CN111760836A - Method for cleaning photovoltaic panel in solar photovoltaic array - Google Patents
Method for cleaning photovoltaic panel in solar photovoltaic array Download PDFInfo
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- CN111760836A CN111760836A CN202010654810.4A CN202010654810A CN111760836A CN 111760836 A CN111760836 A CN 111760836A CN 202010654810 A CN202010654810 A CN 202010654810A CN 111760836 A CN111760836 A CN 111760836A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 239
- 238000000034 method Methods 0.000 title claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 145
- 238000003491 array Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 48
- 230000007246 mechanism Effects 0.000 claims description 42
- 238000003708 edge detection Methods 0.000 claims description 33
- 230000005611 electricity Effects 0.000 claims description 20
- 238000001179 sorption measurement Methods 0.000 claims description 12
- 230000005855 radiation Effects 0.000 claims description 4
- 238000007790 scraping Methods 0.000 claims description 3
- 238000011086 high cleaning Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
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- 238000010521 absorption reaction Methods 0.000 description 2
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- 239000011521 glass Substances 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 238000000429 assembly Methods 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
- 238000012937 correction Methods 0.000 description 1
- -1 electricity Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
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- 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
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
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- 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
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
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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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to a cleaning method of a photovoltaic panel in a solar photovoltaic array, which is characterized in that a plurality of distributed fixed water supply stations are arranged on the photovoltaic array with shorter length distributed on a sloping field and a mountain field to cover the whole radiant operation area of a photovoltaic power station, the radiant operation area of the photovoltaic power station is provided with a movable first plunger pump, a movable first wire rewinding device and one or more cleaning robots, and after one fixed water supply station finishes the cleaning operation through the cleaning robot, the first plunger pump, the first wire rewinding device and the cleaning robot are manually moved to the next fixed water supply station to continue the cleaning operation; for photovoltaic arrays which are distributed in plain and desert and are long in length, a supply station is arranged on a motor vehicle, the motor vehicle is provided with a cleaning robot, and the cleaning robot automatically performs cleaning operation until the cleaning operation is completed in the moving process of the motor vehicle. The invention has the characteristics of low cost, convenient operation and high cleaning efficiency.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning robots, in particular to a method for cleaning a photovoltaic panel in a solar photovoltaic array.
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.
At present, the market needs to add a specific sensing device or a fixing device to a photovoltaic array for positioning, and the machine can walk and be cleaned on the photovoltaic array.
When present photovoltaic cleaning machines people work, adopt the brush roller to rotate and the watering is cleaned, have certain clean effect. However, for most photovoltaic power stations which are seriously covered by dust or are in a long-term wind and sand environment, part of dirt is adhered to the photovoltaic panels, the photovoltaic panels are not completely cleaned only by rotating the brush rollers or working together with sprinkling water, and the generation efficiency is influenced and certain equipment is damaged due to the fact that the dirt still exists in the areas of the part of the photovoltaic panels.
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 cleaning a photovoltaic panel in a solar photovoltaic array, in which a cleaning robot is adopted to be engaged with and separated from a supply station, so as to improve the cleaning efficiency of the photovoltaic cleaning robot, greatly save manpower, and reduce the maintenance cost of a power station.
The technical scheme of the invention is as follows:
a cleaning method of a photovoltaic panel in a solar photovoltaic array comprises a cleaning robot, and the cleaning robot is used for cleaning the photovoltaic panel, wherein: for photovoltaic panels distributed in photovoltaic arrays of short length in sloping and mountainous terrain, a plurality of distributed stationary water supply stations are provided to cover the entire photovoltaic plant irradiated work area, the stationary water supply stations being used to provide a water source to the cleaning robot, and the whole photovoltaic power station radiation working area is provided with a movable first plunger pump, a movable first wire-rewinding device and one or more cleaning robots, after a work area irradiated by one fixed water supply station is finished with cleaning work by the cleaning robot, the first plunger pump, the first wire rewinding device and the cleaning robot are moved to the operation area irradiated by the next fixed water supply station by manpower to continue the cleaning operation, when a plurality of cleaning robots are arranged in the whole work area radiated by the photovoltaic power station, the cleaning robots simultaneously perform cleaning operation until the last work area radiated by the fixed water supply station completes the cleaning operation; for photovoltaic panels distributed in photovoltaic arrays with long lengths in plain and desert, supply stations are installed on motor vehicles to form mobile supply stations for supplying water, gas and electricity, and the motor vehicles are provided with a cleaning robot which automatically performs cleaning operation until the whole operation area irradiated by the photovoltaic power station is completed in the moving process of the motor vehicles.
The fixed water supply station comprises a first water tower, a first centrifugal pump and a first water filter, a first conveying main pipe is wound on the first wire rewinding device, and the fixed water supply station comprises:
the fixed water supply station is matched with a first power line, one end of the first power line is connected with an external power supply, and the other end of the first power line is connected with one end of the first conveying main pipe through a power quick connector;
the first water tower is connected with a first water delivery pipe, meanwhile, the first centrifugal pump and a first water filter are sequentially arranged on the first water delivery pipe, the first water filter is connected with a second quick connector of the first plunger pump through a first quick connector, and the first plunger pump is connected with one end of the first delivery main pipe through a third quick connector;
the other end of the first conveying main pipe is wound around the first wire rewinding device and then is connected with one or more cleaning robots and used for supplying water and electricity to the one or more cleaning robots.
