CN108268032A - The control method and control device of photovoltaic module cleaning device - Google Patents

The control method and control device of photovoltaic module cleaning device Download PDF

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Publication number
CN108268032A
CN108268032A CN201611271180.2A CN201611271180A CN108268032A CN 108268032 A CN108268032 A CN 108268032A CN 201611271180 A CN201611271180 A CN 201611271180A CN 108268032 A CN108268032 A CN 108268032A
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CN
China
Prior art keywords
photovoltaic module
cleaning device
module cleaning
photovoltaic
group
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Pending
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CN201611271180.2A
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Chinese (zh)
Inventor
黄晓波
孙雷
宋博
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Beijing Etechwin Electric Co Ltd
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Beijing Etechwin Electric Co Ltd
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Priority to CN201611271180.2A priority Critical patent/CN108268032A/en
Publication of CN108268032A publication Critical patent/CN108268032A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria

Abstract

The invention discloses a kind of control methods and control device of photovoltaic module cleaning device.Wherein, control method, which is characterized in that include the following steps:Electric power detection step detects the battery capacity of photovoltaic unit clean device;Judgment step, judge whether the battery capacity of the photovoltaic module cleaning device can travel in the photovoltaic module cleaning device to return to below the power threshold in specified region of awaiting orders of initiating terminal to default terminal or an at least period at least once, if so, the photovoltaic module cleaning device is made to rest on current location;If not, the photovoltaic module cleaning device traveling is made to return to initiating terminal, then perform electric power detection step and judgment step to default terminal or an at least period at least once.The control method and device of the photovoltaic module cleaning device of the present invention can provide counter-measure during low battery.

Description

The control method and control device of photovoltaic module cleaning device
Technical field
The invention belongs to photovoltaic module cleaning technology field more particularly to a kind of control methods of photovoltaic module cleaning device And control device.
Background technology
Photovoltaic generation is at home and abroad quickly grown in recent years as a kind of clean energy resource.Light used in photovoltaic generation at present Volt component is typically mounted on outdoor, and outdoor airborne dust, haze etc. can all pollute and cover to the plate face of photovoltaic module, from And the strong influence transfer efficiency of photovoltaic module, it is therefore desirable to periodically be cleaned to the photovoltaic plate face of photovoltaic module.Mesh Preceding existing photovoltaic clearing apparatus can be directly attached to photovoltaic module automatically walk, automatic cleaning, when cleaning finishes can automatically from Open photovoltaic module.But existing photovoltaic clearing apparatus function is single, such as lacks for the battery electricity in photovoltaic clearing apparatus The detection feedback function of amount;Position regulating function of photovoltaic clearing apparatus etc..
Invention content
An embodiment of the present invention provides a kind of control methods and control device of photovoltaic module cleaning device, can provide low Counter-measure during electricity.
On the one hand, the embodiment of the present invention provides a kind of control method of photovoltaic module cleaning device, which is characterized in that including Following steps:Electric power detection step detects the battery capacity of photovoltaic unit clean device;Judgment step judges the photovoltaic group The battery capacity of part cleaning device whether in photovoltaic module cleaning device traveling at least once to default terminal or at least One period returned to the power threshold in the specified region of awaiting orders of initiating terminal hereinafter, if so, stopping the photovoltaic module cleaning device Stay in current location;If not, make the photovoltaic module cleaning device operation at least one to be back to initiating terminal, then perform step A and b.
On the other hand, the embodiment of the present invention provides a kind of control device of photovoltaic module cleaning device, which is characterized in that packet It includes:Detection module, processing module and drive module, the battery capacity of the detection module detection photovoltaic unit clean device;Institute Processing and control module is stated, judges the battery capacity of the photovoltaic module cleaning device whether in the photovoltaic module cleaning device If traveling the power threshold in the specified region of awaiting orders of initiating terminal is returned to default terminal or an at least period at least once hereinafter, It is that then sending out instruction to the drive module makes the photovoltaic module cleaning device rest on current location;If it is not, then to institute Stating drive module and sending out instruction makes photovoltaic module cleaning device operation at least one to be back to initiating terminal, then command detection mould Block detects the battery capacity of photovoltaic unit clean device.
