CN111452815B - Fault rescue traction system of photovoltaic module cleaning robot - Google Patents
Fault rescue traction system of photovoltaic module cleaning robot Download PDFInfo
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- CN111452815B CN111452815B CN202010397422.2A CN202010397422A CN111452815B CN 111452815 B CN111452815 B CN 111452815B CN 202010397422 A CN202010397422 A CN 202010397422A CN 111452815 B CN111452815 B CN 111452815B
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- rescue vehicle
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- 238000004140 cleaning Methods 0.000 title claims abstract description 91
- 238000012423 maintenance Methods 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The invention discloses a fault rescue traction system of a photovoltaic module cleaning robot, which comprises tractors, rescue vehicles and a line-changing track, wherein the line-changing track is laid at the edge position of one side of each row of photovoltaic modules, the tractors are movably arranged on the line-changing track, the rescue vehicles are movably arranged on the tractors and are connected with the tractors through traction ropes, the cleaning robot is arranged on the photovoltaic modules, and a stopping position is also arranged at one end of the line-changing track.
Description
Technical Field
The invention relates to the technical field of photovoltaic module operation and maintenance robots, in particular to a fault rescue traction system of a photovoltaic module cleaning robot.
Background
In a modern photovoltaic power generation system, a 'fishing light complementary' power generation mode is a novel power generation mode combining photovoltaic and agricultural fishery, the photovoltaic power generation system can be developed and built by idle land such as a fishpond, a mudflat and a reed swinging beach in the mode, and the scarce problem of building photovoltaic power station land resources is solved. However, in the long-term operation process of the power station, due to the deposition effect of dust in the air on the surface of the photovoltaic module, the dust has a great influence on the power generation efficiency and the service life of the photovoltaic module. With the large-scale construction and application of photovoltaic power stations, in order to improve the power generation efficiency of the power stations, the photovoltaic modules need to be cleaned and maintained regularly, but the photovoltaic modules are limited by the complex installation environment of the modules, the traditional manual cleaning mode is high in cost, low in efficiency and inconvenient to maintain the modules.
In recent years, with the rapid development of an automatic cleaning technology, more and more automatic cleaning robots are put into the operation and maintenance of a photovoltaic power station to automatically clean dust deposited on the surface of a photovoltaic module, so that the maintenance efficiency of the photovoltaic module is greatly improved. However, in the long-term use process of the robot, because the technology of the cleaning robot is not mature in all aspects at present, the cleaning robot often has mechanical faults such as structural wear or blocking, and the robot is stopped unexpectedly when working and cannot work normally, and at the moment, operation and maintenance management personnel are required to overhaul and troubleshoot the robot in time, but the operation and maintenance management personnel are affected by special working environments such as a fishpond and a mudflat where the robot works, and the operation and maintenance management personnel are inconvenient to maintain the fault robot.
At present, to the photovoltaic module cleaning robot that breaks down, mainly wade to trouble robot place by fortune dimension managers through instruments such as boats and long ladders, the scene carries out fault detection and maintenance to the robot. However, since the fault cleaning robot is usually located at a certain height above the water surface and forms a certain inclination angle with the water surface, the maintenance method has a large amount of labor, low efficiency, and certain danger, and the robot is difficult to maintain, so an improved technology is urgently needed to solve the problem in the prior art.
Disclosure of Invention
The invention aims to provide a fault rescue traction system of a photovoltaic module cleaning robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a photovoltaic module cleans trouble rescue driving system of robot, includes tractor, rescue car and the track of transferring a journey, the track of transferring a journey is laid in every row of photovoltaic module side edge position, the tractor activity sets up on the track of transferring a journey, the activity is provided with the rescue car on the tractor, the rescue car passes through the haulage rope with the tractor and links to each other, the last cleaning robot that is provided with of photovoltaic module, track one end of transferring a journey still is provided with the stop position.
