CN111618883A - Method for constant-edge transverse cleaning operation of photovoltaic cleaning robot - Google Patents
Method for constant-edge transverse cleaning operation of photovoltaic cleaning robot Download PDFInfo
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- CN111618883A CN111618883A CN202010569693.1A CN202010569693A CN111618883A CN 111618883 A CN111618883 A CN 111618883A CN 202010569693 A CN202010569693 A CN 202010569693A CN 111618883 A CN111618883 A CN 111618883A
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- Prior art keywords
- photovoltaic
- cleaning robot
- cleaning
- transverse
- cleaning operation
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention relates to a method for cleaning a photovoltaic cleaning robot along a transverse direction constantly. Which comprises the following steps: placing the photovoltaic cleaning robot on a photovoltaic panel at the left lower corner or the right lower corner of the photovoltaic array, wherein the photovoltaic cleaning robot is positioned at the edge of the photovoltaic array, and the front of the photovoltaic cleaning robot is forward; pressing a starting button of the photovoltaic cleaning robot to start cleaning operation, presetting the photovoltaic cleaning robot to start running in a transverse direction and turn to transverse operation, and then starting cleaning operation along the transverse edge parallel to the photovoltaic array; the photovoltaic cleaning robot drives to the end of the transverse edge of the photovoltaic array in a straight line driving mode, turns to climb and turns around, and completes the next transverse cleaning operation; and repeating the steps until the whole photovoltaic array is fully covered, and finishing the cleaning operation. The photovoltaic cleaning robot disclosed by the invention can be used for carrying out transverse cleaning operation along the transverse edge of the photovoltaic array constantly, and can realize full-automatic self-selection cleaning.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning robots, in particular to a method for constant-edge transverse cleaning operation of a photovoltaic cleaning robot.
Background
Solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy. The surface of the solar cell panel is easy to accumulate dirt such as wind sand, dust and the like, and if the solar cell panel is not timely cleaned scientifically and professionally, the generated power of the module is reduced by 40-60% to the maximum extent, and the generated energy is reduced by 20-30%. Therefore, the concept of improving the power generation capacity and the benefit of the power station by reasonably and scientifically cleaning the solar cell panel and carefully maintaining the components is accepted by the industry.
When the photovoltaic cleaning walking robot works, the process is basically full-automatic. At present, no mature movable detection mode exists in the market, and a specific sensing device or a fixing device is required to be added in a photovoltaic array for positioning so as to maintain the walking and cleaning of a machine on the photovoltaic array; and the mature technology of autonomously selecting a cleaning route is to clean the direction manually and then clean an N-shaped or Z-shaped path on a photovoltaic array which is vertically or horizontally distributed.
Such an automatic route planning is affected by the placement and distribution of photovoltaic panels in the photovoltaic array, and frequent in-situ rotation and line change lead to low efficiency and reduced endurance time.
Disclosure of Invention
In view of the above problems in the prior art, a primary object of the present invention is to provide a method for a photovoltaic cleaning robot to perform a constant transverse cleaning operation, which can improve the cleaning efficiency of the photovoltaic cleaning robot, save manpower, and reduce the maintenance cost of a power station.
The technical scheme of the invention is as follows:
a method for constant transverse cleaning operation of a photovoltaic cleaning robot comprises the following steps:
step S1: placing the photovoltaic cleaning robot on a photovoltaic panel at the left lower corner or the right lower corner of a photovoltaic array to be cleaned, wherein the photovoltaic cleaning robot is positioned at the edge of the photovoltaic array, and the front of the photovoltaic cleaning robot is forward;
step S2: pressing a starting button of the photovoltaic cleaning robot, starting cleaning operation of the photovoltaic cleaning robot, presetting a direction for starting to run transversely and turning to the transverse cleaning operation by the photovoltaic cleaning robot, and then starting cleaning operation of the photovoltaic cleaning robot along the transverse edge parallel to the photovoltaic array;
step S3: the photovoltaic cleaning robot drives to the end of the transverse edge of the photovoltaic array in a straight line driving mode, turns to climb and turns around, and completes the next transverse cleaning operation;
step S4: and repeating the step S3 until the whole photovoltaic array is fully covered, and finishing the cleaning operation.
