CN111766886A - Equipment control method and device of photovoltaic cleaning equipment and storage medium - Google Patents
Equipment control method and device of photovoltaic cleaning equipment and storage medium Download PDFInfo
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- CN111766886A CN111766886A CN202010660430.1A CN202010660430A CN111766886A CN 111766886 A CN111766886 A CN 111766886A CN 202010660430 A CN202010660430 A CN 202010660430A CN 111766886 A CN111766886 A CN 111766886A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 165
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000003860 storage Methods 0.000 title claims abstract description 15
- 239000000725 suspension Substances 0.000 claims description 31
- 238000010408 sweeping Methods 0.000 claims description 31
- 230000000694 effects Effects 0.000 abstract description 10
- 230000000903 blocking effect Effects 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 230000002093 peripheral effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- B08B1/12—Brushes
-
- 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
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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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)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
The application relates to an equipment control method, an equipment control device and a storage medium of photovoltaic cleaning equipment, belonging to the technical field of automatic control, wherein the method comprises the following steps: obtaining a motor current of a motor assembly, wherein the motor assembly comprises a first walking motor, a second walking motor and a cleaning motor; determining whether the motor current belongs to a normal current range; when the current of the motor does not belong to the normal current range and the duration is greater than or equal to the preset duration, controlling the first walking motor and the second walking motor to rotate reversely so as to enable the photovoltaic cleaning equipment to return to the initial position; the problem that the service life of the photovoltaic component is influenced due to the fact that the photovoltaic component possibly generates hot spot effect caused by blocking of the photovoltaic cleaning equipment can be solved; whether the motor-driven component is blocked by the obstacle can be determined through the motor current; the photovoltaic component returns to the initial position when being blocked by the barrier, so that the problem that the photovoltaic component generates hot spot effect due to the fact that the photovoltaic cleaning equipment is shielded is avoided, and the service life of the photovoltaic component can be guaranteed.
Description
Technical Field
The application relates to an equipment control method and device of photovoltaic cleaning equipment and a storage medium, and belongs to the technical field of automatic control.
Background
Photovoltaic modules support the conversion of solar energy into electrical energy and the storage of that electrical energy to power a load. In general, a photovoltaic module is installed outdoors, and dust, foreign matter, and the like in the atmosphere are easily attached to the surface of a battery. At this time, the power generation efficiency is low due to the deposition of dust on the photovoltaic module. In order to ensure the cleanness of the photovoltaic module, the photovoltaic cleaning equipment can be used for cleaning the photovoltaic module.
A typical photovoltaic sweeping device is provided with suspension wheels and walking wheels. The walking wheel walks on the edge of the surface to be cleaned of the photovoltaic module; the suspension wheel runs on the upper side frame perpendicular to the surface to be cleaned, so that the photovoltaic cleaning equipment is suspended on the photovoltaic assembly and guided for the photovoltaic cleaning equipment. Photovoltaic cleans equipment and outside control assembly communication and links to each other, drives under control assembly's control and hangs the motion of wheel and walking to the realization cleans photovoltaic module.
However, the photovoltaic module may cause the array condition to be variable due to installation differences or environmental changes, and at this time, the photovoltaic cleaning device may not be adapted to the current environment, and the photovoltaic module may be jammed. Therefore, when the photovoltaic module meets the power generation condition, the photovoltaic module generates a hot spot effect due to the shielding of the photovoltaic cleaning equipment, and the service life of the photovoltaic module is influenced. Such as: the difference between the upper side frames of two adjacent array units in the photovoltaic assembly is large, and if the suspension wheel cannot exceed the difference, the photovoltaic cleaning equipment is blocked at the position with the difference. For another example: the difference between the surfaces to be cleaned of two adjacent array units in the photovoltaic module is large, and if the walking wheels cannot exceed the difference, the photovoltaic cleaning equipment is blocked at the position with the difference.