The control method and control device of photovoltaic module cleaning device provided in an embodiment of the present invention, including to battery capacity Low detection and processing, can prevent equipment from causing to block photovoltaic battery panel due to electricity shortage.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, it will make below to required in the embodiment of the present invention Attached drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings Attached drawing.
Fig. 1 is the structure diagram of photovoltaic module cleaning device that one embodiment of the invention is applied;
Fig. 2 is the method for operation schematic diagram of photovoltaic module cleaning device shown in Fig. 1;
Fig. 3 is a kind of control method flow chart for photovoltaic module cleaning device that one embodiment of the invention provides;
Fig. 4 be one embodiment of the invention provide photovoltaic module cleaning device right lateral state under movement speed with angle change Schematic diagram;
Fig. 5 be one embodiment of the invention provide photovoltaic module cleaning device left lateral state under movement speed with angle change Schematic diagram;
Fig. 6 is a kind of schematic diagram of the control device for photovoltaic module cleaning device that another embodiment of the present invention provides.
In figure:
100th, control device, 101, detection module, 102, processing and control module,
103rd, drive module, 104, hairbrush calibration module, 10, photovoltaic module cleaning device,
11st, first end, 12, the second end, 111, first groups of traveling wheels, 122, second groups of traveling wheels, 20, photovoltaic cell Component, 21, top, 22, bottom, 24, file leader, 23, the last person.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art All other embodiments obtained without creative efforts shall fall within the protection scope of the present invention.
The feature and exemplary embodiment of various aspects of the invention is described more fully below.In following detailed description In, it is proposed that many details, in order to provide complete understanding of the present invention.But to those skilled in the art It will be apparent that the present invention can be implemented in the case of some details in not needing to these details.Below to implementing The description of example is used for the purpose of by showing that the example of the present invention is better understood from the present invention to provide.The present invention never limits In any concrete configuration set forth below and algorithm, but cover under the premise of without departing from the spirit of the present invention element, Any modification, replacement and the improvement of component and algorithm.In the the accompanying drawings and the following description, well known structure and skill is not shown Art is unnecessary fuzzy to avoid causing the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Solar photovoltaic generation system is to utilize the solar cell semi-conducting material i.e. photovoltaic effect of photovoltaic battery panel, will too Solar irradiation can be converted directly into a kind of new power generating system of electric energy.In order to make full use of solar energy generally by photovoltaic battery panel The field use of eminence or spaciousness that no sunlight blocks is positioned over, and one piece one piece of photovoltaic battery panel is stitched together Row's photovoltaic cell component in a row uses, and is dropped by the transfer efficiency of photovoltaic cell component that dust or haze etc. pollute and cover Low, setting can be directly attached to photovoltaic module automatically walk, the photovoltaic group of automatic cleaning generally on photovoltaic cell component thus Part cleaning device is cleaned for it.Referring to Fig. 1, photovoltaic module cleaning device 10 is to include opposite first end 11 and The long strip-board shape structure of two ends 12, first end 11 are provided with first group of traveling wheel 111, and the second end 12 is provided with Two groups of traveling wheels 122.Also referring to Fig. 2, the photovoltaic module cleaning device 10 is located at tabular to be cleaned during use Photovoltaic cell component 20.In the standby state, photovoltaic module cleaning device 10 is located at the one of several rows of photovoltaic cell component 20 End, i.e., at the file leader 24 often arranged or the order to be launched such as at the last person 23, until start order after by row's photovoltaic cell component 20 one end (file leader/last person) is cleaned to the other end (last person/file leader) movement, first and second groups of traveling wheels 111,122 It is that top 21 and bottom 22 are walked along two opposite edges of photovoltaic cell component 20.That is to row's photovoltaic cell group It is carried out when part 20 is cleaned from 24/ last person 23 of the file leader of row's photovoltaic cell component 20 to 23/ file leader 24 of the last person in movement Clean, and run for reciprocal several times between 23/ file leader 24 of 24/ last person 23 of file leader and the last person several periods could clean it is dry Only, therefore the default round-trip number that cleaning requires can be reached and empirically set.For convenience by photovoltaic module Cleaning device 10 is the location of initial, i.e. one end (24/ last person 23 of file leader) of row's photovoltaic cell component is referred to as initiating terminal, The photovoltaic cell component other end (23/ file leader 24 of the last person) that photovoltaic module cleaning device can reach is referred to as default terminal.