The photovoltaic cleaning robot comprises a machine body, a cleaning device is fixedly arranged at the front end of the machine body, and the photovoltaic cleaner robot cleans a photovoltaic array through the cleaning device.
In the step S3, the photovoltaic cleaning robot drives to the end of the transverse edge of the photovoltaic array in a straight line driving mode, and turns, climbs and turns around through a self-telescopic rotary sucker assembly and a walking device arranged at the bottom of the machine body.
Running gear drives the fuselage and walks under actuating mechanism's drive, running gear includes crawler, crawler newspaper left wheel track and right wheel track, the left wheel track sets up the left side of fuselage, just the right wheel track sets up the right side of fuselage.
The driving mechanism comprises a left wheel driving motor and a right wheel driving motor, wherein the left wheel driving motor is arranged on the left side of the machine body and is electrically connected with the left wheel crawler;
the right wheel driving motor is arranged on the right side of the machine body and is electrically connected with the right wheel crawler belt.
The length of cleaning device is 340 mm.
The size of one cell in the photovoltaic array is 156mm, and the length of two adjacent cells in the photovoltaic array is 313-315 mm
The invention has the following advantages and beneficial effects: the method for cleaning the photovoltaic cleaning robot along the transverse direction constantly comprises the following steps: step S1: placing the photovoltaic cleaning robot on a photovoltaic panel at the left lower corner or the right lower corner of a photovoltaic array to be cleaned, wherein the photovoltaic cleaning robot is positioned at the edge of the photovoltaic array, and the front of the photovoltaic cleaning robot is forward; step S2: pressing a starting button of the photovoltaic cleaning robot, starting cleaning operation of the photovoltaic cleaning robot, presetting a direction for starting to run transversely and turning to the transverse cleaning operation by the photovoltaic cleaning robot, and then starting cleaning operation of the photovoltaic cleaning robot along the transverse edge parallel to the photovoltaic array; step S3: the photovoltaic cleaning robot drives to the end of the transverse edge of the photovoltaic array in a straight line driving mode, turns to climb and turns around, and completes the next transverse cleaning operation; step S4: repeating the step S3 until the whole photovoltaic array is fully covered, and finishing the cleaning operation; meanwhile, the photovoltaic cleaning robot defaults to turn to the transverse direction to start parallel operation with the transverse side of the photovoltaic array, so that the photovoltaic cleaning robot is not influenced by the longitudinal or transverse distribution of the photovoltaic array, and can realize full-automatic self-selection cleaning; in addition, because the vast majority of the long sides of the photovoltaic array are transversely arranged at present, the constant transverse cleaning operation mode of the photovoltaic cleaning robot is more efficient than the mode of cleaning the N-shaped or Z-shaped path according to the longitudinal and transverse distribution of the photovoltaic array.
Drawings
Fig. 1 is a schematic view of an initial state of a photovoltaic cleaning robot in a constant transverse cleaning operation according to an embodiment of the present invention.
Fig. 2 is a schematic view of a photovoltaic cleaning robot constantly performing a transverse cleaning operation when photovoltaic arrays are longitudinally distributed according to an embodiment of the present invention.
Fig. 3 is a schematic view of a photovoltaic cleaning robot constantly performing a transverse cleaning operation when photovoltaic arrays are transversely distributed according to an embodiment of the present invention.
Fig. 4 is a schematic perspective view of a photovoltaic cleaning robot according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
As shown in fig. 1 to 4: in the method for cleaning the photovoltaic cleaning robot in the transverse direction constantly according to the embodiment of the present invention, step S1: placing the photovoltaic cleaning robot 100 on the photovoltaic panel 201 at the lower left corner or the lower right corner of the photovoltaic array 200 to be cleaned, wherein the photovoltaic cleaning robot 100 is located at the edge of the photovoltaic array 200, and the front of the photovoltaic cleaning robot 100 is forward;
step S2: pressing a start button of the photovoltaic cleaning robot 100, starting cleaning operation of the photovoltaic cleaning robot 100, presetting a direction for starting operation in a transverse direction and turning to the transverse cleaning operation direction by the photovoltaic cleaning robot 100, and then starting cleaning operation of the photovoltaic cleaning robot 100 along a direction parallel to the transverse edge of the photovoltaic array 200;
step S3: the photovoltaic cleaning robot 100 keeps a straight-line driving mode to drive to the end of the transverse edge of the photovoltaic array 200, turns to climb and turn around, and completes the next transverse cleaning operation;
step S4: and repeating the step S3 until the whole photovoltaic array 200 is fully covered, and finishing the cleaning operation.