Portable power supply station includes motor vehicle, motor vehicle is last to be provided with cleaning machines people, second spooler and generator, the winding has gas-supply pipe, second power cord, second raceway and second to carry house steward on the second spooler, wherein:
one end of the gas pipe is connected with an external gas supply system, an air filter, an air compressor and a gas storage tank are sequentially arranged on the gas pipe, and the other end of the gas pipe is connected with one end of the second conveying main pipe;
one end of the second power line is connected with the generator, and the other end of the second power line is connected with one end of the second conveying main pipe;
one end of the second water conveying pipe is connected with an external second water tower, a second centrifugal pump, a second water filter and a second plunger pump are sequentially arranged on the second water conveying pipe, and the other end of the second water conveying pipe is connected with one end of the second conveying main pipe;
and the other end of the second conveying main pipe is wound around the second wire rewinding device and then is connected with a cleaning robot on the motor vehicle, and is used for supplying water, electricity and gas to the cleaning robot.
Cleaning machines people includes the fuselage and sets up casing on the fuselage, the front end of fuselage is provided with clean subassembly, the front end of clean subassembly is provided with gas shower nozzle and water shower nozzle, through gas shower nozzle spouts highly-compressed air to photovoltaic panel, through water shower nozzle spouts high pressure water to photovoltaic panel, the lower extreme rear portion of clean subassembly is provided with the scraper blade, the scraper blade is used for scraping the dirt on the photovoltaic panel and clears away, be provided with house steward's connecting pipe, walking drive device, adsorption component, photovoltaic panel detection component and edge detection component on the fuselage, house steward's connecting pipe with clean subassembly links to each other, cleaning machines people is in walk under walking drive device's the drive, cleaning machines people is in adsorption component's adsorption effect down is adsorbed on the photovoltaic panel in photovoltaic array, cleaning machines people passes through photovoltaic panel detection component detects cleaning machines people's the place ahead is that cleaning machines people is And whether the photovoltaic panel exists or not is adjusted, and the cleaning robot detects whether the cleaning robot is positioned at the edge of the photovoltaic panel in the photovoltaic array or not through the edge detection assembly, and adjusts to walk linearly to finish the cleaning operation of the photovoltaic panel.
The walking driving device comprises a left wheel driving mechanism and a right wheel driving mechanism, the left wheel driving mechanism is arranged on the left side of the machine body, and the right wheel driving mechanism is arranged on the right side of the machine body.
The suction assembly comprises a first suction disc assembly, a second suction disc assembly, a third suction disc assembly, a fourth suction disc assembly and a fifth suction disc assembly, wherein the first suction disc assembly, the second suction disc assembly, the third suction disc assembly and the fourth suction disc assembly are fixedly arranged on the machine body and are positioned between the left wheel driving mechanism and the right wheel driving mechanism, and the fifth suction disc assembly is fixedly arranged at the central position of the machine body.
Edge detection subassembly includes first edge detection mechanism and second edge detection mechanism, first edge detection mechanism is fixed to be set up on the left lateral wall of fuselage, through whether the left side that first edge detection mechanism is used for detecting cleaning machines people is in photovoltaic panel's left side edge is in order to adjust, second edge detection mechanism is fixed to be set up on the lateral wall on fuselage right side, be used for detecting through above-mentioned second edge detection mechanism whether cleaning machines people's right side is in photovoltaic panel's right side edge is in order to adjust.
All be provided with the atmospheric pressure detection module on first sucking disc subassembly, second sucking disc subassembly, third sucking disc subassembly, fourth sucking disc subassembly and the fifth sucking disc subassembly, through the atmospheric pressure detection module is used for detecting the atmospheric pressure of first sucking disc subassembly, second sucking disc subassembly, third sucking disc subassembly, fourth sucking disc subassembly and fifth sucking disc subassembly.
Be provided with handle, locating hole, starting switch and supporting part on the casing, through the handle removes cleaning machines people, the one end of house steward connecting pipe is fixed to be set up on the fuselage, just the other end of house steward connecting pipe runs through the locating hole extends outwards, the supporting part is used for supporting and fixing house steward connecting pipe.
The movable supply station further comprises a fixed rod, the fixed rod is fixedly arranged on the motor vehicle, and a rotary joint is movably arranged at the top end of the fixed rod.