Disclosure of Invention
The application provides an equipment control method and device of photovoltaic cleaning equipment and a storage medium, and can solve the problem that the photovoltaic cleaning equipment is blocked, so that a photovoltaic module possibly generates a hot spot effect and the service life of the photovoltaic module is influenced. The application provides the following technical scheme:
in a first aspect, an apparatus control method for a photovoltaic sweeping apparatus is provided, where the photovoltaic sweeping apparatus includes a housing, and a cleaning motor, a first traveling motor, and a second traveling motor that are disposed inside the housing; the cleaning motor is used for driving a roller brush in the photovoltaic cleaning equipment to rotate, the first walking motor is used for driving walking wheels in the photovoltaic cleaning equipment to rotate, and the second walking motor is used for driving suspension wheels in the photovoltaic cleaning equipment to rotate; the suspension wheel is used for suspending the photovoltaic cleaning equipment on a photovoltaic module to be cleaned; the traveling wheels are used for driving the photovoltaic cleaning equipment to move along the traveling direction; the method comprises the following steps:
obtaining a motor current of a motor assembly, wherein the motor assembly comprises the first walking motor, the second walking motor and the cleaning motor;
determining whether the motor current falls within a normal current range;
and controlling the first walking motor and the second walking motor to reversely rotate when the motor current does not belong to the normal current range and the duration is greater than or equal to the preset duration so as to enable the photovoltaic cleaning equipment to return to the initial position.
First walking motor with second walking motor is the big torque motor of low-speed, control first walking motor with the reversal of second walking motor includes:
and controlling the first walking motor and the second walking motor to rotate reversely at a first motor speed, wherein the first motor speed is lower than the normal running speed of the first walking motor and the second walking motor.
Optionally, after controlling the first walking motor and the second walking motor to rotate reversely at the first motor speed, the method further includes:
and when the motor current belongs to the normal current range, controlling the first walking motor and the second walking motor to reversely rotate at the normal running speed.
Optionally, the cleaning motor is a low-speed high-torque motor, and when the motor current does not belong to the normal current range and the duration is greater than or equal to a preset duration, the method further includes:
and controlling the cleaning motor to rotate at a second motor speed according to a preset direction, wherein the preset direction enables the rotating direction of the roller brush to be consistent with the rotating direction of the travelling wheel, and the second motor speed is lower than the normal running speed of the cleaning motor.
Optionally, after controlling the cleaning motor to rotate in a preset direction, the method further includes:
and when the motor current belongs to the normal current range, controlling the cleaning motor to rotate at the normal running speed in a cleaning direction, wherein the cleaning direction is the running direction of the roller brush during normal work.
Optionally, when there is an obstacle in the walking direction of the photovoltaic sweeping device, the housing is in contact with the obstacle after the walking wheel, the suspension wheel and the roller brush.
Optionally, a minimum distance between the housing and the photovoltaic module is greater than a preset distance, and the preset distance is greater than or equal to a maximum distance between the obstacle and the photovoltaic module.
In a second aspect, an apparatus control device of a photovoltaic sweeping apparatus is provided, where the photovoltaic sweeping apparatus includes a housing, and a cleaning motor, a first traveling motor, and a second traveling motor that are disposed inside the housing; the cleaning motor is used for driving a roller brush in the photovoltaic cleaning equipment to rotate, the first walking motor is used for driving walking wheels in the photovoltaic cleaning equipment to rotate, and the second walking motor is used for driving suspension wheels in the photovoltaic cleaning equipment to rotate; the suspension wheel is used for suspending the photovoltaic cleaning equipment on a photovoltaic module to be cleaned; the traveling wheels are used for driving the photovoltaic cleaning equipment to move along the traveling direction; the device comprises:
the current acquisition module is used for acquiring the motor current of a motor assembly, and the motor assembly comprises the first walking motor, the second walking motor and the cleaning motor;
the current comparison module is used for determining whether the motor current belongs to a normal current range;
and the equipment control module is used for controlling the first walking motor and the second walking motor to reversely rotate when the motor current does not belong to the normal current range and the duration is more than or equal to the preset duration so as to enable the photovoltaic cleaning equipment to return to the initial position.
