CN108712148A - The cleaning ferry bus and its control method of photovoltaic array - Google Patents
The cleaning ferry bus and its control method of photovoltaic array Download PDFInfo
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- CN108712148A CN108712148A CN201810947045.8A CN201810947045A CN108712148A CN 108712148 A CN108712148 A CN 108712148A CN 201810947045 A CN201810947045 A CN 201810947045A CN 108712148 A CN108712148 A CN 108712148A
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- Prior art keywords
- conveying device
- clearing apparatus
- cleaning
- photovoltaic array
- photovoltaic
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- 238000004140 cleaning Methods 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 55
- 238000012806 monitoring device Methods 0.000 claims description 25
- 230000006698 induction Effects 0.000 claims description 18
- 230000001105 regulatory effect Effects 0.000 claims description 17
- 238000010408 sweeping Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000005693 optoelectronics Effects 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 8
- 229910000831 Steel Inorganic materials 0.000 description 11
- 239000010959 steel Substances 0.000 description 11
- 230000008859 change Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
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- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Cleaning In General (AREA)
Abstract
The present invention discloses the cleaning ferry bus and its control method of photovoltaic array, the cleaning ferry bus includes conveying device and running track, the running track is set to the side of each photovoltaic array, and extends along the orientation of each photovoltaic array, and the conveying device can be moved along the running track；It further include the clearing apparatus that can be moved with the conveying device, the clearing apparatus has moving component and cleaning part, the moving component can drive the cleaning part to move to the photovoltaic panel plate face of photovoltaic array to be cleaned, so that the cleaning part can clean photovoltaic panel.In the present invention, clearing apparatus can be driven in the lateral movement of each photovoltaic array by conveying device, and move to when being aligned with photovoltaic array to be cleaned, clearing apparatus can realize the cleaning of photovoltaic panel.Therefore, which can improve the working efficiency of clearing apparatus, meet short distance, arranged in rows photovoltaic array dust clean, to reduce input cost.
Description
Technical field
The present invention relates to technical field of photovoltaic power generation, more particularly to the cleaning ferry bus and its control method of photovoltaic array.
Background technology
Currently, with the high speed development of photovoltaic generation industry, photovoltaic generation industry is excellent with its environmental protection, energy quality height etc.
A kind of point, it has also become trend of domestic and international power industry.But it is true by data that the dust of photovoltaic panel surface accumulation reduces generated energy
To recognize, different zones reduce generated energy difference, and the larger region dust of western dust storm reduces generated energy between 10%--20%, in
Photovoltaic panel lower power production 6%--15% on portion ground, roof upgrade is relatively slow to reduce generated energy 12%--25%, therefore light
The problem of volt plate dust reduces generated energy, which becomes photovoltaic generation enterprise, to be solved the problems, such as.
Large-sized photovoltaic power station has generally used Intelligent sweeping machine to clean photovoltaic panel dust at present, reduce it is a large amount of manually at
This, it is ensured that the normal power generation of photovoltaic panel improves generated energy, and the O&M of photovoltaic plant is made to tend to be intelligent.Photovoltaic panel in the market
Arrangement is different in size according to site environment and geographical location arrangement, and Intelligent sweeping machine is suitble to longer photovoltaic array, often arranges one
It is arranged on matrix, timing daily cleans.
But for relatively short, arrange the photovoltaic matrix of multiple rows of row, using transmission Intelligent sweeping machine when need each
Row's photovoltaic matrix is respectively provided with a scavenging machine, causes Intelligent sweeping machine that can not play maximum value, improves input cost, and limit
The normal cleaning ability of Intelligent sweeping machine.
In view of this, how to provide a kind of intelligent purging system, the cleaning of photovoltaic matrix can be realized, and can improve
Sweeping efficiency reduces cost, is those skilled in the art's technical problem urgently to be resolved hurrily.
Invention content
In order to solve the above technical problems, the purpose of the present invention is to provide the cleaning ferry bus of photovoltaic array, including delivery dress
It sets and running track, the running track is set to the side of each photovoltaic array, and along the orientation of each photovoltaic array extension, institute
Stating conveying device can move along the running track；
Further include the clearing apparatus that can be moved with the conveying device, the clearing apparatus has moving component and cleaning
Component, the moving component can drive the cleaning part to move to the photovoltaic panel plate face of photovoltaic array to be cleaned, with toilet
Photovoltaic panel can be cleaned by stating cleaning part.
Optionally, further include：
Monitoring device, for monitoring the relative position between the conveying device and photovoltaic array to be cleaned；
Control device, can be judged according to the monitoring result of the monitoring device clearing apparatus whether with it is to be cleaned
Photovoltaic array is aligned, and can be controlled the conveying device according to judging result and be kept in motion or stop motion, additionally it is possible to
It is static relative to the conveying device to control the clearing apparatus, or relative to the conveying device along photovoltaic array plate to be cleaned
Face moves.
