CN108262278B - Photovoltaic module cleaning equipment and method for autonomously planning cleaning strategy - Google Patents
Photovoltaic module cleaning equipment and method for autonomously planning cleaning strategy Download PDFInfo
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- CN108262278B CN108262278B CN201711405804.XA CN201711405804A CN108262278B CN 108262278 B CN108262278 B CN 108262278B CN 201711405804 A CN201711405804 A CN 201711405804A CN 108262278 B CN108262278 B CN 108262278B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 271
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- 230000000694 effects Effects 0.000 claims description 4
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- 238000012423 maintenance Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 3
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- 238000010248 power generation Methods 0.000 description 3
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- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
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- B08B1/32—
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- B08B1/12—
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B6/00—Cleaning by electrostatic means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a photovoltaic module cleaning device and a method for independently planning a cleaning strategy, and relates to the technical field of photovoltaic module cleaning. The cleaning equipment has a cleaning mode and a charging mode, in the cleaning mode, the running speed and the cleaning speed can be automatically adjusted and selected according to the pollution degree of the components, road conditions and other external factors, and in the charging mode, parking spaces can be automatically selected and charged, so that the cleaning equipment provided by the embodiment of the invention has high automation and intelligent level, high working efficiency and low comprehensive cost.
Description
Technical Field
The invention relates to the technical field of cleaning of photovoltaic modules, in particular to a photovoltaic module cleaning device and a method for autonomously planning a cleaning strategy.
Background
In order to effectively improve the power generation efficiency of the photovoltaic power station and reduce the influence of various external factors on the power generation of the component, various methods are provided by various owners, wherein two main types of cleaning of the surface area ash of the component have evolved, namely manual cleaning and cleaning equipment are adopted for cleaning respectively. Wherein manual cleaning has the defects of incapability of cleaning in real time, uncontrollable cleaning degree, foreseeable future price rising and the like, and a plurality of owners start to test on automatic cleaning equipment.
Currently, photovoltaic module cleaning devices on the market have the following drawbacks: 1) The mode of self-power generation and self use is adopted, a large battery plate is carried on the back, the self weight is large, the utilization rate of a driving power supply is low, and the cleaning efficiency is low; 2) The running state of the robot cannot be perceived, the difference of cleaning areas cannot be distinguished, and the intelligent degree is low; 3) The technical parameters such as the circuit, the speed and the like cannot be optimized, so that the self battery and the piggyback battery plate cannot be utilized to the maximum extent, and the equipment utilization rate is low.
Disclosure of Invention
The invention aims to provide a photovoltaic module cleaning device and a method for autonomously planning a cleaning strategy, so as to solve the problems in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a photovoltaic module cleaning apparatus comprising: the device comprises a frame, wherein a driving power supply, a processor, a distance sensor, a cleaning device, a power device, a driving wheel and a guide wheel are arranged on the frame, the driving power supply is respectively connected with the processor, the cleaning device and the power device to supply power to the processor, the power device is connected with the driving wheel to supply power to the driving wheel, and when the device is used, the guide wheel is clamped and pressed on an outer side frame of a photovoltaic module and driven by the driving wheel to rotate along the outer side frame;
the processor is respectively connected with the distance sensor, the cleaning device and the power device in a data way; the distance sensor sends the moving distance information of the cleaning equipment to the processor in real time, the processor collects the current/voltage information of the cleaning device and the power device in real time, and when the current/voltage information of the cleaning device and the power device is abnormal, the processor regulates and controls the current/voltage of the cleaning device and the power device at corresponding positions according to the distance information;
the processor is in data connection with the driving power supply, acquires electric quantity information of the driving power supply, and selects a cleaning mode and a charging mode according to the electric quantity information.
Preferably, the cleaning device comprises a cleaning motor, a cleaning piece, an electromagnetic chuck and a spring, wherein the cleaning piece is positioned at the inner side of the frame, a motor shaft of the cleaning motor penetrates through the frame to be connected with the cleaning piece, and the cleaning motor drives the cleaning piece to rotate;
the electromagnetic chuck is positioned below the cleaning motor, the electromagnetic chuck is connected with the cleaning motor through electromagnetic action, the electromagnetic chuck is fixed on a base, the base is fixed on the frame, the processor controls the power-on and power-off of the electromagnetic chuck, one end of the spring is connected with the cleaning motor, and the other end of the spring is connected with the base;
when the cleaning equipment normally operates, the electromagnetic chuck is electrified, and the cleaning motor is connected to the electromagnetic chuck under the action of electromagnetic force; when the electric quantity of the power supply of the cleaning equipment is insufficient, the electromagnetic chuck is powered off, the cleaning motor is disconnected with the electromagnetic chuck, and under the action of the elastic force of the spring, the cleaning motor is sprung.
