directive wheels, 7 processors, 8 electrical contact devices, 9
Range sensor；
401 clean motor, 402 magnechucks, 403 springs, 404 pedestals, 405 cleaning items；
801 parking positions, 802 push rods, 803 tightening springs, 804 power contact heads, 805 power supplys.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing, to the present invention into
Row is further described.It should be appreciated that the specific embodiments described herein are only used to explain the present invention, it is not used to
Limit the present invention.
Embodiment one
As shown in Figure 1, an embodiment of the present invention provides a kind of photovoltaic module cleaning equipment, including：Including frame 2, frame 2
On driving power 3, processor 7, range sensor 9, clearing apparatus 4, power plant, driving wheel 5 and directive wheel 6 are installed, drive
Dynamic power supply 3 is connected as its power supply with processor 7, clearing apparatus 4 and power plant respectively, and power plant is connected as with driving wheel 5
It provides power, in use, the card of directive wheel 6 is pressed on the outside frame of photovoltaic module, along described under the drive of driving wheel 5
Outside frame rotation；
Processor 7 respectively with range sensor 9, clearing apparatus 4 and power plant data connection；Range sensor 9 is by institute
The moving distance information for stating cleaning equipment is sent to processor 7 in real time, and processor 7 acquires clearing apparatus 4 and the power in real time
The current/voltage information of device, when the current/voltage information of clearing apparatus 4 and the power plant occurs abnormal, processor
7, according to range information, regulate and control the current/voltage of clearing apparatus 4 and the power plant at corresponding position；
Processor 7 and 3 data connection of driving power, processor 7 acquire the information about power of driving power 3, and according to electricity
Information selects cleaning modes and charge mode.
The cleaning equipment of above structure, operation principle are：
In cleaning process, since the pollution level on different components is different, the quality that different module frames are built is not
On an equal basis, when causing the cleaning equipment to be swept on different components, the degree requirement cleaned is different, and the resistance being subject to differs,
It is therefore desirable to it is adjusted to cleaning the cleaning strategy in path.In the present embodiment, processor with range sensor by connecting
It connects, obtains the displacement information of cleaning equipment, meanwhile, processor and clearing apparatus and power plant data connection obtain and clean dress
Put the current/voltage data with power plant；When exception occurs in the current/voltage information of clearing apparatus and the power plant
When, processor can according to range information, at corresponding position to the current/voltage of clearing apparatus and the power plant into
Row regulation and control；
In addition, by processor and driving power data connection, processor can acquire the information about power of driving power, when
It during electricity abundance, into cleaning modes, is normally cleaned, when not enough power supply, into charge mode, finds parking position progress
Charging.
The charging process under regulation process and charge mode under specific cleaning modes can be found in embodiment two
Description.
So using photovoltaic module cleaning equipment provided in an embodiment of the present invention, it, can be according to component under cleaning modes
Pollution level and the extraneous factors such as road conditions, the adjust automatically selection speed of service and clean speed, under charge mode, can from
Main selection parking position simultaneously realizes charging, so, using cleaning equipment provided in an embodiment of the present invention, automation and intelligent level
Height, working efficiency is high, and synthesis is at low cost.
As Figure 2-3, in the embodiment of the present invention, clearing apparatus 4 includes cleaning motor 401, cleaning item 405, electromagnetism suction
Disk 402 and spring 403, cleaning item 405 are located at the inside of frame 2, and the motor shaft for cleaning motor 401 passes through frame 2 and cleaning item
405 connections clean motor 401 and cleaning item 405 are driven to rotate；
Magnechuck 402 is located at the lower section for cleaning motor 401, and magnechuck 402 passes through electromagnetic action with cleaning motor 401
Connection, magnechuck 402 are fixed on pedestal 404, and pedestal 404 is fixed on the frame 2, and processor 7 controls magnechuck 402
It powers on and powers off, one end of spring 403 is connect with cleaning motor 401, and the other end of spring 403 is connect with pedestal 404；
When cleaning equipment normal operation, magnechuck 402 powers on, and under electromagnetic force, cleans motor 401 and is connected to
On magnechuck 402 (reference can be made to Fig. 2)；When the electric quantity of power supply deficiency of cleaning equipment, 402 power down of magnechuck cleans motor
401 disconnect with magnechuck 402, and under the elastic force effect of spring 403, clean motor 401 and are flicked (reference can be made to figure
3)。
In above structure, cleaning, which is shown in, can select hair brush structure or Electrostatic Absorption structure.