The invention has the following advantages and beneficial effects: the cleaning method of the photovoltaic panel in the solar photovoltaic array comprises a cleaning robot, wherein the cleaning robot is used for cleaning the photovoltaic panel, and the cleaning robot comprises the following steps: for photovoltaic panels distributed in photovoltaic arrays of short length in sloping and mountainous terrain, a plurality of distributed stationary water supply stations are provided to cover the entire photovoltaic plant irradiated work area, the stationary water supply stations being used to provide a water source to the cleaning robot, and the whole photovoltaic power station radiation working area is provided with a movable first plunger pump, a movable first wire-rewinding device and one or more cleaning robots, after a work area irradiated by one fixed water supply station is finished with cleaning work by the cleaning robot, the first plunger pump, the first wire rewinding device and the cleaning robot are moved to the operation area irradiated by the next fixed water supply station by manpower to continue the cleaning operation, when a plurality of cleaning robots are arranged in the whole work area radiated by the photovoltaic power station, the cleaning robots simultaneously perform cleaning operation until the last work area radiated by the fixed water supply station completes the cleaning operation; for photovoltaic panels distributed in photovoltaic arrays with long lengths in plain and desert, mounting a supply station on a motor vehicle to form a movable supply station, wherein the movable supply station is used for supplying water, gas and electricity, and the motor vehicle is provided with a cleaning robot which automatically performs cleaning operation until the whole operation area radiated by the photovoltaic power station is completed in the moving process of the motor vehicle; through the design, namely distributed power supply (namely comprising water, electricity and gas) is adopted, and the device has the characteristics of low cost and capability of realizing deep cleaning; the external power supply is separated from the cleaning robot, namely, the cleaning robot becomes an external system, so that the weight of the cleaning robot is reduced, the man-machine cooperation operation is facilitated, the load of damage of the photovoltaic panel and the bracket thereof is reduced, and the corresponding damage is reduced; the mode of separating the supply and the cleaning robot is adopted, the cleaning robot can be moved freely and used easily, and the reusability of equipment is realized; in addition, the cleaning robot can climb to the highest side of the photovoltaic array to perform autonomous operation only by being placed at any side edge of the bottom of the photovoltaic array and being started, so that higher operation automation is realized; meanwhile, the cleaning robot is highly automated, and can realize autonomous path selection operation by depending on a detection assembly with a frame and a detection assembly of a photovoltaic panel, so that full-coverage operation is realized; in addition, the cleaning robot adopts an adsorption component, can be firmly adsorbed on the surface of the photovoltaic panel, can realize high-speed walking by matching with a walking driving device, and can adsorb and walk on an inclined plane of 0-60 degrees; because the cleaning robot adopts a photovoltaic panel cleaning mode integrating high-pressure water, high-pressure air and a scraper, common and serious dirt can be cleaned, and deep cleaning is realized, which is the only automatic equipment capable of achieving the cleaning effect equivalent to manpower at present.
Drawings
Fig. 1 is a schematic perspective view of a cleaning robot provided in an embodiment of the present invention, with a housing removed.
Fig. 2 is a schematic top view of the cleaning robot provided in the embodiment of the present invention, with the housing removed.
Fig. 3 is a schematic front view of the cleaning robot provided in the embodiment of the present invention, with a housing removed.
Fig. 4 is a left side view schematic diagram of the cleaning robot provided in the embodiment of the present invention with a housing removed.
Fig. 5 is a schematic top view of a cleaning robot walking on a photovoltaic panel according to an embodiment of the present invention.
Fig. 6 is a schematic perspective view of a cleaning robot walking on a photovoltaic panel according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a fixed water supply station, a first centrifugal pump and a first water filter which are matched according to an embodiment of the invention.
Fig. 8 is a schematic front view of a first plunger pump according to an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a cleaning robot and a mobile supply station cooperating to perform a cleaning operation according to an embodiment of the present invention.
Fig. 10 is an enlarged schematic view of a position a in fig. 9.
Fig. 11 is a schematic structural view of the first wire rewinding device and the first conveying main pipe according to the embodiment of the present invention.
Fig. 12 is a schematic diagram of a mobile supply station according to an embodiment of the present invention.
Fig. 13 is a schematic structural diagram of a photovoltaic cleaning robot according to an embodiment of the present invention, which performs a cleaning operation on a photovoltaic panel.
Fig. 14 is a schematic structural view illustrating a cleaning operation performed by the cleaning robot according to the embodiment of the present invention in cooperation with a stationary water supply station.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
As shown in fig. 1 to 14: the method for cleaning the photovoltaic panel in the solar photovoltaic array comprises a cleaning robot 100, wherein the cleaning robot 100 is used for cleaning the photovoltaic panel 200, and the method comprises the following steps: for photovoltaic panels distributed in photovoltaic arrays with short lengths in sloping and mountain areas, a plurality of distributed fixed water supply stations 300 are provided to cover the entire irradiated work area of the photovoltaic power plant, the fixed water supply stations 300 are used to provide water to the cleaning robot, and the entire irradiated work area of the photovoltaic power plant is equipped with a movable first plunger pump 301, a movable first spooler 302, and one or more cleaning robots 100, after the cleaning work is completed in the irradiated work area of one fixed water supply station by the cleaning robot 100, the first plunger pump 301, the first spooler 302, and the cleaning robot 100 are moved by human power to the next irradiated work area of the fixed water supply station 300 to continue the cleaning work, and when the cleaning robots 100 are equipped in the irradiated work area of the photovoltaic power plant, the cleaning robots 100 simultaneously perform the cleaning work, meanwhile, each cleaning robot 100 performs cleaning operation independently and without interference until the operation area radiated by the last fixed water supply station 300 completes the cleaning operation, and the cleaning efficiency is greatly improved; for photovoltaic panels distributed in photovoltaic arrays with long lengths in plains and deserts, supply stations are installed on motor vehicles 401 to form mobile supply stations 400, the mobile supply stations 400 are used for supplying water, gas and electricity, meanwhile, the motor vehicles 401 are provided with a cleaning robot 100, the motor vehicles 401 move along with the cleaning robot 100, and the cleaning robot 100 automatically performs cleaning operation in the moving process until the whole photovoltaic power station radiation operation area is completed.