Optionally, the monitoring device includes several optoelectronic induction heads set on the conveying device, and each photovoltaic array is set
It is equipped with induction point, when the induction point alignment of the optoelectronic induction head and photovoltaic array to be cleaned, the control can be sent a signal to
Device processed.
Optionally, the monitoring device can also monitor when the clearing apparatus is moved along photovoltaic array plate face to be cleaned with
Relative distance between the conveying device.
Optionally, the monitoring device includes the radar monitoring device set on the clearing apparatus and the conveying device,
The two radar monitoring devices can monitor the distance between the clearing apparatus and the conveying device.
Optionally, the control device includes being filled set on the first control units part of the conveying device and set on the cleaning
The second control unit set, the first control units part is for controlling movement of the conveying device along the running track, institute
The second control unit is stated for controlling movement of the clearing apparatus relative to the conveying device.
Optionally, the clearing apparatus and/or the conveying device are provided with anti-drop device, and the anti-drop device passes through institute
Control device control is stated, to connect the clearing apparatus and the conveying device, or disconnects connection between the two.
Optionally, the conveying device includes moving trolley, platform and regulating device, and the clearing apparatus can be connected to
The platform, the regulating device are connected between the moving trolley and the platform, and can be in the control device
Lower height and/or the angle of inclination for adjusting the platform of control, so that the clearing apparatus is aligned with photovoltaic array to be cleaned.
Optionally, the regulating device includes several extensible members, when the extensible member stretching motion, can change institute
State height and/or the angle of inclination of platform；
The moving trolley is with the platform, and one is connected with hollow telescoping tube, and another one is connected with telescopic rod, institute
It can further includes clamping screw in the telescoping tube axially movable to state telescopic rod, and the clamping screw is described for locking
Telescoping tube and the telescopic rod, the telescoping tube, the telescopic rod and the clamping screw form the extensible member.
Optionally, the width of the platform is twice or twice or more of the clearing apparatus width.
Optionally, there is the clearing apparatus the first photovoltaic module and the first accumulator, first accumulator can store up
The electric energy of the first photovoltaic module conversion is deposited, and can be used in that the moving component is driven to move；
There is the conveying device the second photovoltaic module and the second accumulator, second accumulator can store described the
The electric energy of two photovoltaic modulies conversion, and the moving trolley of the conveying device can be driven to move, and second accumulator
Capacity is more than the capacity of first accumulator.
Optionally, the conveying device is provided with first brake component, and the clearing apparatus is provided with the second brake part.
Optionally, the running track includes two guide rails being mutually parallel, and the guide rail has along the conveying device
The groove that traffic direction extends, the groove of two guide rails are oppositely arranged, and the wheel of the conveying device can be along described
Concave slot sports；
The groove is provided with end plate along the both ends of the conveying device traffic direction, and the end plate can block described
Groove.
Meanwhile the present invention also provides the control methods for cleaning ferry bus, clean ferry bus and ferry for above-described cleaning
Vehicle, the cleaning ferry bus further includes the regulating device at angle of inclination and/or height for adjusting the clearing apparatus, described
Control method includes the following steps：
S10：Monitor position of the conveying device relative to photovoltaic array to be cleaned；
S20：Judge whether the conveying device is aligned with photovoltaic array to be cleaned, if so, executing step S30；
S30：Control the conveying device stop motion, and judge the clearing apparatus whether with photovoltaic array to be cleaned
Plate face is aligned, if so, step S31 is executed, if it is not, executing step S32.
S31：The clearing apparatus is controlled to move along photovoltaic array plate face to be cleaned relative to the conveying device, so that its
Photovoltaic array plate face to be cleaned is moved to be cleaned；
S32：The regulating device action is controlled, so that the clearing apparatus is aligned with the plate face of photovoltaic array to be cleaned；
S40：After the completion of cleaning, the clearing apparatus is when being back to the precalculated position of the conveying device, controls described clear
Sweeping device stop motion, and control the conveying device setting in motion.
Optionally, the clearing apparatus and/or the conveying device are provided with anti-drop device, in step S31, described in control
Before clearing apparatus is moved relative to the conveying device along photovoltaic array plate face to be cleaned, also controls the anti-drop device and disconnect
Connection between the clearing apparatus and the conveying device；
In step S40, after the clearing apparatus stop motion, controls the anti-drop device and connect the clearing apparatus and institute
State conveying device.
Optionally, in step S40, the distance between the clearing apparatus and the conveying device are also monitored, and according to prison
It surveys result and judges whether the clearing apparatus is back to the precalculated position.
In the present invention, by the way that tracks are arranged in the side of each photovoltaic array, and enable conveying device along the fortune
Dynamic rail road move, so as to by conveying device drive clearing apparatus each photovoltaic array lateral movement, and move as
When photovoltaic array alignment to be cleaned, clearing apparatus can realize the cleaning of photovoltaic panel.Therefore, which can improve clearly
The working efficiency of sweeping device, meet short distance, arranged in rows photovoltaic array dust clean, to reduce input cost.