Preferably, the tractor chassis is arranged at the lower end of the tractor, the tractor chassis is of a rectangular structure, a tractor control box, a tractor battery, a rescue vehicle supporting frame, an RFID sensor and a tractor proximity switch are respectively arranged on the upper surface of the tractor chassis, a rescue vehicle proximity switch baffle is arranged on the rescue vehicle supporting frame, the tractor traveling device comprises a tractor traveling wheel component and a tractor driving component, the tractor traveling wheel component and the tractor driving component are arranged at two ends of the lower surface of the tractor chassis, the tractor traveling device comprises a traction wheel disc, a traction clutch, a traction rope and a traction device driving component, the traction device driving component is connected with the traction wheel disc through the traction clutch, the haulage rope is convoluteed on pulling the rim plate, tractor locking means includes locking electric jar, locking bolt and locking orifice plate, the locking orifice plate is installed on the track of trading a line, install the locking bolt on the locking electric jar, the locking bolt cooperatees with the locking orifice plate, locking electric jar and locking bolt are installed in tractor chassis one end upper surface and respectively install a set ofly along the track both sides vertical direction of trading a line.
Preferably, the line changing track is provided with an RFID position label and a tractor proximity switch baffle corresponding to the edge position of one side of each row of photovoltaic modules, and the tractor proximity switch baffle is matched with the tractor proximity switch.
Preferably, the rescue car includes rescue car automobile body, running gear, drive arrangement and annular traction locking mechanism, the rescue car automobile body is the cuboid structure, rescue car automobile body both sides are provided with running gear respectively, the inside drive arrangement that still is provided with of rescue car automobile body, the rescue car automobile body is equipped with ultrasonic ranging sensor, camera and annular traction locking mechanism for one end terminal surface and fixes with the discernment location that is used for rescue car and trouble cleaning robot respectively and pull fixedly, rescue car automobile body other end terminal surface links to each other with the haulage rope and is equipped with rescue car proximity switch, rescue car automobile body lower surface mounting has the infrared sensor array in order to be used for detecting the gap between two photovoltaic board about the photovoltaic module, cleaning robot traction ring installs in the rescue car automobile body and keeps away from haulage rope one end.
Preferably, a cleaning robot traction ring is arranged on one side, close to the line changing track, of the cleaning robot, and the cleaning robot traction ring is matched with the annular traction locking mechanism.
Preferably, the operation method comprises the following steps:
the method comprises the following steps: the method comprises the steps that when a cleaning robot breaks down and cannot move, position information of a photovoltaic module where the cleaning robot is located is sent to a tractor;
step two: after the tractor receives the position information of the fault cleaning robot, carrying a rescue vehicle to go to the row of photovoltaic modules from a stop position at one end of the line changing track along the line changing track;
step three: in the running process of the tractor, the RFID position tags installed at the corresponding positions of each row of photovoltaic modules are identified through the RFID sensors, and whether the row of modules are the modules where the fault cleaning robot is located is judged;
step four: if the row of components is not the components where the fault cleaning robot is located, the tractor continues to move to the lower row of components; if the row of assemblies are assemblies where the fault cleaning robot is located, the tractor slows down the advancing speed, and when the tractor proximity switch senses a tractor proximity switch baffle, the tractor stops and is aligned with the row of assemblies;
step five: the tractor locking device acts, and a locking bolt is pushed by a locking electric cylinder to be inserted into a through hole of a locking hole plate so as to fix the tractor and the line-changing track;
step six: the tractor pulls the clutch to disconnect, the rescue car starts to operate, and the photovoltaic module is lifted up from the tractor;
step seven: the rescue vehicle judges the position of the assembly center line through the infrared sensor array, advances along the assembly center line, and pulls the traction rope to move to the position of the fault cleaning robot;
step eight: when the rescue vehicle moves to a certain distance from the fault cleaning robot, the rescue vehicle stops moving;
step nine: the rescue vehicle annular traction locking mechanism acts, and the rescue vehicle is connected with the fault cleaning robot through the cleaning robot traction ring;
step ten: the rescue vehicle is started and operated reversely, the tractor pulls the clutch to be closed, the driving part of the traction device is started, the tractor winds the traction rope through the winding wheel disc, and the fault cleaning robot is pulled to the edge of the row of photovoltaic modules;
step eleven: in the process of returning the rescue vehicle, when the proximity switch of the rescue vehicle senses the proximity switch baffle of the rescue vehicle, the rescue vehicle stops running, the driving part of the tractor traction device stops running, and the traction clutch is disconnected;
step twelve: the rescue vehicle annular traction locking mechanism acts and is disconnected with the traction ring of the cleaning robot;
step thirteen: the tractor locking device acts, the locking bolt is withdrawn from the locking hole plate through hole, and the tractor and the line-changing track are not fixed;
fourteen steps: the tractor starts to operate, carries the rescue vehicle and returns to the line-changing track stop position;
step fifteen: and the operation and maintenance manager takes the fault cleaning robot away from the photovoltaic module to perform related maintenance work.