Please referring to Fig. 3 is, a kind of control method flow chart for photovoltaic module cleaning device that one embodiment of the invention provides. This method includes:Step S10 detects the battery capacity of photovoltaic unit clean device;Step S20 judges photovoltaic module sanitizer cartridge Whether the battery capacity put can travel in photovoltaic module cleaning device is returned at least once to default terminal or an at least period To the specified region of awaiting orders of starting point power threshold hereinafter, if it is judged that be yes, then carry out step S30, make photovoltaic module Cleaning device rests on current location;If it is judged that being no, then step S40 is carried out, to the hair of photovoltaic module cleaning device Brush position correction makes photovoltaic module cleaning device traveling at least once to default terminal or at least a period returns to after calibration Starting point, then perform step S10 and S20.
In step slo, the voltage value of the battery of photovoltaic module cleaning device is predominantly detected.
In step S20, mainly judge that the battery capacity of photovoltaic module cleaning device can support photovoltaic module to clean Device operation is at least one back and forth, can run at least one period, general photovoltaic module cleaning device is often transported for the sake of convenient Row a cycle is carrying out one-time detection judgement, it is to be appreciated that this can according to demand can be with self-defining to its electricity When determining such as photovoltaic cell component is especially long, it can be provided often detect a photovoltaic module by one end to the other end The electricity of cleaning device can be with when the larger photovoltaic cell component of the battery capacity of photovoltaic module cleaning device is shorter It is set as photovoltaic module cleaning device and runs several electricity of cycle detection etc..Power threshold is obtained for many experiments, is protected Card photovoltaic module cleaning device can run one or several periods.
If a determination be made that the battery capacity of photovoltaic module cleaning device can support photovoltaic module to clean in step S20 Device operation is at least one then to carry out step S30 back and forth, photovoltaic module cleaning device is made to rest on current location, and lasting Detect battery capacity.If battery capacity reaches startup requirement, monitor whether to start order, then calibrated if there is starting order After make photovoltaic module cleaning device traveling at least once to default terminal or at least a period returns to starting point, then perform step S10 and S20.
In step S20, further judge whether the number of run of photovoltaic module cleaning device reaches default round-trip number, If not up to preset round-trip number, make photovoltaic module cleaning device run, into next cyclic, if reach preset it is past Number is returned, then stops the operation of photovoltaic module cleaning device.
When in step s 40, to the hairbrush position correction of photovoltaic module cleaning device, it is lifted hairbrush first to touching hair Limit switch right over brushing, and then the moving direction for changing hairbrush causes hairbrush to drop to predeterminated position, predeterminated position can root It is configured according to actual requirement.It is understood that during to the hairbrush position correction of photovoltaic module cleaning device, first so that hair Brush is moved to the limit switch for touching hairbrush left or right side to the left or to the right, and then the moving direction for changing hairbrush causes hair It brushes to the right or is moved to the left predeterminated position etc., predeterminated position can be configured according to actual requirement.
In the prior art, when photovoltaic module cleaning device is idle, the driving motor of hairbrush does not enable, and hairbrush leads to It is to be launched that lower position etc. can often be dropped to.After driving motor receives enabled instruction, not can determine that by hairbrush rise or The degree of decline.Therefore, in step s 40, need hairbrush being lifted, be moved to touch limit switch to the left or to the right, this Sample driving motor can determine the shift position of hairbrush.