Description of the drawings
Fig. 1 is the structural schematic diagram of cleaning ferry bus provided by the present invention in a specific embodiment；
Fig. 2 is the structural schematic diagram at another visual angle of Fig. 1；
Fig. 3 is the front view of Fig. 1；
Fig. 4 is the partial enlarged view of I part of Fig. 2；
Fig. 5 is the flow chart of the control method provided by the present invention for cleaning ferry bus in a specific embodiment.
In Fig. 1-4：
1 conveying device, 11 platforms, 111 frames, 112 supporting rods, 12 moving trolleys, 121 wheels, 1211 rolled portions, 1212
Bearing block, 122 driving motors；
2 running tracks, 21 guide rails, 211 grooves, 22 end plates, 23 square tubes, 24 reinforcing plates；
3 extensible members, 4 optoelectronic induction heads, 5 the first control units parts, 6 clearing apparatus, 7 first photovoltaic arrays, 8 second photovoltaics
Array.
Specific implementation mode
It is below in conjunction with the accompanying drawings and specific real in order to make those skilled in the art more fully understand technical scheme of the present invention
Applying example, the present invention is described in further detail.
Please refer to attached drawing 1-4, wherein Fig. 1 is the knot of cleaning ferry bus provided by the present invention in a specific embodiment
Structure schematic diagram；Fig. 2 is the structural schematic diagram at another visual angle of Fig. 1；Fig. 3 is the front view of Fig. 1；Fig. 4 is the office of I part of Fig. 2
Portion's enlarged drawing.
In a specific embodiment, the present invention provides a kind of cleaning ferry bus of photovoltaic array, as depicted in figs. 1 and 2,
The cleaning ferry bus includes conveying device 1 and running track 2, wherein running track 2 is set to the side of each photovoltaic array, photovoltaic
Above-mentioned running track 2 can be arranged in the one or both sides of array, to adapt to different operating modes.Meanwhile as illustrated in fig. 2, it is assumed that photovoltaic
Along the longitudinal direction, including the first photovoltaic array 7 and the second photovoltaic array array is distributed along the longitudinal direction, i.e., then running track 2 is set
In the left side and/or right side of photovoltaic array, and extend (shown in Fig. 2) along the longitudinal direction.It is appreciated that as the row of each photovoltaic array
When column direction changes, the extending direction of running track 2 changes correspondingly.
Meanwhile as depicted in figs. 1 and 2, conveying device 1 can be moved along running track 2, and be placed with clearing apparatus thereon
6, to drive clearing apparatus 6 to be moved along running track 2, i.e. orientation campaign of the clearing apparatus 6 along each photovoltaic array.Into one
There is moving component and cleaning part, moving component clearing apparatus 6 can be driven to move to light to be cleaned for step ground, clearing apparatus 6
The photovoltaic panel plate face of photovoltaic array, so that cleaning part can clean photovoltaic panel.
Obviously, in the cleaning ferry bus in the present invention, conveying device 1 can carry clearing apparatus 6 and be transported along running track 2
It is dynamic, meanwhile, clearing apparatus 6 can leave conveying device 1, and be moved in the photovoltaic panel plate face of photovoltaic array.It is each in order to realize
The cleaning of photovoltaic array photovoltaic panel, above-mentioned clearing apparatus 6 is with conveying device 1, and when one is kept in motion, another one stops
Movement, i.e., when conveying device 1 is moved along running track 2, clearing apparatus 6 remains static, and stationary state herein refers to
Clearing apparatus 6 and the opposing stationary state of conveying device 1, when conveying device 1 remains static, clearing apparatus 6 is in movement
State, motion state herein refers to the state that clearing apparatus 6 is moved relative to conveying device 1, and dress is cleaned under the state
It sets 6 to move towards the direction of photovoltaic panel plate face, be moved not along running track 2.
In the present invention, by the way that tracks 2 are arranged in the side of each photovoltaic array, and enable conveying device 1 along this
Tracks 2 move, and so as to drive clearing apparatus 6 in the lateral movement of each photovoltaic array by conveying device 1, and move
When being aligned as photovoltaic array to be cleaned, clearing apparatus 6 can realize the cleaning of photovoltaic panel.Therefore, multiple rows of photovoltaic battle array is being cleaned
When row, the cleaning of each photovoltaic array only can be realized by a clearing apparatus 6, so as to reduce cleaning cost, and improve
Sweeping efficiency.
Further, which further includes：Monitoring device, for monitoring between conveying device 1 and photovoltaic array
Relative position signal；Control device, can be judged according to the monitoring result of monitoring device clearing apparatus 6 whether with light to be cleaned
Photovoltaic array is aligned, and can be controlled conveying device 1 according to judging result and be kept in motion or stop motion, additionally it is possible to which control is clear
Sweeping device 6 remains static or moves to corresponding photovoltaic panel.
Specifically, as shown in Figure 1, monitoring device includes several optoelectronic induction heads 4 set on conveying device 1, each photovoltaic battle array
Row are provided with induction point, when the induction point alignment of optoelectronic induction head 4 and photovoltaic array to be cleaned, can send a signal to control
Device, control device can control 1 stop motion of conveying device, 6 setting in motion of clearing apparatus.