Compared with the prior art, the invention has the beneficial effects that:
through the system, the cleaning robot with the fault can be pulled to the edge of the photovoltaic module from the fault position, operation and maintenance personnel can conveniently perform maintenance work, the problems that field maintenance and construction are difficult, dangerous and the like when the maintenance personnel carry out on the fault place are solved, and the maintenance efficiency of the fault robot is effectively improved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the tractor.
Fig. 3 is a schematic structural diagram of the rescue vehicle.
Fig. 4 is a schematic bottom view of the rescue vehicle.
In the figure: 1-cleaning robot; 2-a photovoltaic module; 3-a rescue vehicle; 4-a hauling rope; 5-stop position; 6-a tractor; 7-line feed track; 8-a tractor chassis; 9-tractor control box; 10-a tractor battery; 11-a rescue vehicle supporting frame; 12-a traction clutch; 13-a traction sheave; 14-rescue car proximity switch baffle; 15-traction device drive means; 16-a locking bolt; 17-locking the electric cylinder; 18-a locking orifice plate; 19-an RFID location tag; 20-an RFID sensor; 21-tractor proximity switch barrier; 22-tractor proximity switch; 23-tractor running wheel components; 24-a tractor drive member; 25-ultrasonic ranging sensor; 26-cleaning robot traction ring; 27-an annular traction locking mechanism; 28-a camera; 29-a drive device; 30-a rescue vehicle body; 31-a running gear; 32-a rescue vehicle proximity switch; 33-infrared sensor array.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a fault rescue traction system of a photovoltaic module cleaning robot comprises a tractor 6, a rescue vehicle 3 and a line-changing track 7, wherein the line-changing track 7 is laid at the edge position of one side of each row of photovoltaic modules 2, the tractor 6 is movably arranged on the line-changing track 7, the tractor 6 is movably provided with the rescue vehicle 3, the rescue vehicle 3 is connected with the tractor 6 through a traction rope 4, the photovoltaic module 2 is provided with a cleaning robot 1, one end of the line-changing track 7 is also provided with a stop position 5, in the operation process of the system, the rescue vehicle 3 moves to the photovoltaic module where the fault cleaning robot is located along the line-changing track 7 along with the tractor 6, the photovoltaic module is climbed to carry out traction rescue on the fault cleaning robot, the tractor 6 carries the rescue vehicle 3 to move along the line-changing track 7, the rescue vehicle 3 is carried to the photovoltaic module where the fault cleaning robot is located, and after the rescue vehicle 3 is connected with the fault cleaning robot 1, and drawing the fault cleaning robot 1 to the edge of the row of photovoltaic modules.