In step s 40, make after hairbrush calibration photovoltaic module cleaning device traveling at least once to default terminal or At least a period returns to starting point, then detects the battery capacity of photovoltaic unit clean device, if battery capacity is low, cannot support light It is at least one back and forth to default terminal or operation at least once to lie prostrate unit clean device traveling, then stops photovoltaic module cleaning device Only in default terminal or startup starting point, if battery capacity is normal, judge whether the round-trip number for reaching setting, if do not reached To round-trip number, then move photovoltaic module cleaning device, into subsequent cycle, if reaching round-trip number, return to startup Starting point so that photovoltaic module cleaning device is out of service.
As an alternative embodiment, further comprise step S50, detect the photovoltaic module cleaning device and be expert at and pass by The step of gradient of journey and adjustment gradient.This step is the traveling wheel of first end 11 and the second end 12 in order to prevent Travel speed is inconsistent, and cleaning device 10 is caused to be fastened on photovoltaic cell component 20, and photovoltaic cell is caused to block influence hair Electric effect.
Also referring to Fig. 2 and Fig. 4, in step s 50, when photovoltaic module cleaning device 10 is from starting point to default terminal Walking, therefore to the right when driving, if 11 advanced the second end 12 of first end causes positive-angle deviation, when positive-angle deviation is more than During 20 degree~30 degree of positive-angle upper limit threshold, the speed 10% of first group of traveling wheel 111 is reduced, when positive-angle deviation is less than positive angle When spending 0 degree~10 degree of lower threshold, restore the speed of first group of traveling wheel 111;If 12 advanced first end 11 of the second end, Negative angle deviation is caused, when negative angle deviation is more than 20 degree~30 degree of negative angle upper limit threshold, reduces by second group of traveling wheel 122 Speed, when negative angle deviation is less than 0 degree~10 degree of negative angle lower threshold, restore the speed of second group of traveling wheel 122.
Also referring to Fig. 2 and Fig. 5, in step s 50, when photovoltaic module cleaning device 10 is from presetting terminal to starting point Walking, therefore to the left when driving, if 12 advanced first end 11 of the second end causes positive-angle deviation, when positive-angle deviation is more than During 20 degree~30 degree of positive-angle upper limit threshold, the speed 10% of second group of traveling wheel 122 is reduced, when positive-angle deviation is less than positive angle When spending 0 degree~10 degree of lower threshold, restore the speed of second group of traveling wheel 122;If 11 advanced the second end 12 of first end It makes, causes negative angle deviation, when negative angle deviation is more than 20 degree~30 degree of negative angle upper limit threshold, reduce by first group of traveling wheel 111 speed when negative angle deviation is less than 0 degree~10 degree of negative angle lower threshold, restores the speed of first group of traveling wheel 111 Degree.
The control method to photovoltaic module cleaning device given by the embodiment of the present invention, including the school to hairbrush position Processing accurate, battery capacity is low and the method for adjustment of photovoltaic module cleaning device position.Calibration to hairbrush position, can be flexible Accurately change the contact area and pressure of hairbrush and photovoltaic cell component, so as to improve cleaning capacity;It is low to battery capacity Detection and processing, can prevent photovoltaic module cleaning device from causing to block photovoltaic battery panel due to electricity shortage;To photovoltaic The adjustment of unit clean setting position can substantially reduce probability of the device card on photovoltaic cell component.The embodiment of the present invention The given control method to photovoltaic module cleaning device is conducive to improve the generating capacity, utmostly of photovoltaic cell component Avoid photovoltaic module cleaning device to the blocking of photovoltaic cell component, increase photovoltaic module cleaning device reliability of operation, Photovoltaic module cleaning device is more safely and steadily run.