In the present embodiment, conveying device 1 may be provided with several optoelectronic induction heads 4, and photovoltaic array may be provided with corresponding
Several induction points, and when each optoelectronic induction head 4 is aligned with induction point, indicate that conveying device 1 is aligned with photovoltaic array.
Further, clearing apparatus 6 and/or conveying device 1 are provided with hook, and hook is controlled by control device.When clear
For sweeping device 6 when movement is in cleaning modes in photovoltaic plate face, which can also monitor clearing apparatus 6 and conveying device
The distance between 1, when clearing apparatus 6 is completed to clean, when being located at the precalculated position of conveying device 1 again, monitoring device can be sent out
The number of delivering letters to control device, control device can control hook-hanging motion, to connect clearing apparatus 6 and conveying device 1, so that support
Shipping unit 1 can move in running track 2；Meanwhile when clearing apparatus 6 is aligned with photovoltaic array to be cleaned, control device
It can also control hook-hanging motion, disconnect the connection between clearing apparatus 6 and conveying device 1, so that clearing apparatus 6 can be relative to
Conveying device 1 moves.
In the present embodiment, is linked up with by being arranged, stability when clearing apparatus 6 is located at conveying device 1 can be improved, prevented
Clearing apparatus 6 slides when conveying device 1 moves.
It is appreciated that the above-mentioned anti-drop device for preventing clearing apparatus 6 from falling off from conveying device 1 not necessarily passes through hook
The other structures of realization or this field.
Specifically, in addition to the optoelectronic induction head 4 set on conveying device 1, above-mentioned monitoring device 4 may also include set on cleaning dress
The ultrasonic radar monitoring device of 6 and conveying device 1 is set, two ultrasonic radar monitoring devices can monitor clearing apparatus 6 and support
The distance between shipping unit 1, and distance signal can be transferred to control device, so that control device can be believed according to the distance
Number control hook action.
In addition, above-mentioned ultrasonic radar monitoring device can be additionally used in the photovoltaic for monitoring photovoltaic array when clearing apparatus 6 is run
Whether whether plate, which has, falls off, it can also be used to monitor track and have and fall off.
On the other hand, as described above, control device is used to control the movement of conveying device 1 and clearing apparatus 6, it is based on this,
The control device may include the second control unit set on the first control units part 5 of conveying device 1 and set on clearing apparatus 6,
In, the first control units part 5 is used to control the movement of conveying device 1, and the second control unit is used to control the movement of clearing apparatus 6,
And signal connects between the first control units part 5 and the second control unit, to realize synergistic effect.
Also may be used it is appreciated that above-mentioned control device includes not necessarily the first control units part 5 and the second control unit, the two
It is integrated into integrated control system, which can receive the signal of monitoring device, and can control 6 He of clearing apparatus
The movement of 1 each component of conveying device.
Meanwhile clearing apparatus 6 is additionally provided with wireless communication device, for outwardly transmission data, and for staff into
Row monitoring and operation, meanwhile, it is additionally operable to be communicated with other components.
Specifically, as shown in Figs. 1-3, which includes moving trolley 12 and platform 11, wherein platform 11 is used for
Clearing apparatus 6 is placed, and the platform 11 is provided with above-mentioned anti-drop device, moving trolley 12 can be with moving platform 11 along tracks
2 movements.Meanwhile the conveying device further includes the regulating device being connected between moving trolley 12 and platform 11, the regulating device
Height for adjusting platform 11 and angle of inclination, so that the end face of platform 11 and photovoltaic array are coplanar, clearing apparatus 6 and photovoltaic
Array is aligned, and can move to photovoltaic panel plate face.
In the present embodiment, by the way that the regulating device being connected between platform 11 and moving trolley 12 is arranged so that the cleaning
Ferry bus can be suitable for inclined direction, angle of inclination and highly different photovoltaic arrays, to improve the cleaning ferry bus
Applicability.
Specifically, as shown in figure 3, the regulating device includes several extensible members 3, the both ends of the extensible member 3 connect respectively
Be connected to platform 11 and moving trolley 12, when part or all of 3 stretching motion of extensible member, can change platform 111 height and/
Or angle of inclination.
In the present embodiment, each extensible member 3 is connected to the different parts of platform 11 and moving trolley 12, when each extensible member
When 3 stretching motion, the length flexible by controlling each extensible member 3 enables to change 11 different parts of platform relative to shifting
The height of dynamic trolley 12, so as to change angle of inclination and the height of clearing apparatus 6.
It is appreciated that above-mentioned regulating device 6 not necessarily realizes its function by each extensible member 3, ability can also be used
The common other structures in domain, for example, may be provided between platform 11 and moving trolley 12 several straight-line motion mechanisms (such as four connect
Linkage or screw slider mechanism etc.), by controlling the cooperation between each straight-line motion mechanism linear motion, platform can be changed
11 angle of inclination and height.