The stationary water supply station 300 includes a first water tower 308, a first centrifugal pump 309, and a first water filter 310, the first take-up 302 having a first delivery manifold 306 wound thereon, wherein: the stationary water supply station 300 is equipped with a first power line 304, one end of the first power line 304 is connected to an external power source, and the other end of the first power line 304 is connected to one end of the first delivery manifold 306 through a power source quick coupling 307; the first water tower 308 is connected with a first water delivery pipe 303, meanwhile, the first water delivery pipe 303 is sequentially provided with the first centrifugal pump 309 and a first water filter 310, the first water filter 310 is connected with a second quick coupling 312 of the first plunger pump 301 through a first quick coupling 311, and the first plunger pump 301 is connected with one end of the first delivery main 306 through a third quick coupling 313; the other end of the first delivery manifold 306 is connected to one or more cleaning robots 100 after being wound around the first wire rewinding device 302, and is used for supplying water and electricity to one or more cleaning robots 100. Through the above-mentioned design, that is, when the whole photovoltaic power plant irradiated work area is equipped with a plurality of cleaning robots 100, the plurality of cleaning robots 100 can simultaneously perform cleaning work, and the first delivery manifold 306 is simultaneously connected with the plurality of cleaning robots 100 to supply water and electricity to each cleaning robot 100, thereby shortening the cleaning time of the whole photovoltaic power plant irradiated work area.
The mobile power supply station 400 comprises a motor vehicle 401, wherein the motor vehicle 401 is provided with a cleaning robot 100, a second wire rewinding device 402 and a power generator 403, the second wire rewinding device 402 is wound with a gas pipe 404, a second power line 405, a second water pipe 406 and a second conveying main pipe 407, and the mobile power supply station 400 comprises:
one end of the gas pipe 404 is connected with an external gas supply system (not shown in the figure), an air filter 408, an air compressor 409 and an air storage tank 410 are sequentially arranged on the gas pipe 404, and the other end of the gas pipe 404 is connected with one end of the second conveying main pipe 407;
one end of the second power line 405 is connected to the generator 411, and the other end of the second power line 405 is connected to one end of the second delivery manifold 407;
one end of the second water conveying pipe 406 is connected with an external second water tower 412, a second centrifugal pump 413, a second water filter 414 and a second plunger pump 415 are sequentially arranged on the second water conveying pipe 406, and the other end of the second water conveying pipe 406 is connected with one end of the second conveying main pipe 407;
the other end of the second delivery main pipe 407 is wound around the second wire rewinding device 402 and then connected to the cleaning robot 100 on the motor vehicle 401, so as to provide water, electricity, and gas to the cleaning robot 100.
Cleaning machines people 100 includes fuselage 101 and sets up casing 102 on the fuselage 101, the front end of fuselage 101 is provided with clean subassembly 103, the front end of clean subassembly 103 is provided with gas shower nozzle 104 and water shower nozzle 105, through gas shower nozzle 104 spouts highly-compressed air to photovoltaic panel, through water shower nozzle 105 spouts high-pressure water to photovoltaic panel 200, the lower extreme rear portion of clean subassembly 103 is provided with scraper blade 106, scraper blade 106 is used for scraping the dirt on photovoltaic panel 200 and clears away, be provided with house steward connecting pipe 120, walking drive arrangement, adsorption component, photovoltaic panel detection component and edge detection component on the fuselage 101, house steward connecting pipe 120 with clean subassembly 103 links to each other, cleaning machines people 100 is in walk under walking drive arrangement's the drive, cleaning machines people 100 is in the adsorption component's adsorption action is on photovoltaic panel 200 in the photovoltaic array down the absorption, the cleaning robot 100 detects whether the photovoltaic panel 200 exists in front of the cleaning robot 100 through the photovoltaic panel detection component for adjustment, and the cleaning robot 100 detects whether the cleaning robot 100 is located at the edge of the photovoltaic panel 200 in the photovoltaic array through the edge detection component for adjustment to perform linear walking to complete the cleaning operation of the photovoltaic panel 200.
The walking driving device comprises a left wheel driving mechanism 107 and a right wheel driving mechanism 108, wherein the left wheel driving mechanism 107 is arranged on the left side of the machine body 101, and the right wheel driving mechanism 108 is arranged on the right side of the machine body 101.
The absorption subassembly includes first sucking disc subassembly 109, second sucking disc subassembly 110, third sucking disc subassembly 111, fourth sucking disc subassembly 112 and fifth sucking disc subassembly 121, first sucking disc subassembly 109, second sucking disc subassembly 110, third sucking disc subassembly 111 and fourth sucking disc subassembly 112 are fixed to be set up lie in on the fuselage 101 between left wheel drive mechanism 107 and the right wheel drive mechanism 108, fifth sucking disc subassembly 121 can fix the setting the central point of fuselage 101 puts, when cleaning robot 100 turns, fifth sucking disc subassembly 121 descends and adsorbs on photovoltaic panel 200 to atmospheric pressure detection module 115 back up to standard, and left wheel drive mechanism 107 and right wheel drive mechanism 108 all rotate in order to turn the operation, and fifth sucking disc subassembly 121 rises when the turn is accomplished to avoid cleaning robot 100 to appear the tenesmic condition when the inclined plane turns. In addition, as for the structure and the working principle of the fifth chuck assembly 121, reference can be made to related patent documents previously applied by the applicant, and details are not repeated herein.