In the embodiment of the present invention, cover board 1 is additionally provided on frame 2, cover board 1 is located at the upper end opening of frame 2.
Using the above structure, be conducive to the maintenance to lower portion component, meanwhile, also there is protection to make internal component
With the especially protection to these easily worn parts such as driving power and processors.
As Figure 4-Figure 6, photovoltaic module cleaning equipment provided in an embodiment of the present invention can also include anode and cathode leads to
Electric contactor 8, electrical contact device 8 include push rod 802, power contact head 804 and tightening spring 803, push rod 802 and are cut with scissors by insulating part
It connects on the frame 2, one end of push rod 802 is connect with driving power 3, and the other end of push rod 802 is connect with power contact head 804, is received
One end of tight spring 803 is connect with push rod 802, and the other end of tightening spring 803 is connect with frame 2；In use, it is described
After cleaning equipment reaches parking position fixation, under inertia force effect, push rod 802 pushes power contact head 804 and parking position power supply
Positive and negative anodes contact, and realize charging, and after charging, power contact head 804 and the positive and negative anodes of parking position power supply disconnect, and tighten bullet
Spring 803 pulls push rod 802 to playback under the action of pulling force.
Using the above structure, it after can realizing that the automatic parking of cleaning equipment charges and is fully charged, automatically powers off and receives
Power contact head is returned, without manual intervention, high degree of automation, and is used by way of extraneous power source charges as driving power
Power supply, avoids the self-contained heavy solar energy photovoltaic panel of cleaning equipment so that the power consumption of cleaning equipment reduces, and improves
Working efficiency.
Wherein, electrical contact device 8 is located at the bottom outside frame 2.
Using the above structure, the positive and negative anodes for being conducive to electrical contact device with the power supply of parking position contact, and complete charging.
In the present embodiment, driving power 3 is battery pack, and driving power 3 is located at the middle part in frame 2.
Using the above structure, it can cause that the overall structure of cleaning equipment is well-balanced, the driving wheel stress equalization of both sides.
Embodiment two
An embodiment of the present invention provides a kind of method that photovoltaic module cleaning equipment contexture by self cleans strategy, including as follows
Step：
S1, cleaning equipment is in cleaning process, the location information and at different locations of processor acquisition photovoltaic module
Power plant and clearing apparatus current/voltage information；
S2, processor assign unique number, shape respectively according to the sequencing of photovoltaic module position to each photovoltaic module
Into the position of photovoltaic module and number corresponding file；
S3, processor analyze the current/voltage information of power plant and clearing apparatus, obtain abnormal electric current/
The corresponding location information of information of voltage, and then according to position and the correspondence of number, obtain the corresponding component of the location information
Number, and is marked the number component, forms strategic planning database, in multiple cleaning process, according to situation of change,
Tactful planning database is updated；
S4 according to strategic planning basic database, fills the cleaning motor and power that reach marker number component placement
The current/voltage put is regulated and controled, and cleaning effect is made to reach the requirement of setting.
Wherein, the structure of photovoltaic module cleaning equipment can be found in embodiment one, and details are not described herein.
The course of work schematic diagram of cleaning equipment can be found in Fig. 7.In the cleaning equipment course of work, including cleaning modes and fill
Power mode, processor acquire electric quantity of power supply in real time, when electric quantity of power supply abundance, into cleaning modes, then according to track route into
Row cleaning works when electric quantity of power supply deficiency, when needing charging, into charge mode, that is, cleans motor and is stopped, cleaning is shown in de-
From light surface sweeping, parking position is entered according to track route, is charged.Wherein, the walking path of cleaning equipment can be found in Fig. 8 and
Shown in 9.