More specifically, moving trolley 12 is with platform 11, one is connected with hollow telescoping tube, and another one is connected with flexible
Bar, telescopic rod can change the axial ruler of extensible member 3 in telescoping tube axially movable, and in its axial movement
It is very little, to change height and the angle of inclination of platform 11.Meanwhile further including clamping screw, when platform 11 is adjusted in place, pass through
Clamping screw locks telescoping tube and telescopic rod, so that the collapsing length of the extensible member 13 is fixed, platform 11 is positioned at this
Position, therefore, telescoping tube, telescopic rod and clamping screw form above-mentioned extensible member 3.
Further, as shown in figure 3, the conveying device 1 further includes the frame 111 for being fixed on moving trolley 12, dress is adjusted
It sets and is connected to frame 111 and platform 111.
Specifically, further include being fixed on as shown in figure 3, the frame 111 includes the fixed link for being fixed on moving trolley 12
The supporting rod 112 of fixed pole, above-mentioned extensible member 3 are connected to supporting rod 112 and platform 11, to change platform 11 relative to support
The height and angle of bar 112.
On the other hand, as shown in Figure 3 and Figure 4, it includes rolling that 12 bottom of moving trolley, which has several wheels 121, the wheel 121,
Dynamic portion 1211 and support portion, wherein rolled portion 1211 can be moved along running track 2, support portion and 12 chassis of moving trolley and
Rolled portion 1211 is fixed, and the upper surface of the support portion is higher than the upper surface of running track 2.
In the present embodiment, which further includes driving motor 122,121 edge of wheel for driving moving trolley 12
Running track 2 moves, and since the car body of moving trolley 12 is fixed on the support portion of wheel 121, then support portion band motor vehicles bodies are transported
It is dynamic.When the upper surface of support portion is higher than the upper surface of running track 2, vehicle bottom in 12 operational process of moving trolley can be avoided
It is contacted with running track 2.
Specifically, due to being connected by axle between the rolled portion 1211 of wheel 121, and axle is close to rolled portion 1211
End set has bearing block 1212, is provided with bearing in the bearing block 1212, is used to support axle, therefore, and the bearing block
1212 fix with car body, and therefore, which is above-mentioned support portion.
Further, the wheel 121 of the moving trolley 12 includes several driving wheels and several driven wheels, wherein driving wheel
By chain drive between the output shaft of driving motor 122, moving trolley 12 is transported along running track 2 under the driving of driving wheel
It is dynamic, meanwhile, which also drives driven wheel to be moved along running track 2, it is clear that driven wheel does not play the work for transmitting driving force
With but it is possible to play the role of supporting car body.
In the above various embodiments, as shown in figure 4, running track 2 includes two guide rails 21 being mutually parallel, each guide rail 21 has
The groove 211 extended along the traffic direction for cleaning ferry bus, the groove 211 of two guide rails 21 are oppositely arranged, the rolled portion of wheel 121
1211 being capable of the movement in groove 211.
Specifically, each guide rail 21 includes several channel steels along the traffic direction distribution for cleaning ferry bus, adjacent two channel steels phase
It is mutually fixed, and be open to be interconnected and form groove 211, as described above, running track 2 includes above-mentioned two guide rail being mutually parallel
21, and the opening of two row channel steels is oppositely arranged.
Therefore, the rolled portion 1211 of above-mentioned wheel 121 moves in the opening of channel steel, it is generally the case that channel steel opening
Section is taper, and therefore, the peripheral surface of rolled portion 1211 is the compatible conical surface with channel steel opening.
Meanwhile two the distance between 211 bottom surface of groove of guide rail 21 be more than the maximum distance between two rolled portions 1211, from
And wheel 121 is avoided to rub with guide rail 21 when movement in groove 211.
Further, as shown in figure 4, the groove 211 of two guide rails 21 is provided with along the both ends of 2 traffic direction of moving trolley
End plate 22, the end plate 22 can be in plug at end part grooves 211, to avoid the wheel 121 of moving trolley 12 from being taken off out of groove 211
Go out, ensures that conveying device 1 is moved along running track 2 always.
In addition, in an axial direction, guide rail 21 includes several connected rail units, the groove 211 of each rail unit is connected, this
In embodiment, each rail unit can be channel steel, and several channel steels are axially spliced to form above-mentioned guide rail 21.Meanwhile the guide rail 21 also wraps
Several radian units with the radian being adapted to ground are included, in the position of surface relief, which leads positioned at adjacent two
Between rail unit, and cambered slot is opened up, the both ends of the radian slot are aligned with the groove 211 of adjacent two rail unit respectively.
In the present embodiment, by the way that radian unit is arranged so that running track 2, which can be suitable for ground, the occasion of fluctuating.
Further, as shown in figure 4, the running track 2 further includes being positioned over the support portion on ground, guide rail 21 is fixed on
Support portion, specifically, the support portion include several square tubes 23 along the traffic direction distribution for cleaning ferry bus, and guide rail 21 is fixed on
The upper end of square tube 23.