In a third aspect, an apparatus control device of a photovoltaic sweeping apparatus is provided, the apparatus comprising a processor and a memory; the memory stores a program, and the program is loaded and executed by the processor to implement the apparatus control method of the photovoltaic cleaning apparatus according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, in which a program is stored, and the program is loaded and executed by the processor to implement the apparatus control method of the photovoltaic cleaning apparatus according to the first aspect.
The beneficial effect of this application lies in: the method comprises the steps that by obtaining a motor current of a motor assembly, the motor assembly comprises a first walking motor, a second walking motor and a cleaning motor; determining whether the motor current belongs to a normal current range; when the current of the motor does not belong to the normal current range and the duration is greater than or equal to the preset duration, controlling the first walking motor and the second walking motor to rotate reversely so as to enable the photovoltaic cleaning equipment to return to the initial position; the problem that the service life of the photovoltaic component is influenced due to the fact that the photovoltaic component possibly generates hot spot effect caused by blocking of the photovoltaic cleaning equipment can be solved; whether the motor-driven component is blocked by the obstacle can be determined through the motor current; the photovoltaic cleaning device can return to the initial position when being blocked by the barrier, and the problem that the photovoltaic cleaning device is blocked on the photovoltaic module is avoided, so that the problem that the photovoltaic module generates hot spot effect due to the fact that the photovoltaic cleaning device is blocked is avoided, and the service life of the photovoltaic module can be guaranteed.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of an apparatus control system of a photovoltaic sweeping apparatus according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a photovoltaic sweeping apparatus provided in an embodiment of the present application;
FIG. 3 is a schematic view of a photovoltaic sweeping apparatus provided in one embodiment of the present application mounted on a photovoltaic module;
FIG. 4 is a schematic view of a suspended wheel of a photovoltaic sweeping apparatus provided in one embodiment of the present application encountering an obstacle;
FIG. 5 is a schematic view of a road wheel of a photovoltaic sweeping device provided by one embodiment of the present application encountering an obstacle;
fig. 6 is a flowchart of an apparatus control method of a photovoltaic cleaning apparatus according to an embodiment of the present application;
fig. 7 is a block diagram of an apparatus control device of a photovoltaic sweeping apparatus according to an embodiment of the present application;
fig. 8 is a block diagram of an apparatus control device of a photovoltaic cleaning apparatus according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
Fig. 1 is a schematic structural diagram of an apparatus control system of a photovoltaic cleaning apparatus according to an embodiment of the present application, and as shown in fig. 1, the system at least includes: photovoltaic cleaning equipment 1 and control assembly 2.
Referring to fig. 2, the photovoltaic sweeping apparatus 1 includes at least: the cleaning device comprises a shell 11, and a cleaning motor, a first walking motor and a second walking motor which are arranged inside the shell 11.
The cleaning motor is used for driving the roller brush 12 in the photovoltaic sweeping device 1 to rotate. The roller brush 12 is a mechanism having a cleaning function in the photovoltaic sweeping apparatus 1. The cleaning motor is connected with the roller brush 12 in a transmission mode, and the cleaning motor drives the roller brush 12 to rotate in the moving process of the photovoltaic cleaning equipment 1 so as to clean the surface to be cleaned of the photovoltaic assembly.
In this application, photovoltaic module's the one side of treating the face of cleaning for being used for receiving illumination, the one side at solar cell panel array place promptly.