Under cleaning modes, since the pollution level on different components is different, the spacing of adjacent component, upper-lower position,
Inclination angle, azimuth difference etc., when causing the cleaning equipment to be swept on different components, the degree requirement cleaned is different, by
Resistance differ, it is therefore desirable to clean path in cleaning strategy be adjusted, in the present embodiment, formulate control strategy
Method can be found in Figure 10, before formal cleaning starts, need to acquire the location information of each component, and carry out different components
Number, the corresponding location information of component and number is corresponded, forming position file, meanwhile, acquisition cleaning equipment exists
The parameter informations such as the Current Voltage on different components know the drag size of its operation, occur for current-voltage information abnormal
Component be marked in position paper, the position paper being marked according to current-voltage information as cleans strategy number
According to library, during as cleaning, optimize the data foundation of cleaning equipment parameters.
In the present embodiment, in the above process, it is according to the method that each photovoltaic module is numbered in location information：
According to the arrangement situation of entire photovoltaic place photovoltaic array and the landforms at scene, place is divided into 01~N number of region,
Each region sets a cleaning equipment.
For cleaning equipment during cleaning for the first time, what upper and lower two groups of range sensors can continue feeds back to range information
Processor, processor can draw curve according to the data that receive, and in curve, abscissa is the time, and ordinate is distance, treats this
After the region that equipment is cleaned, processor analyzes curve, and according to the shape and fluctuation range of curve, interception is different
The curve in section is numbered, and Position Number is carried out respectively to the photovoltaic module array of different location；And it will number according to successively
Sequence is arranged, forming position file.
Wherein it is possible to curve is analyzed using following method：
The region of Y-axis≤200mm in curve is intercepted, in the curve 1 and Figure 14 in two kinds of curves such as Figure 13 being likely to occur
Curve 2 shown in.It, altogether can be by component point according to the variation range of Y-axis by curve 1 and curve 2 as it can be seen that curve is mechanical periodicity
For four regions, A sections are straight line segments, occur primary, all line segment lengths in the section at interval of identical length
Unanimously, which is element panels area, and B sections ramp down first is then straight or first straight, then ramps up, the area
Domain is the rim area of component, and C areas are a cliff areas, the region is between two solar panels among two frame regions
Gap, difference lies in the cliff area head in D areas with C areas in D areas, this is the outside of the outermost component of each array, is cleaned
When equipment is at this, lower section is in vacant state, Gu Douyaqu longer.E areas are also straight line segment, but its y value is than A area
Greatly, this is parking position.The section adjacent with E areas is D areas, but the spacing of curve 1 and the D areas x-axis direction of curve 2 is different, when
During away from more than threshold value, it is believed that scavenging machine is completed to reach parking position after row front and rear at this time, when spacing≤threshold value, it is believed that
After thering is parking position, scavenging machine to clean current array on the outside of current array, parking position is reached.
The photovoltaic module of different location can be then found according to the curve.
After the subregion of A~E is distinguished, the number to each photovoltaic module can be completed in processor, wherein entire curve
First AB section may be defined as the 1st row's component of the 1st array.Behind 1st D area, the AB sections of appearance may be defined as the 1st
1st row's component of array, and so on.Following principle is followed to the number of component, such as：The upper group of first array first row
Part is encoded to (01,0011), and the lower component of first array first row is encoded to (01,0012), first array secondary series
Upper element be encoded to the lower component of (01,0021) first array secondary series and be encoded to (01,0022)..., with such
It pushing away, second array upper element is encoded to (02,0011), and the lower component of second array is encoded to (02,0012),...
Number to parking position is P0X, the number of arrays of the wherein 0X where parking position.
After the number for completing parking position and component, processor can merge all location informations with place General Arrangement,
So as to forming position file.