Meanwhile the back side opposite with groove 211 of guide rail 21 is provided with several reinforcing plates 24, which is fixed on
21 backboard of guide rail, the other end are fixed on corresponding square tube 23.Therefore, reinforcing plate 24 can improve the strength and stiffness of guide rail 21.
Specifically, above-mentioned channel steel is zinc-plated channel steel, and square tube 23 is zinc-plated square tube, the two welding, and end plate 22 and channel steel weldering
It connects.
In addition, the width of the platform 11 of conveying device 1 is twice or twice or more of 6 width of clearing apparatus, so that
When clearing apparatus 6 moves to photovoltaic panel from platform 11, the larger platform 11 of width can play the role of transition.
In the above various embodiments, there is clearing apparatus 6 first photovoltaic module and the first accumulator, the first accumulator can store up
The electric energy of the first photovoltaic module conversion is deposited, and can be used in driving the moving component movement of clearing apparatus 6, additionally it is possible to which driving cleans
The cleaning part of device 6 completes cleaning operation.
In the present embodiment, by the way that the first photovoltaic module and the first accumulator is arranged in clearing apparatus 6, cleaning dress can be saved
The drive energy for setting 6, so as to play the role of saving the energy.
Meanwhile there is conveying device 1 second photovoltaic module and the second accumulator, the second accumulator can store the second photovoltaic
The electric energy of component conversion, which can be used in the output shaft rotation of driving motor 122, so as to drive conveying device 1
Moving trolley 12 moves.
Therefore, by the way that the second photovoltaic module and the second accumulator is arranged in conveying device 1, conveying device 1 can be saved
Drive energy, to further function as energy saving effect.
Specifically, the capacity of the second accumulator is more than the capacity of the first accumulator, and two accumulators are maintenance-free lead acid electricity
Pond.
On the other hand, above-mentioned conveying device 1 is provided with first brake component, to avoid in the running track for having inclination angle of inclined plane
Occur slipping by slope phenomenon when 2 parking.Above-mentioned clearing apparatus 6 is provided with the second brake part, when 1 unjustified photovoltaic array of conveying device
Or when having other tasks or failure, which can realize the temporary parking of clearing apparatus 6.
In addition, the cleaning ferry bus in the various embodiments described above can also carry wireless charging stake or match with private radio charging pile
It closes and uses, to improve the efficiency of clearing apparatus 6 and conveying device 1, improve the range ability of the two, realize a wide range of clean.
Therefore, the cleaning ferry bus in the present invention can improve the working efficiency of clearing apparatus 6, disclosure satisfy that short distance,
The dust of the photovoltaic array of arranged in rows cleans, and the multiple rows of conception used of a machine is realized, to reduce input cost, and the cleaning
Ferry bus can realize multiple rows of cleaning by the firm running track of site setup 2 on the ground, on the water surface, on roof.
Please continue to refer to attached drawing 5, Fig. 5 is the control method provided by the present invention for cleaning ferry bus in a kind of specific embodiment
In flow chart.
Meanwhile the present invention also provides the control method for cleaning ferry bus, which puts for above-described cleaning
Vehicle is crossed, which further includes the regulating device at the angle of inclination and/or height for adjusting clearing apparatus 6.Such as Fig. 5 institutes
Show, which includes the following steps：
S10：Monitor position of the conveying device 1 relative to photovoltaic array to be cleaned；
In the step, position when conveying device 1 is moved along running track 2 is monitored by monitoring device, i.e., relative to each
The position of photovoltaic array.
S20：Judge whether conveying device 1 is aligned with photovoltaic array to be cleaned, if so, executing step S30；
In the step, control device receives the position signal of monitoring device, and judges conveying device 1 according to the position signal
Whether it is aligned with the photovoltaic panel of photovoltaic array.
S30：Control 1 stop motion of the conveying device, and judge clearing apparatus 6 whether the plate with photovoltaic array to be cleaned
In face of neat, if so, step S31 is executed, if it is not, executing step S32.
In the step, it is aligned with photovoltaic array to be cleaned and clearing apparatus 6 and the battle array to be cleaned when conveying device 1 is moved to
When the plate face alignment of row, it could start to clean.
S31：Control clearing apparatus 6 is moved relative to conveying device 1 along photovoltaic array plate face to be cleaned, so that it is moved to
Photovoltaic array plate face to be cleaned is cleaned；
S32：Controling adjustment device acts, so that clearing apparatus 6 is aligned with the plate face of photovoltaic array to be cleaned；
In the step, when conveying device 1 is aligned with the photovoltaic panel of photovoltaic array to be cleaned, control device controls conveying device
1 stop motion, at this point, the conveying device 1 stops at the position that clearing apparatus 6 is aligned with photovoltaic panel to be cleaned, meanwhile, work as delivery
Device 1 is aligned with photovoltaic array to be cleaned, but when clearing apparatus 6 and the unjustified plate face of the array to be cleaned, needs to pass through tune
Regulating device adjusts the position of clearing apparatus 6, and the regulating device is controlled by control device.Hereafter, control device can also be controlled
The moving component of clearing apparatus 6 processed acts, so that clearing apparatus 6 is moved towards the photovoltaic panel aligned, and in photovoltaic panel plate
During being moved on face, the cleaning part of clearing apparatus 6 can clean the photovoltaic panel.