Please referring to Fig. 6 is, a kind of control device for photovoltaic module cleaning device that another embodiment of the present invention provides shows It is intended to.The control device 100 includes detection module 101, processing and control module 102, drive module 103 and hairbrush calibration module 104, detection module 101 detects the battery capacity of photovoltaic unit clean device;Processing and control module 102 judges the photovoltaic group Whether the battery capacity of part cleaning device can travel at least once to default terminal or at least in photovoltaic module cleaning device One period returned to the power threshold in the specified region of awaiting orders of starting point hereinafter, if it is, sending out instruction to drive module 103 makes light Volt unit clean device rests on current location;Photovoltaic module is cleaned if it is not, then sending out instruction to hairbrush calibration module 104 The hairbrush position correction of device, processing and control module 102 obtain calibration finish information after, sending out instruction to drive module 103 makes The operation of photovoltaic module cleaning device is at least one to be back to starting point, then the electricity of instruction detection module detection photovoltaic unit clean device Pond electricity.
Detection module 101 can detect current meteorological data, such as wind speed, solar irradiance and current photovoltaic module The state of cleaning device, such as the position of photovoltaic module cleaning device, battery capacity, whether charging, motor movement state, Middle battery capacity detection mainly detects the voltage value of battery.
Processing and control module 102 receives the Various types of data that detection module 101 transmits, and it is calculated, is judged And processing, drive module 103 and hairbrush calibration module 104 etc. are controlled according to calculating and handling result.Processing and control module 102 is also Some preset data are stored with for being compared judgement with the numerical value detected.
Drive module 103 drives the operation of photovoltaic module cleaning device according to 102 control instruction of processing and control module or stops Operation.
Hairbrush calibration module 104 according to 102 control instruction of processing and control module to the hairbrush of photovoltaic module cleaning device into Row calibration during to the hairbrush position correction of photovoltaic module cleaning device, is lifted hairbrush to the limit touched right over hairbrush first Bit switch, and then the moving direction for changing hairbrush so that hairbrush drops to predeterminated position, predeterminated position can according to actual requirement into Row setting.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right It is required that protection domain subject to.

Claims (13)

1. a kind of control method of photovoltaic module cleaning device, which is characterized in that include the following steps:
Electric power detection step detects the battery capacity of photovoltaic unit clean device;
Judgment step, judge the photovoltaic module cleaning device battery capacity whether in power threshold hereinafter, wherein, it is described Power threshold represents that the photovoltaic module cleaning device traveling has returned at least once to default terminal or a traveling at least period The electricity in the specified region of awaiting orders at beginning;
If so, the photovoltaic module cleaning device is made to rest on current location;
If not, the photovoltaic module cleaning device traveling is made to have been returned at least once to default terminal or a traveling at least period Beginning, then perform the electric power detection step and the judgment step.
2. the control method of photovoltaic module cleaning device according to claim 1, which is characterized in that in the judgment step Judge the battery capacity of the photovoltaic module cleaning device whether in photovoltaic module cleaning device operation at least one week Below the power threshold of phase.
3. the control method of photovoltaic module cleaning device according to claim 2, which is characterized in that in the judgment step Further comprise:Judge whether the number of run of the photovoltaic module cleaning device reaches default round-trip number, if not up to Preset times run the photovoltaic module cleaning device, into next cyclic, if reaching default round-trip number, Stop the operation of the photovoltaic module cleaning device.
4. the control method of the photovoltaic module cleaning device according to claims 1 to 3 any one, which is characterized in that institute It states and further comprises between electric power detection step and judgment step:It has monitored whether to start order, if ordered without starting, stop In current state, and continue to monitor battery capacity;Judgment step is carried out if having monitored to start order.
5. the control method of the photovoltaic module cleaning device according to claims 1 to 3 any one, which is characterized in that institute State the battery voltage value that photovoltaic unit clean device is detected in electric power detection step.
6. the control method of photovoltaic module cleaning device according to claim 1, which is characterized in that in the judgment step Whether the middle battery capacity for judging the photovoltaic module cleaning device travels at least once in the photovoltaic module cleaning device The power threshold in the specified region of awaiting orders of initiating terminal is returned to hereinafter, making the photovoltaic module clear to default terminal or an at least period Clean device rests on detection battery capacity lasting while current location, if battery capacity reaches startup requirement, waits for Whether have to start and order, the photovoltaic module cleaning device is made to travel at least once extremely if there is starting after order is then calibrated Default terminal or an at least period return to initiating terminal, then perform step a and b.