As shown in fig. 2, the tractor comprises a tractor chassis 8, a tractor walking device, a tractor traction device, a tractor locking device and a rescue vehicle support frame 11, the tractor chassis 8 is arranged at the lower end of the tractor 6, the tractor chassis 8 is of a rectangular structure, a tractor control box 9, a tractor battery 10, the rescue vehicle support frame 11, an RFID sensor 20 and a tractor proximity switch 22 are respectively arranged on the upper surface of the tractor chassis 8, a rescue vehicle proximity switch baffle 14 is arranged on the rescue vehicle support frame 11, the tractor walking device comprises a tractor walking wheel part 23 and a tractor driving part 24, the tractor walking wheel part 23 and the tractor driving part 24 are arranged at two ends of the lower surface of the tractor chassis 8, the tractor traction device comprises a traction wheel disc 13, a traction clutch 12, a traction rope 4 and a traction device driving part 15, the traction device driving part 15 is connected with the traction wheel disc 13 through the traction clutch 12, the haulage rope 4 is convoluteed on traction wheel dish 13, tractor locking means includes locking electric cylinder 17, locking bolt 16 and locking orifice plate 18, locking orifice plate 18 is installed on rail 7 of trading, install locking bolt 16 on the locking electric cylinder 17, locking bolt 16 cooperatees with locking orifice plate 18, locking electric cylinder 17 and locking bolt 16 are installed in 8 one end upper surfaces of tractor chassis and respectively install a set ofly along the rail 7 both sides vertical direction of trading, rail 7 of trading is corresponding to 2 side edge positions of each row of photovoltaic module and is installed RFID position label 19 and tractor proximity switch baffle 21, tractor proximity switch baffle 21 cooperatees with tractor proximity switch 22.
As shown in fig. 3-4, the rescue vehicle 3 comprises a rescue vehicle body 30, a traveling mechanism 31, a driving device 29 and an annular traction locking mechanism 27, the rescue vehicle body 30 is of a cuboid structure, the traveling mechanisms 31 are respectively arranged on two sides of the rescue vehicle body 30, the driving device 29 is further arranged inside the rescue vehicle body 30, the rescue vehicle body 30 is provided with an ultrasonic distance measuring sensor 25, a camera 28 and the annular traction locking mechanism 27 at one end surface for respectively identifying, positioning and traction fixing of the rescue vehicle 3 and the fault cleaning robot 1, the other end surface of the rescue vehicle body 30 is connected with the traction rope 4 and is provided with a rescue vehicle approach switch 32, the lower surface of the rescue vehicle body 30 is provided with an infrared sensor array 33 for detecting a gap between the upper photovoltaic panel and the lower photovoltaic panel of the photovoltaic module 2 to ensure that the rescue vehicle 3 travels along the central line of the module, the cleaning robot traction ring 26 is arranged at one end of the rescue vehicle body, a cleaning robot traction ring 26 is arranged on one side, close to a line change track 7, of a cleaning robot 1, the cleaning robot traction ring 26 is installed at one end, far away from a traction rope 4, of a rescue vehicle body 30, the cleaning robot traction ring 26 is matched with an annular traction locking mechanism 27, in the system, a rescue vehicle 3 is mounted on a tractor 6, is carried to a photovoltaic assembly where a failed cleaning robot is located through the tractor 6, is climbed on the assembly, and travels to the position where the failed cleaning robot is located along the assembly center line to be fixed with the failed robot, and the rescue vehicle 3 is connected with the tractor 6 through the traction rope 4, so that the tractor 6 can conveniently carry out traction rescue.