The photovoltaic cleaning robot 100 comprises a body 101, a cleaning device 102 is fixedly arranged at the front end of the body 101, and the photovoltaic cleaner 100 cleans a photovoltaic array through the cleaning device 102.
In step S3, the photovoltaic cleaning robot 100 travels to the end of the lateral side of the photovoltaic array while maintaining a straight-line travel, and turns, climbs, and turns around through the self-retracting rotary chuck assembly 200 and the traveling device provided at the bottom of the body 101. With regard to the structure and principle of the self-retracting swivel chuck assembly 200, reference may be made to the related patents of the applicant filed before the present patent application, and detailed descriptions thereof are omitted.
Running gear drives the fuselage and walks under actuating mechanism's drive, running gear includes crawler, crawler reports left wheel track 103 and right wheel track 104, left wheel track 103 sets up the left side of fuselage 101, just right wheel track 104 sets up the right side of fuselage 101.
The driving mechanism comprises a left wheel driving motor 105 and a right wheel driving motor 106, wherein the left wheel driving motor 105 is arranged at the left side of the machine body 101, and the left wheel driving motor 105 is electrically connected with the left wheel crawler 103;
the right wheel driving motor 106 is disposed at the right side of the body 101, and the right wheel driving motor 106 is electrically connected to the right wheel track 104.
The length of the cleaning device 102 is 340 mm.
The size of one cell in the photovoltaic array is 156mm, and the length of two adjacent cells in the photovoltaic array is 313-315 mm
The method for cleaning the photovoltaic cleaning robot transversely constantly provided by the embodiment of the invention comprises the following specific working procedures:
after the photovoltaic cleaning robot 100 is powered on and started, before cleaning operation is started, the photovoltaic cleaning robot 100 is placed on the photovoltaic panel 201 at the lower left corner or the lower right corner of the photovoltaic array 200 to be cleaned, and at this time, the photovoltaic cleaning robot 100 is located at the edge of the photovoltaic array 200 and the front of the photovoltaic cleaning robot is forward. Pressing a cleaning operation starting button to start cleaning operation, and turning the photovoltaic cleaning robot 100 to the transverse direction by default no matter whether the installation direction of the photovoltaic array 200 is longitudinally arranged or transversely arranged, and always keeping the photovoltaic array 200 to perform cleaning operation by means of transverse side linear motion.
According to the mechanical structure, for example, the cell layout is distributed in a 6 × 10 array on the 300W photovoltaic panel 201, the size of one cell is 156 × 156mm, the gap in the juxtaposition of the two cells is included, and the juxtaposition length of the two cells is about 313-315 mm. If the length of the cleaning device 102 is 340mm, which is slightly greater than the parallel length of two battery pieces, two rows of battery pieces of the photovoltaic panel 201 on the photovoltaic array can be cleaned at one time, that is, the cleaning operation is performed in a row form each time, and the photovoltaic cleaning robot 100 moves forward along the gap line of the two rows of battery pieces. That is, when the long side of the photovoltaic panel 201 in the photovoltaic array 200 is placed horizontally, that is, when the photovoltaic array 200 is distributed horizontally, six rows of cells are shared by one row of photovoltaic panels 201, and the photovoltaic cleaning robot 100 is required to operate three rows to satisfy the requirement of fully covering one row of photovoltaic panels 201 in the photovoltaic array 200; when the long sides of the photovoltaic panels 201 are vertically arranged in the photovoltaic array 200, that is, the photovoltaic array 200 is vertically arranged, a row of the photovoltaic panels 201 has ten rows of cells, and the photovoltaic cleaning robot 100 is required to operate five rows to fully cover a row of the photovoltaic panels 201 in the photovoltaic array 200.