Preferably, a cover plate is further arranged on the frame, and the cover plate is located at an opening at the upper end of the frame.
Preferably, the device further comprises a positive electrode and a negative electrode energizing contactor, the energizing contactor comprises a push rod, a power contact and a tightening spring, the push rod is hinged on the frame through an insulating piece, one end of the push rod is connected with the driving power supply, the other end of the push rod is in contact connection with the power contact, one end of the tightening spring is connected with the push rod, and the other end of the tightening spring is connected with the frame; in the use process, after the cleaning equipment reaches the fixed parking space, under the action of inertia force, the push rod pushes the power contact to be in contact with the positive electrode and the negative electrode of the power supply of the parking space, so that charging is achieved, after charging is finished, the power contact is disconnected with the positive electrode and the negative electrode of the power supply of the parking space, and the tightening spring pulls the push rod to return under the action of pulling force.
Preferably, the energized contacts are located at the bottom outside the frame.
Preferably, the driving power supply is a battery pack, and the driving power supply is located in the middle of the frame.
A method for autonomously planning cleaning strategies of a photovoltaic module cleaning device comprises the following steps:
s1, collecting position information of a photovoltaic module and current/voltage information of a power device and a cleaning device at different positions by a processor in the cleaning process of the cleaning equipment;
s2, respectively assigning unique numbers to the photovoltaic modules by the processor according to the sequence of the positions of the photovoltaic modules to form files corresponding to the positions and the numbers of the photovoltaic modules;
s3, the processor analyzes the current/voltage information of the power device and the cleaning device, acquires position information corresponding to abnormal current/voltage information, further acquires a component number corresponding to the position information according to the corresponding relation between the position and the number, marks the numbered component to form a strategy planning database, and updates the strategy planning database according to the change condition in the process of cleaning for many times;
and S4, regulating and controlling the current/voltage of the cleaning motor and the power device reaching the position of the mark number assembly according to the strategy planning basic database, so that the cleaning effect reaches the set requirement.
Preferably, S4 is specifically:
s401, the processor cleans a motor or a power device to set a set current/voltage increment, and records an operation parameter according to the increment: the current, voltage and transit time of the current,
s402, the processor calculates the energy W1 and W2 required by the cleaning device before and after setting the increment through the components marked with numbers according to the following formula:
W＝U*I*T，
wherein W is energy, namely work done by the cleaning equipment; u is voltage; i is current; t is time;
s403, comparing W1 with W2, if W1 is less than or equal to W2, taking the operation parameters before increment, otherwise, repeating S401-S403 until W1 is less than or equal to W2.
Preferably, the method further comprises the steps that the processor collects the electric quantity of the driving power supply in real time, if the electric quantity of the driving power supply is insufficient, the processor controls the electromagnetic chuck to be powered down, and the electromagnetic chuck is operated to the nearest parking space for charging according to the position information of the photovoltaic module.
Preferably, when the electric quantity of the driving power supply is insufficient, the walking route is optimized according to the following steps:
a1, the processor compares the number of components of the two-section path reaching the front parking space and the rear parking space, required voltage, current and time, and calculates the energy required by the two-section path according to the following formula:
W＝U*I*T，
wherein W is energy, namely work done by the cleaning equipment; u is voltage; i is current; t is time;
a2, comparing the energy magnitudes of the two paths obtained by calculation, and if the two paths are completely equal or the deviation is not greater than a threshold value, selecting a path with a small number of marks by the processor according to the number of abnormal condition components marked in the position file; otherwise, the processor selects a smaller one of the corresponding paths.
The beneficial effects of the invention are as follows: the photovoltaic module cleaning equipment and the method for autonomously planning the cleaning strategy provided by the embodiment of the invention have a cleaning mode and a charging mode, in the cleaning mode, the operation speed and the cleaning speed can be automatically adjusted and selected according to the pollution degree of the module, road conditions and other external factors, and in the charging mode, parking spaces can be autonomously selected and charging is realized, so that the cleaning equipment provided by the embodiment of the invention has high automation and intelligent level, high working efficiency and low comprehensive cost.