In subsequent cleaning, cleaning equipment can be marked number component according to the location information in position paper, and
The parameter of the cleaning equipment of marked locations is adjusted.
By the way that component and bit number of parking, forming position file mainly has following effect；
1st, using the position of label " problem " component, subsequently to change the cleaning strategy of this position.
2nd, because photovoltaic place is generally up to thousands of mu of ground, live operation maintenance personnel is found and positioning " problem " component is extremely difficult,
In this way, operation maintenance personnel can be reached behind the region first by searching for the responsible region of cleaning equipment by searching for which
Which component arranged, you can find " problem " component.
For obtained position paper data, due to the variation of outside contamination source factor, the pollution of photovoltaic module on-site
Region is dynamic change, and cleaning equipment according to power plant and cleans motor in use during follow-up use
The situation of change of electric current, real-time record position information so as to increase or delete the relevant information in position paper, are formed backstage
Position paper content enriched, supplemented and corrected, generate new position paper, cleaning policy database made constantly to obtain
Update, and optimize cleaning equipment parameters, the timely online compensation including cleaning equipment, adjustment in the cleaning process after being
Rotating speed and output torque etc. provide data support, so that the operating status of equipment disclosure satisfy that practical cleaning requirement.
It in practical cleaning process, is first cleaned in advance, in the process of running, cleaning equipment at the uniform velocity travels, and is running
Cheng Zhong acquires location information, and the component of corresponding position information is numbered in real time, while the component that record is each numbered is clear
Required voltage, electric current when sweeping, by parameters such as times, and abnormal data is judged whether there is, if it is, by abnormal data pair
It is marked in the position paper that the photovoltaic module number answered forms correspondence in position and number.
Wherein, in the process of running, the abnormal data of appearance, refers to：When encountering the more serious component of surface contamination,
The resistance of hairbrush (cleaning item) can increase, and could meet clearly at this point, the electric current needed for the motor (cleaning motor) of hairbrush need to increase
Needs are swept, when processor records the position, the current anomaly of hair brush motor.When component is unjustified or there are deviation or cleaning in azimuth
When walking road conditions in an array it is poor the problems such as when, the resistance of driving wheel becomes larger, and driving wheel is needed to provide the torsion of bigger at this time
Square, needing, which increases electric current, could meet needs, when processor can record the position, driving wheel current anomaly, and by the area
The walking repeatedly in domain determines optimized parameter and records, and marks in position paper.
As shown in figure 11, S4 is specially：
S401, processor cleans motor or power plant sets the current/voltage increment of a setting, and record according to this
The operating parameter of increment：Electric current, voltage, transit time,
S402, processor calculates component of the cleaning equipment by marker number according to equation below, before and after increment is set
Required energy W1 and W2：
W=U*I*T,
Wherein, W is energy, i.e. cleaning equipment work done；U is voltage；I is electric current；T is the time；
S403 compares W1 and W2, if W1≤W2, takes the operating parameter before increment, otherwise, repeats S401-S403, until
W1≤W2。
In actual use, when cleaning equipment reaches " problem " component or road conditions poor region, processor can be given
The increment that motor or driving wheel set a setting is cleaned, and is recorded (electric current, voltage, current according to the operating parameter of the increment
Time etc.), for cleaning equipment after by labeled region, cleaning equipment can be out of service, motor reversal, returns again to the area
Domain can increase the increment of a setting when returning again, record according to the increment operating parameter (electric current, voltage, it is current when
Between etc.), so cycle several times, processor can by comparing the size of energy, obtain the optimal speed of travel by the region,
The parameters such as electric current.
The method that photovoltaic module cleaning equipment contexture by self provided in an embodiment of the present invention cleans strategy can also include step
Suddenly, processor acquires the electricity of driving power in real time, if the not enough power supply of driving power, processor controls the electromagnetism to inhale
Disk power down, and according to the location information of place photovoltaic module, run to closest parking position and charge.
Since the component numerals in position paper are carried out according to location information, so, processor can be according to number
Information calculates the parking position nearest apart from cleaning equipment and goes to complete to charge.