The photovoltaic panel detection assembly comprises a plurality of photovoltaic panel detection modules, the plurality of photovoltaic panel detection modules comprise four photovoltaic panel detection modules, namely a first photovoltaic panel detection module 131, a second photovoltaic panel detection module 132, a third photovoltaic panel detection module 133 and a fourth photovoltaic panel detection module 134, wherein: first photovoltaic panel detection module 131 is fixedly arranged in the front of the inner side wall of the left end of the body 100, second photovoltaic panel detection module 132 is fixedly arranged in the front of the inner side wall of the right end of the body 100, third photovoltaic panel detection module 133 is fixedly arranged at the rear of the inner side wall of the right end of the body 100, and fourth photovoltaic panel detection module 134 is fixedly arranged at the rear of the inner side wall of the left end of the body 100. Through the design, namely, the inner side walls of the four corners of the machine body 101 are respectively provided with the first photovoltaic panel detection module 131, the second photovoltaic panel detection module 132, the third photovoltaic panel detection module 133 and the fourth photovoltaic panel detection module 134, and the four photovoltaic panel detection modules have the same structure, so that the detection structure of the cleaning robot can be simplified, and the applicability of the cleaning robot can be improved. In addition, regarding the working principle of the four photovoltaic panel detection modules, reference may be made to related patent documents previously applied by the applicant, and details are not repeated herein.
The edge detection assembly comprises a first edge detection mechanism 113 and a second edge detection mechanism 114, wherein the first edge detection mechanism 113 is fixedly arranged on the side wall on the left side of the machine body 101, whether the left side of the cleaning robot 100 is located or not is detected by the first edge detection mechanism 113, the left side of the photovoltaic panel 200 is arranged to be adjusted, the second edge detection mechanism 114 is fixedly arranged on the side wall on the right side of the machine body 101, and whether the right side of the cleaning robot 100 is located on the right side edge of the photovoltaic panel 200 or not is detected by the second edge detection mechanism 114, and therefore adjustment is achieved.
All be provided with atmospheric pressure detection module 115 on first sucking disc subassembly 109, second sucking disc subassembly 110, third sucking disc subassembly 111, fourth sucking disc subassembly 112 and the fifth sucking disc subassembly 121, through atmospheric pressure detection module 115 is used for detecting the atmospheric pressure of first sucking disc subassembly 109, second sucking disc subassembly 110, third sucking disc subassembly 111, fourth sucking disc subassembly 112 and fifth sucking disc subassembly 121.
The cleaning robot is provided with a handle 116, a positioning hole 117, a start switch 118 and a support 119 on the housing 102, the cleaning robot is moved by the handle 116, one end of the manifold connecting pipe is fixedly arranged on the body 101 and connected with the cleaning component 103, the other end of the manifold connecting pipe 120 penetrates through the positioning hole 117 and extends outwards to be connected with the first conveying manifold 306 or the second conveying manifold 407, and the support 119 is used for supporting and fixing the manifold connecting pipe 120.
The mobile supply station 400 further comprises a fixed bar 416, the fixed bar 416 is fixedly disposed on the motor vehicle 401, a rotary joint 417 is movably disposed at a top end of the fixed bar 416, that is, the rotary joint 417 can rotate around the top end of the fixed bar 416, and the other end of the second delivery main 407 is connected to the main connection pipe 120 via the rotary joint 417.
Specifically, the cleaning robot 100 may be placed at the edge of any one side of the bottom of the photovoltaic array, water and electricity provided by the fixed water supply station 300 or the mobile water supply station 400 are connected, the starting switch 118 is turned on, and the cleaning robot 100 detects and climbs to the highest position of the placed one side of the photovoltaic array in real time by means of the frame detection assembly and the walking driving device to start cleaning operation.
During cleaning operation, the cleaning robot 100 detects whether photovoltaic panels exist on the upper and lower frames and in front of the photovoltaic panels by means of the frame detection assembly and the photovoltaic panel detection assembly, and the cleaning robot transversely runs along with the installation layout of the photovoltaic panels on the same row in the photovoltaic array;
when the cleaning robot 100 works, the cleaning robot depends on the adsorption component to be firmly adsorbed on the surface of the photovoltaic panel, and can cross gaps between the photovoltaic panels without obstacles, so that the safety and reliability are improved to a certain degree.
Meanwhile, when the cleaning robot 100 is in operation, the surface of the photovoltaic panel is deeply cleaned by water, electricity or gas supplied from a fixed water supply station or water, electricity or gas supplied from a movable supply station, and finally, stubborn dirt is removed by a glass scraper 106 carried by the cleaning robot, so that the aim of deeply cleaning the photovoltaic panel is fulfilled.