Drawings
FIG. 1 is a schematic view showing the general structure of a cleaning apparatus according to the present invention;
FIG. 2 is a schematic view of the working state structure of a cleaning device of the cleaning equipment of the present invention;
FIG. 3 is a schematic view showing a structure of a cleaning device of the cleaning apparatus in a non-operating state;
FIG. 4 is a schematic view of the structure of the cleaning apparatus of the present invention in the natural state of the energized contactor (when not energized);
FIG. 5 is a schematic view of the structure of the cleaning apparatus of the present invention at the instant of the action of the energized contactor;
FIG. 6 is a schematic view of the structure of the cleaning apparatus of the present invention when the electrical contactor is energized;
FIG. 7 is a schematic diagram of the operation of the cleaning apparatus of the present invention;
FIG. 8 is a schematic view of a forward cleaning path of the cleaning apparatus of the present invention;
FIG. 9 is a schematic view of a reverse cleaning path of the cleaning apparatus of the present invention
FIG. 10 is a schematic flow chart of a control strategy formulated by the cleaning device of the present invention;
FIG. 11 is a flow chart of a method of autonomously planning a cleaning strategy when the cleaning apparatus of the present invention is operating normally;
FIG. 12 is a flow chart of a method of autonomously planning a cleaning strategy when the cleaning device of the present invention is under-powered;
FIG. 13 is a graph 1 obtained by a distance sensor of a cleaning apparatus of the present invention;
fig. 14 is a graph 2 obtained by the distance sensor of the cleaning apparatus of the present invention.
In the figure, the meanings of the symbols are as follows:
1 a cover plate, 2 a frame, 3 a driving power supply, 4 a cleaning device, 5 a driving wheel, 6 a guiding wheel, 7 a processor, 8 a power-on contactor and 9 a distance sensor;
401 cleaning motor, 402 electromagnetic chuck, 403 spring, 404 base, 405 cleaning piece;
801 parking space, 802 push rod, 803 tightening spring, 804 power contact, 805 power.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a cleaning apparatus for a photovoltaic module, including: the cleaning device comprises a frame 2, wherein a driving power supply 3, a processor 7, a distance sensor 9, a cleaning device 4, a power device, a driving wheel 5 and a guide wheel 6 are arranged on the frame 2, the driving power supply 3 is respectively connected with the processor 7, the cleaning device 4 and the power device to supply power to the cleaning device, the power device is connected with the driving wheel 5 to supply power to the cleaning device, and when the cleaning device is used, the guide wheel 6 is clamped and pressed on an outer side frame of a photovoltaic module and driven by the driving wheel 5 to rotate along the outer side frame;
the processor 7 is respectively connected with the distance sensor 9, the cleaning device 4 and the power device in a data way; the distance sensor 9 sends the moving distance information of the cleaning equipment to the processor 7 in real time, the processor 7 collects the current/voltage information of the cleaning device 4 and the power device in real time, and when the current/voltage information of the cleaning device 4 and the power device is abnormal, the processor 7 regulates and controls the current/voltage of the cleaning device 4 and the power device at corresponding positions according to the distance information;
the processor 7 is in data connection with the driving power supply 3, and the processor 7 collects electric quantity information of the driving power supply 3 and selects a cleaning mode and a charging mode according to the electric quantity information.
The cleaning equipment with the structure has the following working principle:
in the cleaning process, because the pollution degree on different components is different, the quality of the frames of different components is different, and the like, when the cleaning equipment cleans different components, the cleaning degree requirement is different, and the resistance is different, so that the cleaning strategy in the cleaning path needs to be adjusted. In the embodiment, the processor is connected with the distance sensor to acquire displacement information of the cleaning equipment, and meanwhile, the processor is connected with the cleaning device and the power device in a data manner to acquire current/voltage data of the cleaning device and the power device; when the current/voltage information of the cleaning device and the power device is abnormal, the processor can regulate and control the current/voltage of the cleaning device and the power device at corresponding positions according to the distance information;
in addition, through treater and drive power supply data connection, the electric quantity information of drive power supply can be gathered to the treater, when the electric quantity is abundant, gets into the mode of cleaning, carries out normal cleaning, and when the electric quantity is not enough, gets into the mode of charging, finds the parking stall and charges.
The specific regulation and control process in the cleaning mode and the charging process in the charging mode can be described in the second embodiment.