In actual use, the parking position behind the positional distance of cleaning equipment closer to when, then cleaning equipment can
Charged with the parking position returned to below, the parking position before the positional distance of cleaning equipment closer to when, then clean set
The standby parking position that can continue to front charges.
As shown in figure 12, in the embodiment of the present invention, during the not enough power supply of driving power, contexture by self is clear in accordance with the following steps
Sweep strategy：
A1, the number of the component in two sections of paths of former and later two parking positions of processor comparison arrival, required voltage, electric current
And the time, and two sections of required energy in path are calculated according to equation below：
W=U*I*T,
Wherein, W is energy, i.e. cleaning equipment work done；U is voltage；I is electric current；T is the time；
A2 compares the energy size in two sections of paths being calculated, and such as the two is essentially equal or both deviation is not more than threshold
Value, then processor is according to the quantity of abnormal conditions component marked in position paper, the stretch diameter of selected marker negligible amounts；
Otherwise, the path corresponding to smaller one of processor selection.
In the present embodiment, the content of real-time update can also be passed to monitoring backstage by processor by wireless signal, be made
Operation maintenance personnel can be cleaned the relevant informations such as position, electric current, the voltage fluctuation situation of equipment in time in monitoring room, and
The above can be shown over the display.
By using above-mentioned technical proposal disclosed by the invention, following beneficial effect has been obtained：The embodiment of the present invention carries
The method that the photovoltaic module cleaning equipment and contexture by self of confession clean strategy has cleaning modes and charge mode, is cleaning mould
, can be according to extraneous factors such as the pollution level of component and road conditions under formula, adjust automatically selects the speed of service and cleans speed,
Under charge mode, it can independently select parking position and realize charging, so, using cleaning equipment provided in an embodiment of the present invention,
Automation and intelligent level are high, and working efficiency is high, and synthesis is at low cost.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (10)
1. a kind of photovoltaic module cleaning equipment, which is characterized in that including frame, driving power, processing are equipped on the frame
Device, range sensor, clearing apparatus, power plant, driving wheel and directive wheel, the driving power respectively with the processor,
Clearing apparatus and power plant are connected as its power supply, and the power plant is connected as it with the driving wheel and provides power, uses
When, the directive wheel card is pressed on the outside frame of photovoltaic module, along the outside frame under the drive of the driving wheel
Rotation；
The processor respectively with the range sensor, clearing apparatus and power plant data connection；The range sensor
The moving distance information of the cleaning equipment is sent to the processor in real time, the processor acquires described clean and fills in real time
The current/voltage information with the power plant is put, when the current/voltage information of the clearing apparatus and the power plant goes out
When now abnormal, the processor is according to range information, to the clearing apparatus and the power plant at corresponding position
Current/voltage is regulated and controled；
The processor and the driving power data connection, the processor acquire the information about power of the driving power, and
Cleaning modes and charge mode are selected according to information about power.
2. photovoltaic module cleaning equipment according to claim 1, which is characterized in that the clearing apparatus includes cleaning electricity
Machine, cleaning item, magnechuck and spring, the cleaning item are located at the inside of the frame, and the motor shaft for cleaning motor is worn
It crosses the frame to connect with the cleaning item, the cleaning motor drives the cleaning item rotation；
The magnechuck is located at the lower section for cleaning motor, and the magnechuck passes through electromagnetic action with the cleaning motor
Connection, the magnechuck are fixed on pedestal, and the pedestal is fixed on said frame, and the processor controls the electromagnetism
Sucker powering on and powering off, and one end of the spring is connect with the cleaning motor, the other end of the spring and the pedestal
Connection；
When cleaning equipment normal operation, the magnechuck powers on, and under electromagnetic force, the cleaning motor is connected to institute
It states on magnechuck；When the electric quantity of power supply deficiency of cleaning equipment, the magnechuck power down is described to clean motor and the electricity
Magnetic-disc disconnects, and under the elastic force effect of the spring, and the cleaning motor is flicked.