A fault rescue traction system of a photovoltaic module cleaning robot comprises the following operation methods:
the method comprises the following steps: when the cleaning robot 1 breaks down and cannot move, the position information of the photovoltaic module 2 is sent to the tractor 6;
step two: after receiving the position information of the fault cleaning robot 1, the tractor 6 carries the rescue vehicle 3 and starts from the stop position 5 at one end of the line-changing track 7 along the line-changing track 7 to go to the row of photovoltaic modules 2;
step three: during the traveling process of the tractor 6, the RFID position tags 19 arranged at the corresponding positions of each row of photovoltaic modules 2 are identified through the RFID sensors 20, and whether the row of modules are the modules where the fault cleaning robot 1 is located is judged;
step four: if the row of components is not the components where the fault cleaning robot 1 is located, the tractor 6 continues to go to the lower row of components; if the row of components is the component where the fault cleaning robot 1 is located, the tractor 6 slows down the traveling speed, and when the tractor proximity switch 22 senses the tractor proximity switch baffle 22, the tractor 6 stops and is aligned with the row of components;
step five: the tractor locking device acts, and a locking bolt 16 is pushed by a locking electric cylinder 17 to be inserted into a through hole of a locking hole plate 18, so that the tractor 6 and the line feed track 7 are fixed;
step six: the tractor 6 pulls the clutch 12 to be disconnected, the rescue vehicle 3 is started to run, and the photovoltaic module 2 is climbed from the tractor 6;
step seven: the rescue vehicle 3 judges the position of the assembly central line through the infrared sensor array 33, advances along the assembly central line, and pulls the traction rope 4 to move to the position of the fault cleaning robot 1;
step eight: when the rescue vehicle 3 moves forward, the front obstacle is detected and observed in real time through the ultrasonic ranging sensor 25 and the camera 28, and when the rescue vehicle 3 runs to a certain distance away from the fault cleaning robot 1, the rescue vehicle 3 stops moving;
step nine: the rescue vehicle 3 operates through the annular traction locking mechanism 27, and the rescue vehicle 3 is connected with the fault cleaning robot 1 through the cleaning robot traction ring 26;
step ten: the rescue vehicle 3 is started and operated reversely, the tractor 6 pulls the clutch 12 to be closed, the traction device driving part 15 is started, the tractor 6 winds the traction rope 4 through the winding wheel disc, and the fault cleaning robot 1 is pulled to the edge of the row of photovoltaic modules 2;
step eleven: in the process of returning the rescue vehicle 3, when the rescue vehicle approach switch 32 senses the rescue vehicle approach switch baffle 14, the rescue vehicle 3 stops running, the tractor traction device driving part 15 stops running, and the traction clutch 12 is disconnected;
step twelve: the annular traction locking mechanism 27 of the rescue vehicle 3 acts and is disconnected with the traction ring 26 of the cleaning robot;
step thirteen: the tractor locking device acts, the locking bolt 16 is withdrawn from the through hole of the locking hole plate 18, and the tractor 6 and the line feed track 7 are not fixed;
fourteen steps: the tractor 6 is started to run, and carries the rescue vehicle 3 to return to the stopping position 5 of the line-changing track 7;
step fifteen: and the operation and maintenance manager takes the fault cleaning robot 1 away from the photovoltaic module 2 to perform related maintenance work.
The invention relates to a fault rescue traction system for a photovoltaic module cleaning robot, which can be applied to a photovoltaic cleaning robot with faults in a fishing light complementation environment. Compared with the traditional manual field maintenance mode when the cleaning robot breaks down, the photovoltaic cleaning robot system has the advantages that the workload of maintenance personnel can be effectively reduced, the maintenance efficiency of the working personnel on the broken-down robot is improved, the completeness rate of the cleaning robot is increased, and the photovoltaic cleaning robot system is convenient to popularize and apply under the complex working environment.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a photovoltaic module cleans trouble rescue traction system of robot which characterized in that: the device comprises tractors (6), rescue vehicles (3) and a line changing track (7), wherein the line changing track (7) is laid at the edge position of one side of each row of photovoltaic modules (2), the tractors (6) are movably arranged on the line changing track (7), the rescue vehicles (3) are movably arranged on the tractors (6), the rescue vehicles (3) are connected with the tractors (6) through traction ropes (4), cleaning robots (1) are arranged on the photovoltaic modules (2), and stopping positions (5) are further arranged at one ends of the line changing track (7);
the tractor includes tractor chassis (8), tractor running gear, tractor draw gear, tractor locking means and rescue car carriage (11), tractor chassis (8) set up in the lower extreme of tractor (6), tractor chassis (8) are the rectangle structure, tractor control box (9), tractor battery (10), rescue car carriage (11), RFID sensor (20) and tractor proximity switch (22) are equipped with respectively to tractor chassis (8) upper surface, be provided with rescue car proximity switch baffle (14) on rescue car carriage (11), tractor running gear includes tractor walking wheel part (23) and tractor driver part (24), install in tractor chassis (8) lower surface both ends walking wheel part (23) and tractor driver part (24), tractor draw gear includes traction wheel dish (13) Traction clutch (12), haulage rope (4) and draw gear driver part (15), draw gear driver part (15) link to each other with traction wheel dish (13) through traction clutch (12), haulage rope (4) are convoluteed on traction wheel dish (13), tractor locking means includes locking electric jar (17), locking bolt (16) and locking orifice plate (18), install on rail (7) of trading line locking orifice plate (18), install locking bolt (16) on locking electric jar (17), locking bolt (16) cooperate with locking orifice plate (18), install in tractor chassis (8) one end upper surface and respectively install a set ofly along rail (7) both sides vertical direction that trades line locking bolt (16).