Therefore, the photovoltaic module cleaning equipment provided by the embodiment of the invention can automatically adjust and select the running speed and the cleaning speed according to the pollution degree of the module, road conditions and other external factors in the cleaning mode, and can automatically select the parking space and realize charging in the charging mode.
As shown in fig. 2-3, in the embodiment of the present invention, the cleaning device 4 includes a cleaning motor 401, a cleaning member 405, an electromagnetic chuck 402, and a spring 403, where the cleaning member 405 is located inside the frame 2, and a motor shaft of the cleaning motor 401 passes through the frame 2 and is connected with the cleaning member 405, and the cleaning motor 401 drives the cleaning member 405 to rotate;
the electromagnetic chuck 402 is positioned below the cleaning motor 401, the electromagnetic chuck 402 is connected with the cleaning motor 401 through electromagnetic action, the electromagnetic chuck 402 is fixed on the base 404, the base 404 is fixed on the frame 2, the processor 7 controls the power-on and power-off of the electromagnetic chuck 402, one end of the spring 403 is connected with the cleaning motor 401, and the other end of the spring 403 is connected with the base 404;
when the cleaning device is in normal operation, the electromagnetic chuck 402 is powered on, and the cleaning motor 401 is connected to the electromagnetic chuck 402 under the action of electromagnetic force (see fig. 2); when the power supply of the cleaning apparatus is insufficient, the electromagnetic chuck 402 is powered off, the cleaning motor 401 is disconnected from the electromagnetic chuck 402, and the cleaning motor 401 is sprung open by the elastic force of the spring 403 (see fig. 3).
In the structure, a brush structure or an electrostatic adsorption structure can be selected for cleaning.
In the embodiment of the invention, the frame 2 is also provided with the cover plate 1, and the cover plate 1 is positioned at the upper end opening of the frame 2.
The structure is beneficial to the maintenance of the internal components of the frame, and meanwhile, the internal components are protected, and particularly the vulnerable components such as a driving power supply, a processor and the like are protected.
As shown in fig. 4 to 6, the cleaning device for a photovoltaic module provided by the embodiment of the invention may further include a positive electrode and a negative electrode power-on contactor 8, wherein the power-on contactor 8 includes a push rod 802, a power contact 804 and a tightening spring 803, the push rod 802 is hinged on the frame 2 through an insulating member, one end of the push rod 802 is connected with the driving power supply 3, the other end of the push rod 802 is connected with the power contact 804, one end of the tightening spring 803 is connected with the push rod 802, and the other end of the tightening spring 803 is connected with the frame 2; in the use process, after the cleaning equipment reaches the fixed parking space, under the action of inertia force, the push rod 802 pushes the power contact 804 to be in contact with the positive electrode and the negative electrode of the power supply of the parking space, so that charging is realized, after the charging is finished, the power contact 804 is disconnected with the positive electrode and the negative electrode of the power supply of the parking space, and the tightening spring 803 pulls the push rod 802 to return under the action of pulling force.
By adopting the structure, the automatic parking and charging of the cleaning equipment can be realized, and after the cleaning equipment is fully charged, the power is automatically cut off and the power contact is retracted, so that manual intervention is not needed, the degree of automation is high, the driving power supply is supplied by adopting a mode of charging through an external power supply, the cleaning equipment is prevented from carrying heavy solar photovoltaic panels, the power consumption of the cleaning equipment is reduced, and the working efficiency is improved.
Wherein the energized contacts 8 are located at the bottom outside the frame 2.
By adopting the structure, the contact between the electrified contactor and the anode and the cathode of the power supply of the parking space is facilitated, and the charging is completed.
In this embodiment, the driving power source 3 is a battery pack, and the driving power source 3 is located in the middle of the frame 2.
By adopting the structure, the whole structure of the cleaning equipment is symmetrical, and the stress of the driving wheels at two sides is balanced.
Example two
The embodiment of the invention provides a method for autonomously planning a cleaning strategy of a photovoltaic module cleaning device, which comprises the following steps:
s1, collecting position information of a photovoltaic module and current/voltage information of a power device and a cleaning device at different positions by a processor in the cleaning process of the cleaning equipment;
s2, respectively assigning unique numbers to the photovoltaic modules by the processor according to the sequence of the positions of the photovoltaic modules to form files corresponding to the positions and the numbers of the photovoltaic modules;
s3, the processor analyzes the current/voltage information of the power device and the cleaning device, acquires position information corresponding to abnormal current/voltage information, further acquires a component number corresponding to the position information according to the corresponding relation between the position and the number, marks the numbered component to form a strategy planning database, and updates the strategy planning database according to the change condition in the process of cleaning for many times;
and S4, regulating and controlling the current/voltage of the cleaning motor and the power device reaching the position of the mark number assembly according to the strategy planning basic database, so that the cleaning effect reaches the set requirement.