The cleaning robot 100 always keeps straight-line driving to the end of each huge photovoltaic array, turns to move down one body position and turns around, then moves straight to the other end, and finally stays at the initial position of the bottom of the photovoltaic array after the whole photovoltaic array is cleaned in such a reciprocating way. The method specifically comprises two path plans: firstly, under the condition that the long edge of a photovoltaic panel in a photovoltaic array is in a transverse mode, the cleaning robot 100 detects the frames on the two sides corresponding to the photovoltaic panel 200 by means of frame detection assemblies (namely, a first edge detection mechanism 113 and a second edge detection mechanism 114) on the two sides during operation to obtain the relative angle and deviation between the two sides corresponding to the photovoltaic panel 200 and the cleaning robot 100, and the pose is corrected in real time through a walking driving device (namely, a left wheel driving mechanism 107 and a right wheel driving mechanism 108) according to the angle and distance deviation; secondly, under the condition that the long edge of the photovoltaic panel in the photovoltaic array is in a vertical arrangement mode, during cleaning operation, the cleaning robot detects a side frame above the photovoltaic panel by means of a frame detection assembly to obtain the relative angle and deviation between the two corresponding sides of the photovoltaic panel and the cleaning robot, and posture correction is carried out in real time through the walking driving device according to the angle and distance deviation.
In a standard 10MV photovoltaic plant, no more than 30 distributed fixed water supply stations 300 may be provided, the first delivery manifold 306 preferably has a horizontal distance of 50m, and one cleaning robot works for 8 hours by one man power, and deep cleaning of one photovoltaic plant can be completed by one month.
In hilly and mountain environments, the lateral length of a single photovoltaic array is not typically very long, building a distributed stationary water supply station 300. The fixed water supply station 300 is communicated with a movable first plunger pump 301 through a first water conveying pipe 303, meanwhile, the first plunger pump 301 is connected with one end of a first conveying main pipe 306 through the first water conveying pipe 303, the other end of the first conveying main pipe 306 is connected with the cleaning robot 100 after being wound on a movable first wire rewinding device 302, the photovoltaic robot 100 gets electricity nearby at a corresponding photovoltaic array through a first power line 304, and meanwhile, the end part of the first power line 304 is connected with one end of the first conveying main pipe 306. One fixed water supply station 300 may provide a water source for the cleaning robot 100 operating on a photovoltaic array within 50m of its half-value. Meanwhile, the stationary water supply station 300 is internally provided with a first water tower 308, a first centrifugal pump 309, and a first water filter 310. The first delivery manifold 306, the first traveling plunger pump 301, and the first traveling take-up 301 are externally provided.
In plain and desert environments, the photovoltaic array is typically relatively long in transverse length and has sufficient access for motor vehicles 401 to travel, making it possible to build the supply station on a mobile motor vehicle. The mobile supply station 400 is set up to be placed on a human-powered vehicle or a motor vehicle 401, when the cleaning robot 100 is placed on the photovoltaic array 200 for operation, the motor vehicle 401 is made to follow the cleaning robot 100, the suspension height of the second conveying main pipe 407 is increased through the fixing rod 416, and when the cleaning robot works on the current longer photovoltaic array, the cleaning robot 100 is provided with the required high-pressure water, electricity and high-pressure air in a suspension mode. The mobile supply station 400 is internally provided with a second water tower 412, a second centrifugal pump 413, a second water filter 414, a second plunger pump 415, an air storage tank 410, an air pipe 404, a second power line 405, a second water pipe 406, an air compressor 409, an air filter 408 and a diesel motor 411 (i.e. a diesel engine). Externally disposed is a second delivery manifold 407, a securing rod 416 and a second wire drawer 402.
The first water tower 308 in the stationary water supply station 300 or the second water tower 412 in the mobile water supply station 400 are used to provide a source of water to be delivered to the cleaning robot 100; the first centrifugal pump 309 or the second centrifugal pump 413 are used for pressurizing water and conveying fluid; the first plunger pump 301 or the second plunger pump 415 are used for extremely pressurizing water, delivering liquid, and forming high-pressure water for cleaning operation of the cleaning robot 100; the air compressor 410 is used for greatly pressurizing air and delivering gas to form high-pressure air for the cleaning operation of the cleaning robot 100; the filter includes two kinds, one is an air filter 408, and the other is a water filter, which includes a first water filter 310 and a second water filter 414, for filtering impurities, and preventing the impurities from blocking the wear gas pipe 404, the first water pipe 303, the second water pipe 406, the air compressor 409, the first plunger pump 301, the second plunger pump 415, and the like; the first water duct 304 and the second water duct 406 are used for conveying water, the first air duct 302 and the air duct 404 are used for conveying air, and the first power line 303 and the second power line 405 are used for conveying electricity; the first delivery manifold 306 integrates the first water delivery tube 303 and the first power line 304, and the second delivery manifold 407 integrates the gas delivery tube 404, the second water delivery tube 406 and the second power line 405; the securing bar 416 is used to raise the height from which the second delivery manifold 407 is suspended. The first water pipe 303 and the first power line 304 are integrated and connected with the first conveying main pipe 306 by matching with the first wire rewinding device 301; meanwhile, the gas pipe 404, the second water pipe 406 and the second power line 405 are integrated and connected to the second conveying main pipe 407 in cooperation with the second wire rewinding device 402, and the length of the second conveying main pipe 407 is controlled in cooperation with the fixing rod 416, so that the second conveying main pipe 407 on the cleaning robot is in a suspended state.