2. The rescue traction system for the photovoltaic module cleaning robot in accordance with claim 1, wherein: the line changing track (7) is provided with an RFID position label (19) and a tractor proximity switch baffle (21) corresponding to the edge position of one side of each row of photovoltaic modules (2), and the tractor proximity switch baffle (21) is matched with a tractor proximity switch (22).
3. The rescue traction system for the photovoltaic module cleaning robot in accordance with claim 1, wherein: the rescue vehicle (3) comprises a rescue vehicle body (30), a walking mechanism (31), a driving device (29) and an annular traction locking mechanism (27), the rescue vehicle body (30) is of a cuboid structure, two sides of the rescue vehicle body (30) are respectively provided with a walking mechanism (31), the interior of the rescue vehicle body (30) is also provided with a driving device (29), the end face of one end of the rescue vehicle body (30) is provided with an ultrasonic ranging sensor (25), a camera (28) and an annular traction locking mechanism (27) for respectively identifying, positioning, traction and fixing the rescue vehicle (3) and the fault cleaning robot (1), the end surface of the other end of the rescue vehicle body (30) is connected with the traction rope (4) and is provided with a rescue vehicle approach switch (32), an infrared sensor array (33) is arranged on the lower surface of the rescue vehicle body (30) and used for detecting a gap between an upper photovoltaic panel and a lower photovoltaic panel of the photovoltaic module (2).
4. The rescue traction system for the photovoltaic module cleaning robot in accordance with claim 1, wherein: cleaning robot traction ring (26) is arranged on one side of cleaning robot (1) close to the line-changing track (7), the cleaning robot traction ring (26) is installed at one end, far away from the traction rope (4), of the rescue car body (30), and the cleaning robot traction ring (26) is matched with the annular traction locking mechanism (27).
5. The rescue traction system for the photovoltaic module cleaning robot in accordance with claim 1, wherein: the operation method comprises the following steps:
the method comprises the following steps: when the cleaning robot (1) breaks down and cannot move, the position information of the photovoltaic module (2) is sent to the tractor (6);
step two: after receiving the position information of the fault cleaning robot (1), the tractor (6) carries a rescue vehicle (3) to go to the row of photovoltaic modules (2) from a stop position (5) located at one end of the line changing track (7) along the line changing track (7);
step three: in the advancing process of the tractor (6), RFID position tags (19) installed at the corresponding positions of each row of photovoltaic modules (2) are identified through RFID sensors (20), and whether the row of modules are the modules where the fault cleaning robot (1) is located is judged;
step four: if the row of components is not the components where the fault cleaning robot (1) is located, the tractor (6) continues to go to the lower row of components; if the row of components are the components where the fault cleaning robot (1) is located, the tractor (6) slows down the traveling speed, and when the tractor proximity switch (22) senses a tractor proximity switch baffle plate (21), the tractor (6) stops and is aligned with the row of components;
step five: the tractor locking device acts, a locking bolt (16) is pushed by a locking electric cylinder (17) to be inserted into a through hole of a locking hole plate (18), and the tractor (6) is fixed with the line changing track (7);