The first walking motor is used for driving walking wheels 13 in the photovoltaic sweeping device 1 to rotate. The walking wheels 13 are used for driving the photovoltaic cleaning equipment 1 to move along the walking direction. As can be seen from fig. 2, the traveling wheels 13 include two groups, each group of traveling wheels 13 includes an upper traveling wheel and a lower traveling wheel, and the upper traveling wheel is a traveling wheel located above the photovoltaic cleaning apparatus 1 when the latter is mounted on the photovoltaic module; the lower traveling wheels are traveling wheels located below when the photovoltaic cleaning apparatus 1 is mounted on the photovoltaic module. The upper traveling wheels travel on the upper edge of the surface to be cleaned, and the lower traveling wheels travel on the lower edge of the surface to be cleaned. When the photovoltaic cleaning equipment 1 is installed on a photovoltaic module, the suspension wheel 14 is located above the photovoltaic module, so that the traveling wheels located on the same side as the suspension wheel 14 are the upper traveling wheels, and the traveling wheels located on different sides from the suspension wheel 14 are the lower traveling wheels.
In order to ensure that the upper traveling wheels and the lower traveling wheels of the same group work synchronously, the upper traveling wheels and the lower traveling wheels of the same group are connected through a transmission shaft 15, and a first traveling motor is in transmission connection with the transmission shaft 15. Such as: the output shaft of the first walking motor is in transmission connection with a gear, and the gear is fixed on each transmission shaft.
The second walking motor is used for driving the suspension wheel 14 in the photovoltaic sweeping device 1 to rotate. The suspension wheel 14 is used to suspend the photovoltaic cleaning apparatus 1 from a photovoltaic module to be cleaned. The suspension wheel 14 can also guide the photovoltaic sweeping device 1. The suspension wheels 14 run on the upper side frame perpendicular to the surface to be cleaned of the photovoltaic module.
In this application, photovoltaic cleans equipment 1's lower extreme and still includes spacing wheel 16.
Referring to the schematic view of fig. 3 showing the photovoltaic cleaning apparatus 1 mounted on the photovoltaic module 3, as can be seen from fig. 3, the photovoltaic cleaning apparatus 1 can move on the photovoltaic module 3 and clean the surface to be cleaned (the plane where the black matrix is located) of the photovoltaic module 3.
Wherein, the cleaning motor, the first walking motor and the second walking motor are different motors which are mutually independent. Illustratively, the cleaning motor, the first walking motor and the second walking motor are all low-speed and high-torque motors. That is, the lower the rotational speed, the greater the torque output when the output power is the same.
Since the moving speeds of suspension wheel 14 and traveling wheels 13 are identical, photovoltaic cleaning apparatus 1 drives suspension wheel 14 and traveling wheels 13 using the same driving cycle. Optionally, the first walking motor and the second walking motor adopt reduction motors with the same specification, and the error of the production sorting rotating speed is controlled within a range of 1%.
In this embodiment, the cleaning motor, the first walking motor and the second walking motor are connected to the control assembly 2 in a communication manner.
Alternatively, the control module 2 may be a module installed in the photovoltaic sweeping apparatus 1; alternatively, it is a separate component from the photovoltaic sweeping device 1, such as: the control module may be a computer, a tablet computer, a mobile phone, a wearable device, or the like, and the implementation manner of the control module 2 is not limited in this embodiment.
In this embodiment, the control component 2 is configured to: obtaining a motor current of a motor assembly, wherein the motor assembly comprises a first walking motor, a second walking motor and a cleaning motor; determining whether the motor current belongs to a normal current range; when the current of the motor does not belong to the normal current range and the duration is greater than or equal to the preset duration, the first walking motor and the second walking motor are controlled to rotate reversely, so that the photovoltaic cleaning equipment returns to the initial position.
When the part driven by the motor is blocked by an obstacle and cannot move, the corresponding current of the motor can increase steeply or continuously.
Such as: referring to fig. 4, the suspension wheel 14 of the photovoltaic cleaning apparatus 1 travels along the upper side frame 41 of the photovoltaic module, and when there is a drop d between two adjacent array units in the photovoltaic module, if the suspension wheel 14 cannot exceed the drop d, the suspension wheel 14 will be blocked, and at this time, the motor current of the second travel motor driving the suspension wheel 14 to operate will increase unnecessarily.