The structure of the photovoltaic module cleaning device can be referred to in the first embodiment, and will not be described herein.
A schematic view of the operation of the cleaning apparatus can be seen in fig. 7. In the working process of the cleaning equipment, the cleaning equipment comprises a cleaning mode and a charging mode, the processor collects the power supply electric quantity in real time, when the power supply electric quantity is sufficient, the cleaning mode is entered, cleaning is carried out according to a walking route, when the power supply electric quantity is insufficient, the cleaning equipment enters the charging mode when charging is needed, namely, the cleaning motor stops working, cleaning is carried out to separate from a light sweeping surface, and the cleaning equipment enters a parking place according to the walking route to charge. Wherein the path of travel of the cleaning device can be seen in fig. 8 and 9.
In the cleaning mode, because the pollution levels on different components are different, the distance, the upper and lower positions, the inclination angle, the azimuth angle and the like of adjacent components are different, when the cleaning equipment cleans the components, the cleaning requirements are different, and the received resistance is different, so that the cleaning strategy in the cleaning path needs to be adjusted.
In this embodiment, in the above process, the method for numbering each photovoltaic module according to the position information includes:
according to the arrangement condition of the whole light Fu Changou photovoltaic array and the field topography, the field area is divided into 01-N areas, and each area is provided with a cleaning device.
In the process of first cleaning, the upper and lower groups of distance sensors continuously feed back distance information to the processor, the processor draws a curve according to received data, wherein an abscissa of the curve is time, an ordinate of the curve is distance, after the area cleaned by the device is over, the processor analyzes the curve, and according to the shape and fluctuation range of the curve, the processor intercepts curves of different sections to number, and respectively numbers the positions of the photovoltaic module arrays of different positions; and the numbers are arranged according to the sequence to form a position file.
Wherein, the curve can be analyzed by the following method:
the region of the curve with Y axis less than or equal to 200mm is taken, and two possible curves are shown as curve 1 in FIG. 13 and curve 2 in FIG. 14. As can be seen from curves 1 and 2, the curves are periodically variable, the assembly can be divided into four areas according to the variation range of the Y axis, the area a is a straight line segment, the same length appears every interval, all line segments of the area are identical in length, the area B is an assembly panel area, the area B is firstly inclined down and then is straight or firstly straight and then is inclined up, the area C is a cliff area between the two edge areas, the area C is a gap between two battery plates, the area D is longer than the cliff area of the area C, the area D is the outer side of the outermost assembly of each array, and when the cleaning equipment is in a suspended state, the lower part of the cleaning equipment is in a suspended state, so the cliff area is longer. The E area is also a straight line segment, but the y value of the E area is larger than that of the A area, and the E area is a parking space. The interval adjacent to the E area is the D area, but the interval in the X axis direction of the D area of the curve 1 and the interval in the X axis direction of the curve 2 are different, when the interval is larger than a threshold value, the sweeper can be considered to reach parking spaces after crossing rows front and back, when the interval is smaller than or equal to the threshold value, the parking spaces are considered to exist on the outer side of the current array, and after the sweeper is used for sweeping the current array, the sweeper reaches the parking spaces.
Then the photovoltaic modules in different positions can be found according to the curve.
After the partitions a-E are distinguished, the processor can complete numbering each photovoltaic module, where the first AB interval of the entire curve can be defined as the 1 st row of modules of the 1 st array. After zone 1D, the AB interval that occurs can be defined as the 1 st row of elements of the 1 st array, and so on. Numbering of the components follows the following principles, such as: the upper elements of the first array first column are coded (01, 0011), the lower elements of the first array first column are coded (01, 0012), the upper elements of the first array second column are coded (01, 0021), and the lower elements of the first array second column are coded (01, 0022). . . And so on, the second array upper assembly is coded (02, 0011) and the second array lower assembly is coded (02, 0012). . .
The number of the parking space is P0X, wherein 0X is the number of the array where the parking space is located.