S40：After the completion of cleaning, clearing apparatus 6 is when being back to the precalculated position of conveying device 1, and control clearing apparatus 6 stops
Movement, and control conveying device 1 and moved along running track 2.
In the present invention, in 6 cleaning process of clearing apparatus, conveying device 1 remains static, when clearing apparatus 6 has cleaned
When at rear return conveying device 1, conveying device 1 can continue to move along running track 2, to realize clearing apparatus 6 across row
It cleans.
Optionally, clearing apparatus 6 and/or conveying device 1 are provided with anti-drop device, in step S31, control clearing apparatus 6
Before being moved along photovoltaic array plate face to be cleaned relative to conveying device 1, also controls anti-drop device and disconnect clearing apparatus 6 and delivery
Connection between device 1, so that clearing apparatus 6 can be moved relative to conveying device 1, to complete to clean.
Meanwhile in step S40, after 6 stop motion of clearing apparatus, control anti-drop device connection clearing apparatus 6 is filled with delivery
1 is set, so that conveying device 1, along 2 motion process of running track, clearing apparatus 6 is fixed on delivery dress by anti-drop device
1 is set, prevents it from falling off.
On the other hand, in step S40, the distance between clearing apparatus 6 and conveying device 1 are also monitored, and tie according to monitoring
Fruit judges whether clearing apparatus 6 is back to above-mentioned precalculated position.
Wherein, above-mentioned precalculated position is the position that anti-drop device can connect clearing apparatus 6 and conveying device 1, this is predetermined
Between position and photovoltaic panel plate face to be cleaned can have with the comparable distance of 6 width of clearing apparatus, to play transitional function.
The cleaning ferry bus and its control method of photovoltaic array provided by the present invention are described in detail above.
Principle and implementation of the present invention are described for specific case used herein, and the explanation of above example is only used
In facilitating the understanding of the method and its core concept of the invention.It should be pointed out that for those skilled in the art,
Without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improvement and modification
It falls into the protection domain of the claims in the present invention.
Claims (16)
1. the cleaning ferry bus of photovoltaic array, which is characterized in that including conveying device (1) and running track (2), the operation rail
Road (2) is set to the side of each photovoltaic array, and extends along the orientation of each photovoltaic array, and the conveying device (1) being capable of edge
Running track (2) movement；
Further include the clearing apparatus (6) that can be moved with the conveying device (1), the clearing apparatus (6) has moving component
And cleaning part, the moving component can drive the cleaning part to move to the photovoltaic panel plate face of photovoltaic array to be cleaned,
So that the cleaning part can clean photovoltaic panel.
2. cleaning ferry bus according to claim 1, which is characterized in that further include：
Monitoring device, for monitoring the relative position between the conveying device (1) and photovoltaic array to be cleaned；
Control device, can be judged according to the monitoring result of the monitoring device clearing apparatus (6) whether with it is to be cleaned
Photovoltaic array is aligned, and can be controlled the conveying device (1) according to judging result and be kept in motion or stop motion, moreover it is possible to
It is static relative to the conveying device (1) enough to control the clearing apparatus (6), or clear along waiting for relative to the conveying device (1)
Clear off the movement of photovoltaic array plate face.
3. cleaning ferry bus according to claim 2, which is characterized in that the monitoring device includes being set to the delivery to fill
Several optoelectronic induction heads (4) of (1) are set, each photovoltaic array is provided with induction point, the optoelectronic induction head (4) and photovoltaic to be cleaned
When the induction point alignment of array, the control device can be sent a signal to.
4. cleaning ferry bus according to claim 2, which is characterized in that the monitoring device can also monitor the cleaning
Relative distance when device (6) is moved along photovoltaic array plate face to be cleaned between the conveying device (1).
5. cleaning ferry bus according to claim 4, which is characterized in that the monitoring device includes being set to the cleaning to fill
The radar monitoring device of (6) and the conveying device (1) is set, the two radar monitoring devices can monitor the clearing apparatus
(6) the distance between with the conveying device (1).
6. cleaning ferry bus according to claim 2, which is characterized in that the control device includes being set to the delivery to fill
Set the first control units part (5) of (1) and the second control unit set on the clearing apparatus (6), the first control units part (5)
For controlling movement of the conveying device (1) along the running track (2), second control unit is described clear for controlling
Movement of the sweeping device (6) relative to the conveying device (1).
7. cleaning ferry bus according to claim 2, which is characterized in that the clearing apparatus (6) and/or delivery dress
It sets (1) and is provided with anti-drop device, the anti-drop device is controlled by the control device, to connect the clearing apparatus (6)
With the conveying device (1), or connection between the two is disconnected.