step six: the traction clutch (12) of the tractor (6) is disconnected, the rescue vehicle (3) is started to run, and the photovoltaic module (2) is climbed from the tractor (6);
step seven: the rescue vehicle (3) judges the position of the assembly center line through the infrared sensor array (33), advances along the assembly center line, and pulls the traction rope (4) to the position where the fault cleaning robot (1) is located;
step eight: when the rescue vehicle (3) moves forwards, the front obstacle is detected and observed in real time through the ultrasonic ranging sensor (25) and the camera (28), and when the rescue vehicle (3) runs to a certain distance away from the fault cleaning robot (1), the rescue vehicle (3) stops moving;
step nine: the rescue vehicle (3) acts through an annular traction locking mechanism (27), and the rescue vehicle (3) is connected with the fault cleaning robot (1) through a cleaning robot traction ring (26);
step ten: the rescue vehicle (3) is started and operated reversely, the tractor (6) pulls the clutch (12) to be closed, the driving part (15) of the traction device is started, the tractor (6) winds the traction rope (4) through the winding wheel disc, and the fault cleaning robot (1) is pulled to the edge of the row of photovoltaic modules (2);
step eleven: in the return process of the rescue vehicle (3), when the rescue vehicle approach switch (32) senses a rescue vehicle approach switch baffle (14), the rescue vehicle (3) stops running, a tractor traction device driving part (15) stops running, and a traction clutch (12) is disconnected;
step twelve: the rescue vehicle (3) acts through an annular traction locking mechanism (27) and is disconnected with a traction ring (26) of the cleaning robot;
step thirteen: the tractor locking device acts, the locking bolt (16) retracts from the through hole of the locking hole plate (18), and the tractor (6) and the line changing track (7) are not fixed;
fourteen steps: the tractor (6) is started to run, and carries the rescue vehicle (3) to return to the stop position (5) of the line-changing track (7);
step fifteen: and the operation and maintenance manager takes the fault cleaning robot (1) away from the photovoltaic module (2) to perform related maintenance work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010397422.2A CN111452815B (en) | 2020-05-12 | 2020-05-12 | Fault rescue traction system of photovoltaic module cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| DE10317479A1 (en) * | 2003-04-16 | 2004-11-11 | Institut für Luft- und Kältetechnik gGmbH | Cleaning system for photovoltaic generators and solar panels |
| CN202438520U (en) * | 2012-01-11 | 2012-09-19 | 深圳先进储能材料国家工程研究中心有限公司 | Solar-energy photovoltaic assembly surface cleaning device |
| FR2979840B1 (en) * | 2011-09-12 | 2014-05-09 | Sicaseli | DEVICE AND METHOD FOR CLEANING PHOTOVOLTAIC PANELS. |
| FR3010644B1 (en) * | 2013-09-13 | 2015-10-16 | Sicaseli | DEVICE FOR CLEANING PHOTOVOLTAIC PANELS |
| CN205969077U (en) * | 2016-08-26 | 2017-02-22 | 更酷科技（上海）有限公司 | Intelligence photovoltaic cleans machine people |
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| DE10317479A1 (en) * | 2003-04-16 | 2004-11-11 | Institut für Luft- und Kältetechnik gGmbH | Cleaning system for photovoltaic generators and solar panels |
| FR2979840B1 (en) * | 2011-09-12 | 2014-05-09 | Sicaseli | DEVICE AND METHOD FOR CLEANING PHOTOVOLTAIC PANELS. |
| CN202438520U (en) * | 2012-01-11 | 2012-09-19 | 深圳先进储能材料国家工程研究中心有限公司 | Solar-energy photovoltaic assembly surface cleaning device |
| FR3010644B1 (en) * | 2013-09-13 | 2015-10-16 | Sicaseli | DEVICE FOR CLEANING PHOTOVOLTAIC PANELS |
| CN205969077U (en) * | 2016-08-26 | 2017-02-22 | 更酷科技（上海）有限公司 | Intelligence photovoltaic cleans machine people |
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