For another example: referring to fig. 5, the walking wheels 13 of the photovoltaic cleaning apparatus 1 walk along the edge 51 of the surface to be cleaned of the photovoltaic module, and when there is a difference d 'in the height of the surface to be cleaned of two adjacent array units in the photovoltaic module, if the walking wheels 13 cannot exceed the difference d', the walking wheels 13 may be obstructed, and at this time, the motor current of the first walking motor driving the walking wheels 13 to operate may increase unnecessarily.
In this embodiment, the control component 2 can determine whether the corresponding motor is abnormal by obtaining the motor current of the motor component, so as to determine whether the corresponding component is obstructed by the obstacle; may return to the initial position when obstructed by an obstacle. Like this, avoided photovoltaic to clean equipment 1 card machine stagnation on photovoltaic module, cleaned the photovoltaic module that equipment 1 sheltered from the photovoltaic and lead to when photovoltaic module satisfies the power generation condition and produced the problem of hot spot effect, can guarantee photovoltaic module's life.
In addition, the above principle needs to ensure that the roller brush 12, the traveling wheels 13 or the suspension wheels 14 are in contact with an obstacle to detect the jamming problem. In one example, the housing 11 of the photovoltaic sweeping device 1 can ensure that when an obstacle exists in the walking direction of the photovoltaic sweeping device 1, the housing 11 is in contact with the obstacle after the walking wheels 13, the suspension wheels 14 and the roller brushes 12, so as to avoid the problem that the housing 11 meets the obstacle before the wheels (such as the suspension wheels 14 and the walking wheels 13) and the roller brushes 12, and the obstacle cannot be detected through the motor current.
Optionally, the minimum distance between the housing 11 and the photovoltaic module is greater than a preset distance, and the preset distance is greater than or equal to the maximum distance between the obstacle and the photovoltaic module.
It should be added that, in this embodiment, only the photovoltaic cleaning apparatus 1 includes the above-mentioned components as an example for description, and in actual implementation, the photovoltaic cleaning apparatus 1 may further include more components, such as: photovoltaic power supply components, indicator light components and the like, and the specific structure of the photovoltaic sweeping device 1 is not listed in the embodiment.
The following describes an apparatus control method of the photovoltaic cleaning apparatus provided by the present application.
Fig. 6 is a flowchart of an apparatus control method of a photovoltaic cleaning apparatus according to an embodiment of the present application, where the method is applied to an apparatus control system of the photovoltaic cleaning apparatus shown in fig. 1, and a main body of execution of each step is an example of the control component 2 in the system. The method at least comprises the following steps:
The control assembly obtains the motor current of the motor assembly in real time.
Because photovoltaic cleans equipment and has certain climbing and obstacle-crossing ability, consequently, normal current range includes: when the photovoltaic cleaning equipment moves on the gentle photovoltaic assembly, the first normal current range corresponding to the motor assembly and the photovoltaic cleaning equipment move on the photovoltaic assembly with the slope, the second normal current range corresponding to the motor assembly and the third normal current range corresponding to the motor assembly when the photovoltaic cleaning equipment crosses the obstacle. The first normal current range, the second normal current range and the third normal current range are calibrated in advance.
Optionally, the normal current ranges for different motor assemblies are the same or different. Such as: the normal current ranges corresponding to the first walking motor and the second walking motor are the same; the normal current ranges corresponding to the first walking motor and the cleaning motor are different.
And 603, controlling the first walking motor and the second walking motor to rotate reversely when the motor current does not belong to the normal current range and the duration is greater than or equal to the preset duration so as to enable the photovoltaic cleaning equipment to return to the initial position.