The staff inserts cleaning robot 100 and provides the first main delivery pipe 306 of high pressure water, electricity or inserts the second main delivery pipe 407 that provides high pressure water, electricity and high pressure gas, places cleaning robot parallel to the direction of photovoltaic array both sides simultaneously, and fuselage 101 bottom is located photovoltaic array bottom arbitrary one side reason, detects the image through frame detection component, whether the detection is shot to have the photovoltaic panel frame in the picture in order to confirm that cleaning robot one side exists in the edge. And in case of meeting the condition, the starting authority is granted and is indicated by an indicator lamp.
After the starting authority is obtained, the starting switch 118 is turned on, the adsorption component is started, after the air pressure detection module detects that all executed first sucker component 109, second sucker component 110, third sucker component 111 and fourth sucker component 112 are firmly adsorbed, if the first edge detection mechanism 113 and the second edge detection mechanism 114 at the two ends detect that the images detect the frames of the photovoltaic panel, the long edge of the photovoltaic panel in the photovoltaic array required to be cleaned by the cleaning robot is judged to be in a transverse mode. And otherwise, judging that the long edge of the photovoltaic panel in the photovoltaic array which needs to be cleaned by the cleaning robot is in a vertical arrangement mode.
After the long edge placing mode of the photovoltaic panel in the photovoltaic array needing to be cleaned is judged, the cleaning robot detects whether the photovoltaic panel exists above the cleaning robot by means of the photovoltaic panel detection assembly and the frame detection assembly. If the photovoltaic panel starts the walking driving device to walk until the photovoltaic panel detection assembly cannot detect the existence of the photovoltaic panel, the cleaning robot is located at the top of the photovoltaic array at the moment. It is ensured that the cleaning robot starts working with the top of the photovoltaic array.
Under the condition that the long edge of the photovoltaic panel in the photovoltaic array is in a transverse mode, the cleaning robot detects the frames on the two corresponding sides of the photovoltaic panel by means of the first edge detection mechanism 113 and the second edge detection mechanism 114 on the two sides during operation to obtain the relative angle and deviation of the two corresponding sides of the photovoltaic panel on the cleaning robot, and the pose is corrected through the walking driving device in real time according to the angle and distance deviation. Under the condition that the long edge of a photovoltaic panel in a photovoltaic array is vertically placed, a cleaning robot detects a side frame above the photovoltaic panel by means of a frame detection assembly during operation to obtain the relative angle and deviation of the two sides of the photovoltaic panel corresponding to the cleaning robot, and the pose of the cleaning robot is corrected by a walking driving device in real time according to the angle and distance deviation. Therefore, when the cleaning robot works transversely in the photovoltaic array, the cleaning robot runs along with the installation layout of the photovoltaic panels in the same row in the photovoltaic array.
When the cleaning robot works, the fixed water supply station 300 is used for supplying high-pressure water to spray water on the surface of the photovoltaic panel through the water spray head 105; or the surface of the photovoltaic panel is blown by the air nozzle 104 by using high-pressure water and high-pressure air which are provided by the movable supply station 400 and suspend the second conveying main pipe 407, the surface of the photovoltaic panel is sprayed by the water nozzle 105, and stubborn dirt is removed by the glass scraper 106 carried by the surface of the photovoltaic panel, so that the deep cleaning of the surface of the photovoltaic panel is effectively finished.
And during operation, the cleaning robot judges whether a photovoltaic panel exists in front or not by means of the photovoltaic panel detection assembly, if so, the cleaning robot continues to maintain the detection path operation, and if not, the cleaning robot indicates that the cleaning robot reaches the edge of the photovoltaic array, so that one line of cleaning operation is completed.
The cleaning robot maintains the change from the same-row photovoltaic panel path to the end of the transverse edge of the photovoltaic array to move downwards and turn around, the coverage of the next-row photovoltaic panel is completed until the photovoltaic array is fully covered, the cleaning robot stays at the bottom of the photovoltaic array, and the cleaning of one photovoltaic array is completed; after cleaning of one photovoltaic array is completed, the worker takes off the cleaning robot to perform work on a new photovoltaic array in the same manner.
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 (10)
1. A cleaning method of a photovoltaic panel in a solar photovoltaic array is characterized by comprising the following steps: including cleaning machines people, through cleaning machines people is right photovoltaic panel carries out the cleaning operation, wherein: for photovoltaic panels distributed in photovoltaic arrays of short length in sloping and mountainous terrain, a plurality of distributed stationary water supply stations are provided to cover the entire photovoltaic plant irradiated work area, the stationary water supply stations being used to provide a water source to the cleaning robot, and the whole photovoltaic power station radiation working area is provided with a movable first plunger pump, a movable first wire-rewinding device and one or more cleaning robots, after a work area irradiated by one fixed water supply station is finished with cleaning work by the cleaning robot, the first plunger pump, the first wire rewinding device and the cleaning robot are moved to the operation area irradiated by the next fixed water supply station by manpower to continue the cleaning operation, when a plurality of cleaning robots are arranged in the whole work area radiated by the photovoltaic power station, the cleaning robots simultaneously perform cleaning operation until the last work area radiated by the fixed water supply station completes the cleaning operation; for photovoltaic panels distributed in photovoltaic arrays with long lengths in plain and desert, a supply station is installed on a motor vehicle to form a movable supply station, the movable supply station is used for supplying water, gas and electricity, and the motor vehicle is provided with a cleaning robot which automatically performs cleaning operation until the whole operation area radiated by a photovoltaic power station is completed in the moving process of the motor vehicle.
