CN110203340A - A kind of patrol unmanned ship of photovoltaic plant - Google Patents
A kind of patrol unmanned ship of photovoltaic plant Download PDFInfo
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- CN110203340A CN110203340A CN201910510640.XA CN201910510640A CN110203340A CN 110203340 A CN110203340 A CN 110203340A CN 201910510640 A CN201910510640 A CN 201910510640A CN 110203340 A CN110203340 A CN 110203340A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 230000008054 signal transmission Effects 0.000 claims abstract description 4
- 239000007921 spray Substances 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 claims description 4
- 238000001931 thermography Methods 0.000 claims description 4
- 239000013078 crystal Substances 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering with light sensitive cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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Abstract
本发明实施例提供了一种光伏电站巡检无人船，包括：船体、动力系统、检测系统、平衡系统、控制系统和后台系统；所述动力系统、检测系统、平衡系统和后台系统分别与所述控制系统连接；所述动力系统、检测系统、平衡系统和控制系统安装于所述无人船，所述后台系统设置在监测区域；所述动力系统，通过光伏组件的光电转换及本身蓄电池的充电，将电能转化为动能，给所述无人船航行提供动力；所述检测系统，用于光伏电站区域内对光伏组件的故障检测；所述平衡系统，用于保持检测系统始终处于水平状态；所述控制系统，用于控制无人船的航行线路，可切换自动控制或人工控制；所述后台系统，通过无线信号传输，用于实时监测无人船的运行情况，及传输、保存数据和图像。
An embodiment of the present invention provides an unmanned inspection ship for photovoltaic power plants, including: a hull, a power system, a detection system, a balance system, a control system, and a background system; the power system, detection system, balance system, and background system are respectively connected with The control system is connected; the power system, detection system, balance system and control system are installed on the unmanned ship, and the background system is set in the monitoring area; the power system, through the photoelectric conversion of the photovoltaic module and its own battery charging, converting electrical energy into kinetic energy to provide power for the sailing of the unmanned ship; the detection system is used for fault detection of photovoltaic modules in the photovoltaic power station area; the balance system is used to keep the detection system always at a level state; the control system is used to control the navigation route of the unmanned ship, which can be switched between automatic control or manual control; the background system is used to monitor the operation of the unmanned ship in real time through wireless signal transmission, and transmit and save data and images.
Description
技术领域technical field
本发明涉及无人船技术领域，尤其涉及一种光伏电站巡检无人船。The invention relates to the technical field of unmanned ships, in particular to an unmanned ship for inspection of photovoltaic power stations.
背景技术Background technique
无人船，是一种处在迅速发展中的装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人船通过搭载多类传感器，可以实现影像实时传输、高危地区探测等功能。无人船的使用范围包括军事、科研、民用三大领域，具体在电力、通信、气象、农业、海洋、勘探、摄影。Unmanned ship is a rapidly developing equipment, which has the advantages of flexible maneuvering, quick response, unmanned driving and low operation requirements. By carrying multiple types of sensors, the unmanned ship can realize functions such as real-time image transmission and detection of high-risk areas. The scope of use of unmanned ships includes the three major fields of military, scientific research, and civilian use, specifically in electricity, communications, meteorology, agriculture, ocean, exploration, and photography.
目前，水面光伏电站巡检主要靠人工巡检，电站区域大，会出现人员漏检及故障点排查不清等，另外人工水上作业也存在一定的风险性。At present, the patrol inspection of water surface photovoltaic power stations mainly relies on manual inspection. The power station area is large, and there will be personnel missing inspections and unclear troubleshooting of fault points. In addition, manual water operations also have certain risks.
发明内容Contents of the invention
本发明的实施例提供了一种光伏电站巡检无人船，以克服现有技术的缺陷。Embodiments of the present invention provide an unmanned ship for inspection of photovoltaic power plants to overcome the defects of the prior art.
为了实现上述目的，本发明采取了如下技术方案。In order to achieve the above object, the present invention adopts the following technical solutions.