After numbering of the parking spaces and components is completed, the processor fuses all the position information with the field total layout diagram, thereby forming a position file.
In the subsequent cleaning, the cleaning device marks the numbered components according to the position information in the position file, and adjusts the parameters of the cleaning device at the marked positions.
The position file is formed by numbering the components and the parking space, and has the following effects;
1. the location of the "problem" component is marked for subsequent modification of the cleaning strategy for that location.
2. Because photovoltaic field areas usually reach thousands of mu land, on-site operation and maintenance personnel find and locate the 'problem' component very difficult, through the method, the operation and maintenance personnel can find the 'problem' component by searching the responsible area of the cleaning equipment, and searching the row of the 'problem' component after reaching the area.
For the obtained position file data, the pollution area in the photovoltaic module field area is dynamically changed due to the change of external pollution source factors, and the cleaning equipment records the position information in real time according to the change condition of current in the use process of the power device and the cleaning motor in the subsequent use process, so that the related information in the position file is added or deleted, the content of the position file formed by the background is enriched, supplemented and corrected, a new position file is generated, the cleaning strategy database is continuously updated, various parameters of the cleaning equipment are optimized in the subsequent cleaning process, including timely online compensation, rotation speed adjustment, output torque adjustment and the like of the cleaning equipment, and data support is provided, so that the running state of the equipment can meet the actual cleaning requirement.
In the actual cleaning process, pre-cleaning is firstly carried out, in the operation process, the cleaning equipment runs at a constant speed, in the operation process, position information is collected in real time, components corresponding to the position information are numbered, parameters such as voltage, current, passing time and the like required by cleaning the components with each number are recorded, whether abnormal data exist or not is judged, and if so, the number of the photovoltaic component corresponding to the abnormal data is marked in a position file with the position and the number forming a corresponding relation.
Wherein, during operation, abnormal data appear, refer to: when the brush (cleaning piece) is subjected to components with serious surface pollution, the resistance of the brush (cleaning piece) can be increased, at the moment, the current required by the motor of the brush (cleaning motor) needs to be increased to meet the cleaning requirement, and when the processor records the position, the current of the brush motor is abnormal. When the components are not aligned or the azimuth angle is deviated or the walking road condition in the array is poor during cleaning and the like, the resistance of the driving wheel is increased, the driving wheel is required to provide larger torque, current is required to be increased to meet the requirement, the current of the driving wheel is abnormal when the processor records the position, and the optimal parameters are determined and recorded through repeated walking in the area and marked in the position file.
As shown in fig. 11, S4 specifically is:
s401, the processor cleans a motor or a power device to set a set current/voltage increment, and records an operation parameter according to the increment: the current, voltage and transit time of the current,
s402, the processor calculates the energy W1 and W2 required by the cleaning device before and after setting the increment through the components marked with numbers according to the following formula:
W＝U*I*T，
wherein W is energy, namely work done by the cleaning equipment; u is voltage; i is current; t is time;
s403, comparing W1 with W2, if W1 is less than or equal to W2, taking the operation parameters before increment, otherwise, repeating S401-S403 until W1 is less than or equal to W2.
In the actual use process, when the cleaning equipment reaches a 'problem' component or an area with poor road conditions, the processor sets a set increment for the cleaning motor or the driving wheel, records operation parameters (current, voltage, passing time and the like) according to the increment, the cleaning equipment stops operating after passing through the marked area, the motor reverses and returns to the area, the set increment is increased again when returning, the operation parameters (current, voltage, passing time and the like) according to the increment are recorded, the processor can obtain optimal running speed, current and other parameters passing through the area by comparing the energy.
The method for autonomously planning the cleaning strategy of the photovoltaic module cleaning equipment provided by the embodiment of the invention can further comprise the steps that the processor collects the electric quantity of the driving power supply in real time, if the electric quantity of the driving power supply is insufficient, the processor controls the electromagnetic chuck to be powered down, and the electromagnetic chuck is operated to the nearest parking space for charging according to the position information of the photovoltaic module.
Since the component numbers in the location file are performed according to the location information, the processor can calculate the parking space nearest to the cleaning device according to the number information to complete the charging.
In the actual use process, when the position of the cleaning equipment is closer to the rear parking space, the cleaning equipment can return to the rear parking space for charging, and when the position of the cleaning equipment is closer to the front parking space, the cleaning equipment can continue to advance to the front parking space for charging.