7. the control method of photovoltaic module cleaning device according to claim 1, which is characterized in that the photovoltaic module is clear Clean device is back and forth travelled in the initiating terminal of flat photovoltaic module to be cleaned between default terminal, and the photovoltaic module is clear Clean device is the long strip-board shape structure for including opposite first end and the second end, and the first end is provided with first Group traveling wheel, the second end are provided with second group of traveling wheel, during use the photovoltaic module cleaning device be located at treat it is clear Two of clean flat photovoltaic module, first group of traveling wheel and second group of traveling wheel along the photovoltaic module opposite It walks at edge.
8. the control method of photovoltaic module cleaning device according to claim 7, which is characterized in that the photovoltaic module Two opposite edges are top edge and bottom margin, and the photovoltaic module cleaning device is located to be cleaned flat during use The top edge of the photovoltaic module of plate and bottom margin, first group of traveling wheel are walked along the top edge, and described Two groups of traveling wheels are walked along the bottom margin.
9. the control method of photovoltaic module cleaning device according to claim 7 or 8, which is characterized in that further comprise: Detect the photovoltaic module cleaning device the gradient of walking process and adjustment gradient the step of, when the photovoltaic module is clear Clean device from starting point to default terminal walk when, if the advanced the second end of first end causes positive-angle deviation, work as positive angle When spending deviation more than positive-angle upper limit threshold, the speed of first group of traveling wheel is reduced, when positive-angle deviation is less than positive-angle lower limit During threshold value, restore the speed of first group of traveling wheel;If the advanced first end of the second end, causes negative angle deviation, works as negative angle When spending deviation more than negative angle upper limit threshold, the speed of second group of traveling wheel is reduced, when negative angle deviation is less than negative angle lower limit During threshold value, restore the speed of second group of traveling wheel.
10. the control method of the photovoltaic module cleaning device according to claim 7 to 9 any one, which is characterized in that into One step includes:Detect the photovoltaic module cleaning device the gradient of walking process and adjustment gradient the step of, when described Photovoltaic module cleaning device from default terminal to starting point walk when, if the advanced first end of the second end causes positive-angle inclined Difference when positive-angle deviation is more than positive-angle upper limit threshold, reduces the speed of second group of traveling wheel, when positive-angle deviation is less than just During angle lower threshold, restore the speed of second group of traveling wheel;If the advanced the second end of first end is made, cause negative angle inclined Difference when negative angle deviation is more than negative angle upper limit threshold, reduces the speed of first group of traveling wheel, is born when negative angle deviation is less than During angle lower threshold, restore the speed of first group of traveling wheel.
11. the control method of photovoltaic module cleaning device according to claim 9 or 10, which is characterized in that described first The speed reduction amount of group traveling wheel or second group of traveling wheel is the 10% of original speed.
12. the control method of photovoltaic module cleaning device according to claim 9 or 10, which is characterized in that the positive angle Degree/negative angle upper limit threshold is 20 degree~30 degree, and the positive-angle/negative angle lower threshold is 0 degree~10 degree.
13. a kind of control device of photovoltaic module cleaning device, which is characterized in that including:Detection module, processing and control module and Drive module, the battery capacity of the detection module detection photovoltaic unit clean device;The processing and control module, described in judgement Whether the battery capacity of photovoltaic module cleaning device is travelled at least once in the photovoltaic module cleaning device to default terminal Or an at least period returns to the power threshold in the specified region of awaiting orders of initiating terminal hereinafter, if it is, being sent out to the drive module Going out instruction makes the photovoltaic module cleaning device rest on current location;If it is not, then sending out instruction to the drive module makes Photovoltaic module cleaning device operation is at least one to be back to initiating terminal, then instruction detection module detection photovoltaic unit clean dress The battery capacity put.
CN201611271180.2A 2016-12-30 2016-12-30 The control method and control device of photovoltaic module cleaning device Pending CN108268032A (en)

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CN111506053A (en) * 2019-01-30 2020-08-07 北京天诚同创电气有限公司 Motion control method and device and cleaning equipment

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