2. The method of claim 1, wherein the stationary water supply station comprises a first water tower, a first centrifugal pump, and a first water filter, and the first take-up is wound with a first delivery manifold, wherein:
the fixed water supply station is matched with a first power line, one end of the first power line is connected with an external power supply, and the other end of the first power line is connected with one end of the first conveying main pipe through a power quick connector;
the first water tower is connected with a first water delivery pipe, meanwhile, the first centrifugal pump and a first water filter are sequentially arranged on the first water delivery pipe, the first water filter is connected with a second quick connector of the first plunger pump through a first quick connector, and the first plunger pump is connected with one end of the first delivery main pipe through a third quick connector;
the other end of the first conveying main pipe is wound around the first wire rewinding device and then is connected with one or more cleaning robots and used for supplying water and electricity to the one or more cleaning robots.
3. The method according to claim 2, wherein the mobile power station comprises a motor vehicle, the motor vehicle is provided with a cleaning robot, a second wire rewinding device and a generator, the second wire rewinding device is wound with a gas pipe, a second power line, a second water pipe and a second delivery main pipe, and the method comprises the following steps:
one end of the gas pipe is connected with an external gas supply system, an air filter, an air compressor and a gas storage tank are sequentially arranged on the gas pipe, and the other end of the gas pipe is connected with one end of the second conveying main pipe;
one end of the second power line is connected with the generator, and the other end of the second power line is connected with one end of the second conveying main pipe;
one end of the second water conveying pipe is connected with an external second water tower, a second centrifugal pump, a second water filter and a second plunger pump are sequentially arranged on the second water conveying pipe, and the other end of the second water conveying pipe is connected with one end of the second conveying main pipe;
and the other end of the second conveying main pipe is wound around the second wire rewinding device and then is connected with a cleaning robot on the motor vehicle, and is used for supplying water, electricity and gas to the cleaning robot.
4. The method for cleaning the photovoltaic panel in the solar photovoltaic array according to any one of claims 1 to 3, wherein the cleaning robot comprises a body and a housing arranged on the body, a cleaning component is arranged at the front end of the body, an air nozzle and a water nozzle are arranged at the front end of the cleaning component, high-pressure air is sprayed onto the photovoltaic panel through the air nozzle, high-pressure water is sprayed onto the photovoltaic panel through the water nozzle, a scraper is arranged at the rear part of the lower end of the cleaning component and is used for scraping and removing dirt on the photovoltaic panel, a header connecting pipe, a walking driving device, an adsorption component, a photovoltaic panel detection component and an edge detection component are arranged on the body, the header connecting pipe is connected with the cleaning component, and the cleaning robot walks under the driving of the walking driving device, the cleaning robot is in the adsorption of adsorption component down on the photovoltaic panel in the photovoltaic array, the cleaning robot passes through photovoltaic panel detection component detects whether there is photovoltaic panel in cleaning robot's the place ahead in order to adjust, just the cleaning robot passes through edge detection component detects whether cleaning robot is in the edge of photovoltaic panel in the photovoltaic array, and adjust and accomplish the clean operation of photovoltaic panel in order to carry out the straight line walking.
5. The method of claim 4, wherein the travel drive comprises a left wheel drive and a right wheel drive, the left wheel drive is disposed on the left side of the body and the right wheel drive is disposed on the right side of the body.
6. The method of claim 5, wherein the suction assembly comprises a first suction cup assembly, a second suction cup assembly, a third suction cup assembly, a fourth suction cup assembly and a fifth suction cup assembly, the first suction cup assembly, the second suction cup assembly, the third suction cup assembly and the fourth suction cup assembly are fixedly arranged on the body between the left wheel driving mechanism and the right wheel driving mechanism, and the fifth suction cup assembly is fixedly arranged at the center of the body.
7. The method of claim 5, wherein the edge detection assembly comprises a first edge detection mechanism and a second edge detection mechanism, the first edge detection mechanism is fixedly disposed on the left side wall of the body, the first edge detection mechanism is used for detecting whether the left side of the cleaning robot is located at the left side edge of the photovoltaic panel for adjustment, the second edge detection mechanism is fixedly disposed on the right side wall of the body, and the second edge detection mechanism is used for detecting whether the right side of the cleaning robot is located at the right side edge of the photovoltaic panel for adjustment.
8. The method of claim 6, wherein the first chuck assembly, the second chuck assembly, the third chuck assembly, the fourth chuck assembly and the fifth chuck assembly are all provided with air pressure detection modules, and the air pressure detection modules are used for detecting the air pressure of the first chuck assembly, the second chuck assembly, the third chuck assembly, the fourth chuck assembly and the fifth chuck assembly.
9. The method of claim 4, wherein the housing is provided with a handle, a positioning hole, a start switch, and a support portion, the cleaning robot is moved by the handle, one end of the main pipe connecting pipe is fixedly disposed on the body, the other end of the main pipe connecting pipe extends outward through the positioning hole, and the support portion is used for supporting and fixing the main pipe connecting pipe.
10. The method of claim 9, wherein the mobile supply station further comprises a fixed bar fixedly attached to the vehicle, the fixed bar having a swivel movably attached to a top end thereof.
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| CN202010459621 | 2020-05-27 | ||
| CN2020104596211 | 2020-05-27 |
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