The photovoltaic cleaning robot 100 constantly changes the climbing and turning along the end of the transverse edge of the photovoltaic array 200 in the transverse cleaning operation, the climbing distance is the parallel length of two battery pieces, and the transverse linear motion operation is maintained after turning to complete the next linear coverage until the whole photovoltaic array is covered by 200 percent and the minimum repeated coverage rate can be ensured.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A method for constant transverse cleaning operation of a photovoltaic cleaning robot is characterized by comprising the following steps:
step S1: placing the photovoltaic cleaning robot on a photovoltaic panel at the left lower corner or the right lower corner of a photovoltaic array to be cleaned, wherein the photovoltaic cleaning robot is positioned at the edge of the photovoltaic array, and the front of the photovoltaic cleaning robot is forward;
step S2: pressing a starting button of the photovoltaic cleaning robot, starting cleaning operation of the photovoltaic cleaning robot, presetting a direction for starting to run transversely and turning to the transverse cleaning operation by the photovoltaic cleaning robot, and then starting cleaning operation of the photovoltaic cleaning robot along the transverse edge parallel to the photovoltaic array;
step S3: the photovoltaic cleaning robot runs to the end of the transverse edge of the photovoltaic array in a straight line running mode, turns, climbs and turns around, and the next transverse cleaning operation is completed;
step S4: and repeating the step S3 until the whole photovoltaic array is fully covered, and finishing the cleaning operation.
2. The method for the constant transverse cleaning operation of the photovoltaic cleaning robot as recited in claim 1, wherein the photovoltaic cleaning robot comprises a body, a sweeping device is fixedly arranged at the front end of the body, and the photovoltaic cleaning robot performs the sweeping operation on the photovoltaic array through the sweeping device.
3. The method for constantly performing transverse cleaning operation on the photovoltaic cleaning robot as claimed in claim 2, wherein the photovoltaic cleaning robot travels to the end of the transverse edge of the photovoltaic array in a manner of maintaining straight-line travel in step S3, and turns, climbs and turns around through a self-telescopic rotary sucker assembly and a traveling device arranged at the bottom of the machine body.
4. The method for constantly cleaning in the transverse direction of the photovoltaic cleaning robot as claimed in claim 3, wherein the traveling device drives the body to travel under the driving of the driving mechanism, the traveling device comprises a track mechanism, the track mechanism comprises a left wheel track and a right wheel track, the left wheel track is arranged on the left side of the body, and the right wheel track is arranged on the right side of the body.
5. The method of claim 4, wherein the driving mechanism comprises a left wheel driving motor and a right wheel driving motor, wherein the left wheel driving motor is disposed on the left side of the body and is electrically connected to the left wheel track;
the right wheel driving motor is arranged on the right side of the machine body and is electrically connected with the right wheel crawler belt.
6. A method of constant lateral cleaning operation of a photovoltaic cleaning robot as claimed in claim 2, characterized in that the length of the sweeping means is 340 mm.
7. The method for constant lateral cleaning operation of a photovoltaic cleaning robot as claimed in claim 1, wherein the size of one cell in the photovoltaic array is 156 x 156mm, and the length of two adjacent cells in the photovoltaic array is 313-315 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010569693.1A CN111618883A (en) | 2020-06-20 | 2020-06-20 | Method for constant-edge transverse cleaning operation of photovoltaic cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010569693.1A CN111618883A (en) | 2020-06-20 | 2020-06-20 | Method for constant-edge transverse cleaning operation of photovoltaic cleaning robot |
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| CN111618883A true CN111618883A (en) | 2020-09-04 |
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| CN202010569693.1A Pending CN111618883A (en) | 2020-06-20 | 2020-06-20 | Method for constant-edge transverse cleaning operation of photovoltaic cleaning robot |
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| CN110882967A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot of continuity of operation |
| CN111266325A (en) * | 2019-11-22 | 2020-06-12 | 深圳怪虫机器人有限公司 | Method for cleaning robot to constantly follow long-edge zigzag cleaning path |
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- 2020-06-20 CN CN202010569693.1A patent/CN111618883A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104586322A (en) * | 2013-10-31 | 2015-05-06 | Lg电子株式会社 | Moving robot and operating method |
| US10333460B2 (en) * | 2013-12-04 | 2019-06-25 | Ido Ram | Pressure driven automated solar panel cleaning system |
| CN105881555A (en) * | 2016-06-17 | 2016-08-24 | 南京仁义机器人有限公司 | Photovoltaic power station cleaning robot achieving direct dust removal on basis of draught fan and working method of photovoltaic power station cleaning robot |
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Application publication date: 20200904 |
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