8. cleaning ferry bus according to claim 2, which is characterized in that the conveying device (1) includes moving trolley
(12), platform (11) and regulating device, the clearing apparatus (6) can be connected to the platform (11), and the regulating device connects
It is connected between the moving trolley (12) and the platform (11), and can be adjusted under the control of the control device described flat
The height of platform (11) and/or angle of inclination, so that the clearing apparatus (6) is aligned with photovoltaic array to be cleaned.
9. cleaning ferry bus according to claim 8, which is characterized in that the regulating device includes several extensible members
(3), when extensible member (3) stretching motion, height and/or the angle of inclination of the platform (11) can be changed；
The moving trolley (12) is with the platform (11), and one is connected with hollow telescoping tube, and another one is connected with flexible
Bar, the telescopic rod can further include clamping screw in the telescoping tube axially movable, and the clamping screw is for locking
The telescoping tube and the telescopic rod, the telescoping tube, the telescopic rod and the clamping screw form the extensible member
(3)。
10. cleaning ferry bus according to claim 8, which is characterized in that the width of the platform (11) is the cleaning
Twice or twice or more of device (6) width.
11. the cleaning ferry bus according to any one of claim 1-10, which is characterized in that clearing apparatus (6) tool
There are the first photovoltaic module and the first accumulator, first accumulator that can store the electric energy of the first photovoltaic module conversion,
It and can be used in that the moving component is driven to move；
There is the conveying device (1) the second photovoltaic module and the second accumulator, second accumulator can store described the
The electric energy of two photovoltaic modulies conversion, and the moving trolley (12) of the conveying device (1) can be driven to move, and described second stores
The capacity of battery is more than the capacity of first accumulator.
12. the cleaning ferry bus according to any one of claim 1-10, which is characterized in that the conveying device (1) sets
It is equipped with first brake component, the clearing apparatus (6) is provided with the second brake part.
13. the cleaning ferry bus according to any one of claim 1-10, which is characterized in that running track (2) packet
Two guide rails (21) being mutually parallel are included, the guide rail (21) has the groove that the traffic direction along the conveying device (1) extends
(211), the groove (211) of two guide rails (21) is oppositely arranged, and the wheel (121) of the conveying device (1) being capable of edge
Groove (211) movement；
The groove (211) is provided with end plate (22), the end plate (22) along the both ends of the conveying device (1) traffic direction
The groove (211) can be blocked.
14. cleaning the control method of ferry bus, the ferry bus that cleans is the cleaning pendulum described in any one of claim 1-13
Vehicle is crossed, it is described to clean the adjusting dress that ferry bus further includes the angle of inclination and/or height for adjusting the clearing apparatus (6)
It sets, which is characterized in that the control method includes the following steps：
S10：Monitor position of the conveying device (1) relative to photovoltaic array to be cleaned；
S20：Judge whether the conveying device (1) is aligned with photovoltaic array to be cleaned, if so, executing step S30；
S30：Control the conveying device (1) stop motion, and judge the clearing apparatus (6) whether with photovoltaic array to be cleaned
Plate face alignment, if so, step S31 is executed, if it is not, executing step S32.
S31：The clearing apparatus (6) is controlled to move along photovoltaic array plate face to be cleaned relative to the conveying device (1), so that
It moves to photovoltaic array plate face to be cleaned and is cleaned；
S32：The regulating device action is controlled, so that the clearing apparatus (6) is aligned with the plate face of photovoltaic array to be cleaned；
S40：After the completion of cleaning, the clearing apparatus (6) is when being back to the precalculated position of the conveying device (1), described in control
Clearing apparatus (6) stop motion, and control the conveying device (1) setting in motion.
15. control method according to claim 14, which is characterized in that the clearing apparatus (6) and/or delivery dress
It sets (1) and is provided with anti-drop device, in step S31, it is clear along waiting for relative to the conveying device (1) to control the clearing apparatus (6)
Before clearing off the movement of photovoltaic array plate face, also controls the anti-drop device and disconnect the clearing apparatus (6) and the conveying device (1)
Between connection；
In step S40, after clearing apparatus (6) stop motion, control the anti-drop device connect the clearing apparatus (6) with
The conveying device (1).
16. control method according to claim 14, which is characterized in that in step S40, also monitor the clearing apparatus
(6) the distance between with the conveying device (1), and judge whether the clearing apparatus (6) is back to institute according to monitoring result
State precalculated position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947045.8A CN108712148A (en) | 2018-08-20 | 2018-08-20 | The cleaning ferry bus and its control method of photovoltaic array |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947045.8A CN108712148A (en) | 2018-08-20 | 2018-08-20 | The cleaning ferry bus and its control method of photovoltaic array |
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| CN108712148A true CN108712148A (en) | 2018-10-26 |
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| CN201810947045.8A Pending CN108712148A (en) | 2018-08-20 | 2018-08-20 | The cleaning ferry bus and its control method of photovoltaic array |
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| CN111865209A (en) * | 2020-08-14 | 2020-10-30 | 苏州鼎威新能源有限公司 | Novel photovoltaic clean robot system of refuting |
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