一种光伏电站巡检无人船，包括：船体、动力系统、检测系统、平衡系统、控制系统和后台系统；An unmanned inspection ship for photovoltaic power stations, including: a hull, a power system, a detection system, a balance system, a control system, and a background system;
所述动力系统、检测系统、平衡系统和后台系统分别与所述控制系统连接；The power system, detection system, balance system and background system are respectively connected with the control system;
所述动力系统、检测系统、平衡系统和控制系统安装于所述无人船，所述后台系统设置在监测区域；The power system, detection system, balance system and control system are installed on the unmanned ship, and the background system is set in the monitoring area;
所述动力系统，通过光伏组件的光电转换及本身蓄电池的充电，将电能转化为动能，给所述无人船航行提供动力；The power system converts electrical energy into kinetic energy through the photoelectric conversion of photovoltaic modules and the charging of its own battery, so as to provide power for the navigation of the unmanned ship;
所述检测系统，用于光伏电站区域内对光伏组件的故障检测；The detection system is used for fault detection of photovoltaic modules in the area of photovoltaic power plants;
所述平衡系统，用于保持检测系统始终处于水平状态；The balance system is used to keep the detection system always in a horizontal state;
所述控制系统，用于控制无人船的航行线路，可切换自动控制或人工控制；The control system is used to control the navigation route of the unmanned ship, which can be switched between automatic control and manual control;
所述后台系统，通过无线信号传输，用于实时监测无人船的运行情况，及传输、保存数据和图像。The background system is used to monitor the operation of the unmanned ship in real time, and to transmit and save data and images through wireless signal transmission.
所述动力系统包括：光伏组件、控制器、蓄电池、机械动力螺旋桨和红外限位仪。The power system includes: a photovoltaic module, a controller, a storage battery, a mechanical power propeller and an infrared limiter.
所述光伏组件为单晶、多晶或柔性组件。The photovoltaic module is a single crystal, polycrystalline or flexible module.
所述检测系统包括集成检测平台和辐照度测试仪。The detection system includes an integrated detection platform and an irradiance tester.
所述集成检测平台包括：无人船拍摄系统和360度可见光摄像系统。The integrated detection platform includes: an unmanned ship shooting system and a 360-degree visible light camera system.
所述无人船拍摄系统包括：红外、紫外测试相机，对光伏电站的组件及组件背板进行检测；The unmanned ship shooting system includes: infrared and ultraviolet test cameras to detect components and component backplanes of photovoltaic power plants;
所述360度可见光摄像系统包括：VR控制成像仪、红外热成像摄像头、实时录像机和电流检测像头，所述360度可见光摄像系统远程与后台操作人员的VR可视相连。The 360-degree visible light camera system includes: a VR control imager, an infrared thermal imaging camera, a real-time video recorder and a current detection camera, and the 360-degree visible light camera system is remotely connected with the VR vision of the background operator.
所述控制系统包括：导航装置和远程信号天线。The control system includes: a navigation device and a remote signal antenna.
所述无人船上安装有喷淋系统，用于对光伏电站的组件进行清洁。A sprinkler system is installed on the unmanned ship for cleaning the components of the photovoltaic power station.
所述喷淋系统包括远程接收装置、远程控制装置、水压泵控制装置和喷淋枪头。The spraying system includes a remote receiving device, a remote control device, a hydraulic pump control device and a spray gun head.
所述船体上固定有支撑杆，用于支撑检测系统，所述支撑杆可伸缩。A support rod is fixed on the hull for supporting the detection system, and the support rod is telescopic.
由上述本发明的实施例提供的技术方案可以看出，本发明实施例提供了一种光伏电站巡检无人船，该装置轻巧灵活，实现检测数据的实时监控，可有效保障光伏发电设备的正常运转及延长系统的使用寿命，减少故障率。It can be seen from the technical solutions provided by the above-mentioned embodiments of the present invention that the embodiments of the present invention provide an unmanned ship for inspection of photovoltaic power plants. Normal operation and prolong the service life of the system, reduce the failure rate.
本发明附加的方面和优点将在下面的描述中部分给出，这些将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the invention will be set forth in part in the description which follows, and will become apparent from the description, or may be learned by practice of the invention.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For Those of ordinary skill in the art can also obtain other drawings based on these drawings without making creative efforts.
图1为本发明实施例提供的一种光伏检测无人船整体示意图；Figure 1 is an overall schematic diagram of a photovoltaic detection unmanned ship provided by an embodiment of the present invention;
图2为本发明实施例提供的一种光伏检测无人船俯视示意图；Fig. 2 is a top view schematic diagram of a photovoltaic detection unmanned ship provided by the embodiment of the present invention;
图3为本发明实施例提供的一种喷淋系统原理示意图；Fig. 3 is a schematic diagram of the principle of a sprinkler system provided by an embodiment of the present invention;
图4为本发明实施例提供的一种喷淋枪头结构示意图。Fig. 4 is a schematic structural diagram of a spray gun head provided by an embodiment of the present invention.
附图标记reference sign
1船体1 hull
2平衡系统2 balance system
3光伏组件3 Photovoltaic modules
4检测系统4 detection system
5远程信号天线5 remote signal antenna
6机械动力螺旋桨6 mechanically powered propellers
7支撑杆7 support rods
8喷淋系统8 sprinkler system
具体实施方式Detailed ways
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能解释为对本发明的限制。Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。应该理解，当我们称元件被“连接”或“耦接”到另一元件时，它可以直接连接或耦接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”或“耦接”可以包括无线连接或耦接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的任一单元和全部组合。Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and/or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Additionally, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and unless defined as herein, are not to be interpreted in an idealized or overly formal sense explain.