The initial position may be an initial position of the photovoltaic cleaning device when the cleaning task is executed this time, or a parking position of the photovoltaic cleaning device after the cleaning task is completed last time.
Because when the motor current does not belong to the normal current range and the duration is longer than or equal to the preset duration, the wheel body or the roller brush is blocked, at the moment, the photovoltaic cleaning equipment encounters an insurmountable obstacle, the photovoltaic cleaning equipment can be controlled to return to the initial position, and the problem of hot spot effect of a photovoltaic assembly caused by blocking of the photovoltaic cleaning equipment is prevented.
In one example, first walking motor and second walking motor are low-speed big torque motor, control first walking motor and second walking motor reversal, include: and controlling the first walking motor and the second walking motor to rotate reversely at a first motor speed, wherein the first motor speed is lower than the normal running speed of the first walking motor and the second walking motor. And then, when the motor current belongs to the normal current range, controlling the first walking motor and the second walking motor to reversely rotate at the normal running speed.
In this embodiment, since the first travel motor and the second travel motor are both low-speed and high-torque motors, when the vehicle is initially reversed, the vehicle can rotate at a lower speed and have a higher torque, thereby improving the power for returning to the initial position.
In one example, the cleaning motor is a low-speed high-torque motor, and when the motor current does not belong to the normal current range and the duration is greater than or equal to the preset duration, the cleaning motor is controlled to rotate at a second motor speed according to the preset direction. The preset direction enables the rotation direction of the roller brush to be consistent with the rotation direction of the walking wheel, and the speed of the second motor is lower than the normal running speed of the cleaning motor. After the cleaning motor is controlled to rotate according to the preset direction, when the current of the motor belongs to the normal current range, the cleaning motor is controlled to rotate according to the cleaning direction at the normal operating speed, and the cleaning direction is the operating direction of the roller brush during normal operation.
In this embodiment, rotate through control cleaning motor to the direction of rotation that makes the roller brush is unanimous with the direction of rotation of walking wheel, can increase the power that photovoltaic cleaned equipment returned initial position.
In summary, in the apparatus control method of the photovoltaic cleaning apparatus provided in this embodiment, the motor current of the motor assembly is obtained, and the motor assembly includes the first traveling motor, the second traveling motor and the cleaning motor; determining whether the motor current belongs to a normal current range; when the current of the motor does not belong to the normal current range and the duration is greater than or equal to the preset duration, controlling the first walking motor and the second walking motor to rotate reversely so as to enable the photovoltaic cleaning equipment to return to the initial position; the problem that the service life of the photovoltaic component is influenced due to the fact that the photovoltaic component possibly generates hot spot effect caused by blocking of the photovoltaic cleaning equipment can be solved; whether the motor-driven component is blocked by the obstacle can be determined through the motor current; the photovoltaic cleaning device can return to the initial position when being blocked by the barrier, and the problem that the photovoltaic cleaning device is blocked on the photovoltaic module is avoided, so that the problem that the photovoltaic module generates hot spot effect due to the fact that the photovoltaic cleaning device is blocked is avoided, and the service life of the photovoltaic module can be guaranteed.
In addition, the first walking motor, the second walking motor and the cleaning motor are low-speed and high-torque motors, so that the first walking motor, the second walking motor and the cleaning motor can rotate at a lower speed to have higher torque during initial reverse rotation, and the power for returning to the initial position is improved.
In addition, when the current of the motor does not belong to the normal current range and the duration is longer than or equal to the preset duration, the cleaning motor is controlled to rotate in the preset direction to enable the rotating direction of the roller brush to be consistent with the rotating direction of the travelling wheels, and the power for returning the photovoltaic sweeping equipment to the initial position can be increased.