3. photovoltaic module cleaning equipment according to claim 1, which is characterized in that cover board is additionally provided on the frame,
The cover board is located at the upper end opening of the frame.
4. photovoltaic module cleaning equipment according to claim 1, which is characterized in that the equipment further includes anode and cathode
Electrical contact device, the electrical contact device include push rod, power contact head and tightening spring, the push rod and are hinged on by insulating part
On the frame, one end of the push rod is connect with the driving power, and the other end of the push rod touches company with the power source head
It connects, one end of the tightening spring is connect with the push rod, and the other end of the tightening spring is connect with the frame；It is using
In the process, the cleaning equipment is reached after parking position fixes, under inertia force effect, the push rod push the power contact head with
The positive and negative anodes contact of parking position power supply, realizes charging, after charging, the positive and negative anodes of the power contact head and parking position power supply break
Connection is opened, the tightening spring pulls the push rod to playback under the action of pulling force.
5. photovoltaic module cleaning equipment according to claim 4, which is characterized in that the electrical contact device is located at the frame
Bottom outside frame.
6. photovoltaic module cleaning equipment according to claim 1, which is characterized in that the driving power be battery pack, institute
State the middle part that driving power is located in the frame.
7. a kind of method that claim 1-6 any one of them photovoltaic module cleaning equipment contexture by self cleans strategy, special
Sign is, includes the following steps：
S1, for cleaning equipment in cleaning process, processor acquires the location information of photovoltaic module and moving at different locations
The current/voltage information of power apparatus and clearing apparatus；
S2, processor assign each photovoltaic module unique number, form light respectively according to the sequencing of photovoltaic module position
It lies prostrate the position of component and numbers corresponding file；
S3, processor analyze the current/voltage information of power plant and clearing apparatus, obtain abnormal current/voltage
The corresponding location information of information, so according to position and number correspondence, obtain the corresponding component numerals of the location information,
And the number component is marked, strategic planning database is formed, in multiple cleaning process, according to situation of change, countermeasure
Slightly planning database is updated；
According to strategic planning basic database, motor and power plant are cleaned to reach marker number component placement by S4
Current/voltage is regulated and controled, and cleaning effect is made to reach the requirement of setting.
8. the method that photovoltaic module cleaning equipment contexture by self according to claim 7 cleans strategy, which is characterized in that S4
Specially：
S401, processor cleans motor or power plant sets the current/voltage increment of a setting, and record according to the increment
Operating parameter：Electric current, voltage, transit time,
S402, processor calculate component of the cleaning equipment by marker number according to equation below, needed for before and after increment is set
The energy W1 and W2 wanted：
W=U*I*T,
Wherein, W is energy, i.e. cleaning equipment work done；U is voltage；I is electric current；T is the time；
S403 compares W1 and W2, if W1≤W2, takes the operating parameter before increment, otherwise, repeats S401-S403, until W1≤
W2。
9. the method that photovoltaic module cleaning equipment contexture by self according to claim 7 cleans strategy, which is characterized in that also
Including step, processor acquires the electricity of driving power in real time, if the not enough power supply of driving power, described in processor control
Magnechuck power down, and according to the location information of place photovoltaic module, run to closest parking position and charge.
10. the method that photovoltaic module cleaning equipment contexture by self according to claim 9 cleans strategy, which is characterized in that
During the not enough power supply of driving power, optimize track route in accordance with the following steps：
A1, processor comparison reach the number of component in two sections of paths of former and later two parking positions, required voltage, electric current and when
Between, and two sections of required energy in path are calculated according to equation below：
W=U*I*T,
Wherein, W is energy, i.e. cleaning equipment work done；U is voltage；I is electric current；T is the time；
A2 compares the energy size in two sections of paths being calculated, and such as the two is essentially equal or both deviation is not more than threshold value, then
Processor is according to the quantity of abnormal conditions component marked in position paper, the stretch diameter of selected marker negligible amounts；Otherwise,
Path corresponding to smaller one of processor selection.
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