As shown in fig. 12, in the embodiment of the present invention, when the power of the driving power supply is insufficient, the cleaning strategy is automatically planned according to the following steps:
a1, the processor compares the number of components of the two-section path reaching the front parking space and the rear parking space, required voltage, current and time, and calculates the energy required by the two-section path according to the following formula:
W＝U*I*T，
wherein W is energy, namely work done by the cleaning equipment; u is voltage; i is current; t is time;
a2, comparing the energy magnitudes of the two paths obtained by calculation, and if the two paths are completely equal or the deviation is not greater than a threshold value, selecting a path with a small number of marks by the processor according to the number of abnormal condition components marked in the position file; otherwise, the processor selects a smaller one of the corresponding paths.
In this embodiment, the processor may also transmit the content updated in real time to the monitoring background through a wireless signal, so that the operation and maintenance personnel may obtain relevant information such as the position, current, voltage fluctuation condition, etc. of the cleaning device in time in the monitoring room, and may display the content on the display.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained: the photovoltaic module cleaning equipment and the method for autonomously planning the cleaning strategy provided by the embodiment of the invention have a cleaning mode and a charging mode, in the cleaning mode, the operation speed and the cleaning speed can be automatically adjusted and selected according to the pollution degree of the module, road conditions and other external factors, and in the charging mode, parking spaces can be autonomously selected and charging is realized, so that the cleaning equipment provided by the embodiment of the invention has high automation and intelligent level, high working efficiency and low comprehensive cost.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which is also intended to be covered by the present invention.
Claims (9)
1. The photovoltaic module cleaning equipment is characterized by comprising a frame, wherein a driving power supply, a processor, a distance sensor, a cleaning device, a power device, a driving wheel and a guide wheel are arranged on the frame, the driving power supply is respectively connected with the processor, the cleaning device and the power device to supply power to the processor, the cleaning device and the power device, the power device is connected with the driving wheel to supply power to the driving wheel, and when the photovoltaic module cleaning equipment is used, the guide wheel is clamped and pressed on an outer side frame of a photovoltaic module and driven by the driving wheel to rotate along the outer side frame;
the processor is respectively connected with the distance sensor, the cleaning device and the power device in a data way; the distance sensor sends the moving distance information of the cleaning equipment to the processor in real time, the processor collects the current/voltage information of the cleaning device and the power device in real time, and when the current/voltage information of the cleaning device and the power device is abnormal, the processor regulates and controls the current/voltage of the cleaning device and the power device at corresponding positions according to the distance information;
the processor is in data connection with the driving power supply, acquires electric quantity information of the driving power supply, and selects a cleaning mode and a charging mode according to the electric quantity information;
the cleaning device comprises a cleaning motor, a cleaning piece, an electromagnetic chuck and a spring, wherein the cleaning piece is positioned at the inner side of the frame, a motor shaft of the cleaning motor penetrates through the frame to be connected with the cleaning piece, and the cleaning motor drives the cleaning piece to rotate;
the electromagnetic chuck is positioned below the cleaning motor, the electromagnetic chuck is connected with the cleaning motor through electromagnetic action, the electromagnetic chuck is fixed on a base, the base is fixed on the frame, the processor controls the power-on and power-off of the electromagnetic chuck, one end of the spring is connected with the cleaning motor, and the other end of the spring is connected with the base;
when the cleaning equipment normally operates, the electromagnetic chuck is electrified, and the cleaning motor is connected to the electromagnetic chuck under the action of electromagnetic force; when the electric quantity of the power supply of the cleaning equipment is insufficient, the electromagnetic chuck is powered off, the cleaning motor is disconnected with the electromagnetic chuck, and under the action of the elastic force of the spring, the cleaning motor is sprung.
2. The photovoltaic module cleaning apparatus of claim 1, wherein the frame is further provided with a cover plate, and the cover plate is located at an upper end opening of the frame.
3. The photovoltaic module cleaning apparatus according to claim 1, further comprising positive and negative pole energizing contactors including a push rod hinged to the frame via an insulating member, a power contact, and a tightening spring, one end of the push rod being connected to the driving power supply, the other end of the push rod being connected to the power contact, one end of the tightening spring being connected to the push rod, the other end of the tightening spring being connected to the frame; in the use process, after the cleaning equipment reaches the fixed parking space, under the action of inertia force, the push rod pushes the power contact to be in contact with the positive electrode and the negative electrode of the power supply of the parking space, so that charging is achieved, after charging is finished, the power contact is disconnected with the positive electrode and the negative electrode of the power supply of the parking space, and the tightening spring pulls the push rod to return under the action of pulling force.