为便于对本发明实施例的理解，下面将结合附图以几个具体实施例为例做进一步的解释说明，且各个实施例并不构成对本发明实施例的限定。In order to facilitate the understanding of the embodiments of the present invention, several specific embodiments will be taken as examples for further explanation below in conjunction with the accompanying drawings, and each embodiment does not constitute a limitation to the embodiments of the present invention.
本发明实施例一种光伏电站巡检无人船，如图1-2所示，包括：船体1、动力系统、检测系统4、平衡系统2、控制系统和后台系统。An embodiment of the present invention is an unmanned inspection ship for photovoltaic power stations, as shown in Figure 1-2, including: a hull 1, a power system, a detection system 4, a balance system 2, a control system and a background system.
动力系统、检测系统4、平衡系统2和后台系统分别与控制系统连接。The power system, detection system 4, balance system 2 and background system are respectively connected with the control system.
动力系统、检测系统4、平衡系统2和控制系统安装于无人船上。The power system, detection system 4, balance system 2 and control system are installed on the unmanned ship.
动力系统包括光伏组件3、控制器、蓄电池、机械动力螺旋桨6和红外限位仪等。通过光伏组件3的光电转换及本身蓄电池的充电，将电能转化为动能，给无人船航行提供动力，其中，光伏组件3设于无人船前方的上表面，光伏组件3可以是单晶、多晶或柔性组件；红外限位仪安装于无人船船体1的两侧，该仪器动作量程可调，当无人船在航行时，偏离当初设定的路线时，航线偏移报警系统报警并修正线路，使无人船回到正常路线上。The power system includes a photovoltaic module 3, a controller, a storage battery, a mechanical power propeller 6, and an infrared limiter. Through the photoelectric conversion of the photovoltaic module 3 and the charging of its own battery, the electric energy is converted into kinetic energy to provide power for the unmanned ship to sail. Among them, the photovoltaic module 3 is arranged on the upper surface in front of the unmanned ship. The photovoltaic module 3 can be a single crystal, Polycrystalline or flexible components; infrared limiters are installed on both sides of the hull 1 of the unmanned ship. The range of action of the instrument is adjustable. And correct the route so that the unmanned ship returns to the normal route.
检测系统4包括集成检测平台和辐照度测试仪，集成检测平台包括两大部分：1)无人船拍摄系统：红外、紫外测试相机，可有效的对组件及组件背板进行检测；2)360度可见光摄像系统：VR控制成像仪、红外热成像摄像头、实时录像机和电流检测像头，该系统远程与后台操作人员的VR可视相连，达到人员远程进行无人船的运行操作及现场情况时时查看。辐照度测试仪，用于实时查看太阳辐照度。The detection system 4 includes an integrated detection platform and an irradiance tester. The integrated detection platform includes two parts: 1) Unmanned ship shooting system: infrared and ultraviolet test cameras, which can effectively detect components and component backplanes; 2) 360-degree visible light camera system: VR control imager, infrared thermal imaging camera, real-time video recorder and current detection camera. The system is remotely connected with the VR vision of the background operator, so that the personnel can remotely carry out the operation and on-site situation of the unmanned ship Check back from time to time. Irradiance Meter for real-time viewing of solar irradiance.
船体1上固定有支撑杆7，用于支撑检测系统4，支撑杆7可伸缩，工作时，支撑杆7根据现场组件要求，进行自动调节高度，达到最佳的拍摄角度。A support rod 7 is fixed on the hull 1 to support the detection system 4. The support rod 7 is scalable. When working, the support rod 7 automatically adjusts its height according to the requirements of the on-site components to achieve the best shooting angle.
平衡系统2，用于保持检测系统4始终处于水平状态，保证无人船检测系统4运行拍摄时的准确性，保证画面拍摄清晰。The balance system 2 is used to keep the detection system 4 in a horizontal state all the time, to ensure the accuracy of the unmanned ship detection system 4 when it is running and shooting, and to ensure that the picture is clear.
控制系统，包括导航装置，用于控制无人船的航行线路，并可切换自动控制或人工控制，通过程序对无人船的航行线路进行设定，无人船将按照设定的线路运行，当遇到突发事件时，可通过后台远程切换为手动模式即人工控制运行线路；控制系统还包括远程信号天线，用于实现远程的信号机数据的传输。The control system, including the navigation device, is used to control the navigation route of the unmanned ship, and can switch between automatic control and manual control. The navigation route of the unmanned ship is set through the program, and the unmanned ship will operate according to the set route. When encountering an emergency, it can be remotely switched to the manual mode through the background, that is, the manual control operation line; the control system also includes a remote signal antenna, which is used to realize the transmission of remote signal machine data.