Fig. 7 is a block diagram of an apparatus control device of a photovoltaic sweeping apparatus provided in an embodiment of the present application, where the photovoltaic sweeping apparatus includes a housing, and a cleaning motor, a first traveling motor, and a second traveling motor disposed inside the housing; the cleaning motor is used for driving a roller brush in the photovoltaic cleaning equipment to rotate, the first walking motor is used for driving walking wheels in the photovoltaic cleaning equipment to rotate, and the second walking motor is used for driving suspension wheels in the photovoltaic cleaning equipment to rotate; the suspension wheel is used for suspending the photovoltaic cleaning equipment on a photovoltaic module to be cleaned; the traveling wheels are used for driving the photovoltaic cleaning equipment to move along the traveling direction; the embodiment is described by taking the device as an example applied to the control assembly 2 in the equipment control system of the photovoltaic cleaning equipment shown in fig. 1. The device at least comprises the following modules: a current acquisition module 710, a current comparison module 720, and a device control module 730.
A current obtaining module 710, configured to obtain a motor current of a motor assembly, where the motor assembly includes the first walking motor, the second walking motor, and the cleaning motor;
a current comparison module 720, configured to determine whether the motor current belongs to a normal current range;
and the equipment control module 730 is used for controlling the first walking motor and the second walking motor to reversely rotate when the motor current does not belong to the normal current range and the duration is more than or equal to the preset duration so as to enable the photovoltaic cleaning equipment to return to the initial position.
For relevant details reference is made to the above-described method embodiments.
It should be noted that: in the device control apparatus for photovoltaic cleaning equipment provided in the above embodiment, when performing device control of photovoltaic cleaning equipment, only the division of the above functional modules is illustrated, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the device control apparatus for photovoltaic cleaning equipment is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the device control apparatus of the photovoltaic cleaning device and the device control method embodiment of the photovoltaic cleaning device provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
Fig. 8 is a block diagram of an apparatus control device of a photovoltaic cleaning apparatus according to an embodiment of the present application, which may be a device including the control component 2 in the apparatus control system of the photovoltaic cleaning apparatus shown in fig. 1. The apparatus comprises at least a processor 801 and a memory 802.
Processor 801 may include one or more processing cores. The processor 801 may be implemented in at least one hardware form of a DSP (digital signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 801 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.
Memory 802 may include one or more computer-readable storage media, which may be non-transitory. Memory 802 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 802 is used to store at least one instruction for execution by processor 801 to implement the apparatus control method of the photovoltaic cleaning apparatus provided by the method embodiments herein.
In some embodiments, the apparatus control device of the photovoltaic sweeping apparatus may further include: a peripheral interface and at least one peripheral. The processor 801, memory 802 and peripheral interface may be connected by bus or signal lines. Each peripheral may be connected to the peripheral interface via a bus, signal line, or circuit board. Illustratively, peripheral devices include, but are not limited to: radio frequency circuit, pilot lamp and power supply etc..
Of course, the device control apparatus of the photovoltaic sweeping device may also include fewer or more components, which is not limited in this embodiment.
Optionally, the present application further provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the apparatus control method of the photovoltaic cleaning apparatus according to the above method embodiment.
Optionally, the present application further provides a computer product, which includes a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the apparatus control method of the photovoltaic cleaning apparatus according to the above method embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The equipment control method of the photovoltaic cleaning equipment is characterized in that the photovoltaic cleaning equipment comprises a shell, and a cleaning motor, a first walking motor and a second walking motor which are arranged in the shell; the cleaning motor is used for driving a roller brush in the photovoltaic cleaning equipment to rotate, the first walking motor is used for driving walking wheels in the photovoltaic cleaning equipment to rotate, and the second walking motor is used for driving suspension wheels in the photovoltaic cleaning equipment to rotate; the suspension wheel is used for suspending the photovoltaic cleaning equipment on a photovoltaic module to be cleaned; the traveling wheels are used for driving the photovoltaic cleaning equipment to move along the traveling direction; the method comprises the following steps:
obtaining a motor current of a motor assembly, wherein the motor assembly comprises the first walking motor, the second walking motor and the cleaning motor;
determining whether the motor current falls within a normal current range;
and controlling the first walking motor and the second walking motor to reversely rotate when the motor current does not belong to the normal current range and the duration is greater than or equal to the preset duration so as to enable the photovoltaic cleaning equipment to return to the initial position.