4. A photovoltaic module cleaning apparatus according to claim 3 wherein the powered contactor is located at the bottom outside the frame.
5. The photovoltaic module cleaning apparatus of claim 1, wherein the drive power source is a battery pack, the drive power source being located in a central portion within the frame.
6. A method of autonomous planning of a cleaning strategy for a photovoltaic module cleaning apparatus according to any of claims 1-5, comprising the steps of:
s1, collecting position information of a photovoltaic module and current/voltage information of a power device and a cleaning device at different positions by a processor in the cleaning process of the cleaning equipment;
s2, respectively assigning unique numbers to the photovoltaic modules by the processor according to the sequence of the positions of the photovoltaic modules to form files corresponding to the positions and the numbers of the photovoltaic modules;
s3, the processor analyzes the current/voltage information of the power device and the cleaning device, acquires position information corresponding to abnormal current/voltage information, further acquires a component number corresponding to the position information according to the corresponding relation between the position and the number, marks the component number to form a strategy planning database, and updates the strategy planning database according to the change condition in the process of cleaning for many times;
and S4, regulating and controlling the current/voltage of the cleaning motor and the power device reaching the position of the mark number assembly according to the strategy planning basic database, so that the cleaning effect reaches the set requirement.
7. The method for autonomously planning a cleaning strategy for a photovoltaic module cleaning device according to claim 6, wherein S4 is specifically:
s401, the processor cleans a motor or a power device to set a set current/voltage increment, and records an operation parameter according to the increment: the current, voltage and transit time of the current,
s402, the processor calculates the energy W1 and W2 required by the cleaning device before and after setting the increment through the components marked with numbers according to the following formula:
W＝U*I*T，
wherein W is energy, namely work done by the cleaning equipment; u is voltage; i is current; t is time;
s403, comparing W1 with W2, if W1 is less than or equal to W2, taking the operation parameters before increment, otherwise, repeating S401-S403 until W1 is less than or equal to W2.
8. The method for autonomously planning a cleaning strategy for a photovoltaic module cleaning device according to claim 6, further comprising the steps of collecting the electric quantity of a driving power supply in real time by the processor, controlling the electromagnetic chuck to be powered down if the electric quantity of the driving power supply is insufficient, and running to a parking space closest to the parking space for charging according to the position information of the photovoltaic module.
9. The method for autonomously planning a cleaning strategy for a photovoltaic module cleaning apparatus according to claim 8, wherein when the power of the driving power supply is insufficient, the walking route is optimized according to the following steps:
a1, the processor compares the number of components of the two-section path reaching the front parking space and the rear parking space, required voltage, current and time, and calculates the energy required by the two-section path according to the following formula:
W＝U*I*T，
wherein W is energy, namely work done by the cleaning equipment; u is voltage; i is current; t is time;
a2, comparing the energy magnitudes of the two paths obtained by calculation, and if the two paths are completely equal or the deviation is not greater than a threshold value, selecting a path with a small number of marks by the processor according to the number of abnormal condition components marked in the position file; otherwise, the processor selects a smaller one of the corresponding paths.
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| CN109445433B (en) * | 2018-11-05 | 2022-04-12 | 合肥仁洁智能科技有限公司 | Operation parameter setting method, adjustment method and device of cleaning machine |
| CN111404474B (en) * | 2020-03-24 | 2023-05-23 | 安徽海螺新能源有限公司 | Automatic cleaning device according to surface fouling degree of solar module |
| CN111813003A (en) * | 2020-07-16 | 2020-10-23 | 苏州鼎威新能源有限公司 | Equipment control method and device of photovoltaic cleaning equipment and storage medium |
| CN112234932B (en) * | 2020-09-21 | 2022-04-29 | 苏州鼎威新能源有限公司 | Control method and device for photovoltaic cleaning equipment and storage medium |
| CN115208302A (en) * | 2022-06-27 | 2022-10-18 | 苏州立天智能科技有限公司 | Shutdown charging method and system for photovoltaic cleaning device |
| CN116360467B (en) * | 2023-06-01 | 2023-08-15 | 中国科学院自动化研究所 | Autonomous cruising system and autonomous cruising method for unmanned cleaning device of photovoltaic panel column |
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