后台系统设置在监测区域，通过无线信号传输，用于实时监测无人船的运行情况，传输、保存数据和图像，实现数据的分析处理，及大数据的汇总。The background system is set in the monitoring area and is used for real-time monitoring of the operation of the unmanned ship through wireless signal transmission, transmission and storage of data and images, data analysis and processing, and aggregation of big data.
船体1的两侧安装有喷淋系统8，当无人船在现场发现光伏电站的组件热斑及污垢需要清洗时，喷淋装置展开，达到可对组件表面进行清洁的最佳角度。Spraying systems 8 are installed on both sides of the hull 1. When the unmanned ship finds hot spots and dirt on the components of the photovoltaic power station that need to be cleaned, the spraying device is deployed to reach the best angle for cleaning the surface of the components.
喷淋系统的组成包括远程接收装置、远程控制装置、水压泵控制装置、喷淋枪头，如图3所示，当需要进行喷淋时，远程控制装置控制水中的抽水泵启动，将水抽至到水压泵的水箱中，水压泵控制装置控制水压泵进行加压，将水流压至并通过管路，在喷头处将水射出。The spray system consists of a remote receiving device, a remote control device, a water pressure pump control device, and a spray gun head. As shown in Figure 3, when spraying is required, the remote control device controls the water pump in the water to Pump it into the water tank of the water pressure pump, and the water pressure pump control device controls the water pressure pump to pressurize, press the water flow to and pass through the pipeline, and shoot the water out at the nozzle.
其中，喷淋枪头由喷头和支撑杆组组成，如图4所示。支撑杆组中各支撑杆为空心，通过连接销活动连接，可支撑并调整喷头高度及角度；支撑杆壁上具有固定水管的环，水管穿过各支撑杆壁上的环与喷头连接。Wherein, the spray gun head is composed of a spray head and a support rod group, as shown in FIG. 4 . Each support rod in the support rod group is hollow, and is movably connected by connecting pins to support and adjust the height and angle of the nozzle; the wall of the support rod has a ring for fixing the water pipe, and the water pipe passes through the ring on the wall of each support rod to connect with the nozzle.
本领域技术人员应能理解上述喷淋系统类型仅为举例，其他现有的或今后可能出现的喷淋系统类型如可适用于本发明实施例，也应包含在本发明保护范围以内，并在此以引用方式包含于此。Those skilled in the art should be able to understand that the above-mentioned sprinkler system types are only examples, and other existing or future possible sprinkler system types, if applicable to the embodiments of the present invention, should also be included within the protection scope of the present invention, and in This is incorporated herein by reference.
综上所述，本发明实施例一种光伏电站巡检无人船，通过无人船搭载红外成像镜头和可见光镜头等进行光伏电站组件检测的设备，使无人船在光伏电站阵列中航行时，可实现光伏组件热成像的收集，及光伏组件背板接线盒及直流线路的检测和故障排查，及无人船在电站中的360度拍摄及录像；无人船的控制均有后台人员，在主控室进行操控，操控人员可实现无人车在水面光伏电站现场进行复杂的运行及故障排查等相关问题；同时，无人船自身具有清洗喷淋系统，当热成像机拍摄到有热斑时，拍摄相机会查看热斑区域组件表面的清洁度，无人船上的设备可对污垢处进行喷淋清洗。To sum up, the embodiment of the present invention is an unmanned ship for inspection of photovoltaic power plants. The unmanned ship is equipped with infrared imaging lenses and visible light lenses and other equipment for detecting photovoltaic power plant components, so that when the unmanned ship sails in the array of photovoltaic power plants , can realize the collection of thermal imaging of photovoltaic modules, detection and troubleshooting of photovoltaic module backplane junction boxes and DC lines, and 360-degree shooting and video recording of unmanned ships in power stations; unmanned ships are controlled by background personnel, Controlled in the main control room, the operator can realize complex operation and troubleshooting of the unmanned vehicle at the surface photovoltaic power station site; at the same time, the unmanned ship itself has a cleaning and spraying system. When spotting, the camera will check the cleanliness of the component surface in the hot spot area, and the equipment on the unmanned ship can spray and clean the dirt.
本领域普通技术人员可以理解：附图只是一个实施例的示意图，附图中的模块或流程并不一定是实施本发明所必须的。Those skilled in the art can understand that the accompanying drawing is only a schematic diagram of an embodiment, and the modules or processes in the accompanying drawing are not necessarily necessary for implementing the present invention.
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置或系统实施例而言，由于其基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。以上所描述的装置及系统实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device or system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for relevant parts, refer to part of the description of the method embodiments. The device and system embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, It can be located in one place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without creative effort.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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