2. The method of claim 1, wherein the first and second travel motors are both low speed, high torque motors, and wherein controlling the first and second travel motors to reverse comprises:
and controlling the first walking motor and the second walking motor to rotate reversely at a first motor speed, wherein the first motor speed is lower than the normal running speed of the first walking motor and the second walking motor.
3. The method of claim 2, wherein after controlling the first travel motor and the second travel motor to reverse at a first motor speed, further comprising:
and when the motor current belongs to the normal current range, controlling the first walking motor and the second walking motor to reversely rotate at the normal running speed.
4. The method of claim 1, wherein the cleaning motor is a low speed high torque motor, and when the motor current does not fall within the normal current range and the duration is greater than or equal to a preset duration, the method further comprises:
and controlling the cleaning motor to rotate at a second motor speed according to a preset direction, wherein the preset direction enables the rotating direction of the roller brush to be consistent with the rotating direction of the travelling wheel, and the second motor speed is lower than the normal running speed of the cleaning motor.
5. The method as claimed in claim 4, wherein after controlling the cleaning motor to rotate in the preset direction, the method further comprises:
and when the motor current belongs to the normal current range, controlling the cleaning motor to rotate at the normal running speed in a cleaning direction, wherein the cleaning direction is the running direction of the roller brush during normal work.
6. The method according to any one of claims 1 to 5, wherein when an obstacle exists in a traveling direction of the photovoltaic sweeping apparatus, the housing comes into contact with the obstacle after the traveling wheels, the suspension wheels, and the roller brushes.
7. The method of claim 6, wherein a minimum distance between the housing and the photovoltaic module is greater than a preset distance, the preset distance being greater than or equal to a maximum distance between the obstruction and the photovoltaic module.
8. The equipment control device of the photovoltaic cleaning equipment is characterized in that the photovoltaic cleaning equipment comprises a shell, and a cleaning motor, a first walking motor and a second walking motor which are arranged in the shell; the cleaning motor is used for driving a roller brush in the photovoltaic cleaning equipment to rotate, the first walking motor is used for driving walking wheels in the photovoltaic cleaning equipment to rotate, and the second walking motor is used for driving suspension wheels in the photovoltaic cleaning equipment to rotate; the suspension wheel is used for suspending the photovoltaic cleaning equipment on a photovoltaic module to be cleaned; the traveling wheels are used for driving the photovoltaic cleaning equipment to move along the traveling direction; the device comprises:
the current acquisition module is used for acquiring the motor current of a motor assembly, and the motor assembly comprises the first walking motor, the second walking motor and the cleaning motor;
the current comparison module is used for determining whether the motor current belongs to a normal current range;
and the equipment control module is used for controlling the first walking motor and the second walking motor to reversely rotate when the motor current does not belong to the normal current range and the duration is more than or equal to the preset duration so as to enable the photovoltaic cleaning equipment to return to the initial position.
9. An equipment control device of photovoltaic cleaning equipment is characterized by comprising a processor and a memory; the memory stores therein a program that is loaded and executed by the processor to implement the apparatus control method of the photovoltaic sweeping apparatus according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a program is stored in the storage medium, which when executed by a processor, is configured to implement the apparatus control method of the photovoltaic cleaning apparatus according to any one of claims 1 to 7.
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| CN113729578A (en) * | 2021-08-04 | 2021-12-03 | 深圳创动科技有限公司 | Cleaning robot, motion state monitoring method thereof, server and storage medium |
| CN114977973A (en) * | 2021-02-26 | 2022-08-30 | 广东博智林机器人有限公司 | Operation control method and device, operation equipment and storage medium |
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