CN111865209A - Novel photovoltaic clean robot system of refuting - Google Patents
Novel photovoltaic clean robot system of refuting Download PDFInfo
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- CN111865209A CN111865209A CN202010818505.4A CN202010818505A CN111865209A CN 111865209 A CN111865209 A CN 111865209A CN 202010818505 A CN202010818505 A CN 202010818505A CN 111865209 A CN111865209 A CN 111865209A
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- 238000004140 cleaning Methods 0.000 claims abstract description 132
- 238000003491 array Methods 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 33
- 230000006698 induction Effects 0.000 claims description 28
- 238000012790 confirmation Methods 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 10
- 230000001939 inductive effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 2
- 239000003550 marker Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000001976 improved effect Effects 0.000 description 2
- 238000013459 approach Methods 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
- 230000008021 deposition Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The application relates to a novel photovoltaic cleans machine people system of refuting belongs to automatic control technical field, and this system includes: the walking track is arranged at one end of the photovoltaic module and extends along the second direction; the barge equipment is used for moving on the walking track, identifying the photovoltaic array when moving to the second direction on the walking track, and stopping moving when identifying the photovoltaic array; the photovoltaic cleaning robot is located on the barge equipment at an initial position and used for moving towards a first direction to leave the barge equipment when the barge equipment identifies the photovoltaic array and cleaning the photovoltaic array; returning the refuting equipment when the cleaning is finished; the problem that when the number of photovoltaic arrays included in the photovoltaic module is large, the photovoltaic cleaning robots need to be placed on each photovoltaic array, so that the system structure is complex or the manual carrying efficiency is low can be solved; because the photovoltaic cleans the photovoltaic array that the subassembly can change place automatically, can improve photovoltaic module clean efficiency.
Description
Technical Field
The application relates to a novel photovoltaic cleans machine people system of refuting belongs to automatic control technical field.
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 module can be cleaned by using a photovoltaic cleaning robot.
A typical photovoltaic cleaning robot is supported for movement over a photovoltaic array of photovoltaic modules to clean the photovoltaic array.
However, when the number of the photovoltaic arrays in the photovoltaic module is large, a photovoltaic cleaning robot needs to be placed on each photovoltaic array, which leads to a problem of a complicated system structure. Or, the photovoltaic cleaning robot is manually carried to another photovoltaic array from one photovoltaic array, and the cleaning efficiency of the photovoltaic module is lower at the moment.
Disclosure of Invention
The application provides a novel photovoltaic cleans machine people system of plugging into car, can solve when photovoltaic module includes photovoltaic array quantity more, need all place the photovoltaic on every photovoltaic array and clean the machine people, lead to the problem that system architecture is complicated or lead to the lower problem of artifical handling efficiency. The application provides the following technical scheme: a novel photovoltaic cleaning robot barge system is used for cleaning a photovoltaic module, wherein the photovoltaic module comprises a plurality of photovoltaic arrays extending along a first direction; the system comprises:
the walking track is arranged at one end of the photovoltaic module and extends along a second direction, and the second direction is perpendicular to the first direction;
the barge equipment is used for moving on the walking track, identifying the photovoltaic array when moving to the second direction on the walking track, and stopping moving when identifying the photovoltaic array;
the photovoltaic cleaning robot is initially positioned on the barge equipment and used for moving towards the first direction to leave the barge equipment and cleaning the photovoltaic array when the barge equipment identifies the photovoltaic array; returning the refuting equipment when the cleaning is finished.
Optionally, an array sensor is mounted on the barge equipment; the array sensor is used for:
during the movement process of the barge equipment, identifying whether the barge equipment reaches a photovoltaic array;
triggering the barge equipment to stop when the photovoltaic array is identified to be reached.
Optionally, the array sensor is an image recognition sensor;
alternatively, the first and second electrodes may be,
the array sensor is a first signal induction sensor, correspondingly, a first signal emitter is installed on the walking track, and the first signal induction sensor is used for inducing a first signal emitted by the first signal emitter; the installation position of the signal emitter corresponds to the position of each photovoltaic array.
Optionally, a first communication assembly is installed on the barge equipment; the photovoltaic cleaning robot is provided with a second communication assembly;
the barge equipment is used for sending a cleaning instruction to the photovoltaic cleaning robot through the first communication component after the photovoltaic array is identified to stop moving;
the photovoltaic cleaning robot is used for receiving the cleaning instruction through the second communication assembly and executing the step of moving to the first direction to leave the barge equipment according to the cleaning instruction.
Optionally, the photovoltaic cleaning robot is further configured to send running state information to the barge equipment through the second communication component;
the car refuting equipment is further used for receiving the running state information through the first communication assembly and sending the running state information to designated equipment.
Optionally, a barge sensor is mounted on the barge equipment; a stop sensor is arranged on the photovoltaic cleaning robot;
the barge sensor is used for: identifying whether the photovoltaic cleaning robot is located on the barge apparatus;
the stop sensor is to: identifying whether the photovoltaic cleaning robot returns to the barge equipment; when the refuting equipment is identified to return, triggering the photovoltaic cleaning robot to send a return confirmation message to the refuting equipment;
after the photovoltaic cleaning robot leaves the vehicle refuting device, the vehicle refuting device sensor recognizes that the photovoltaic cleaning robot is located on the vehicle refuting device, and when the vehicle refuting device receives the return confirmation message, the vehicle refuting device is triggered to move again until the photovoltaic assembly stops moving in the second direction after cleaning is finished.
Optionally, the barge sensor is a proximity sensor;
alternatively, the first and second electrodes may be,
the barge sensor is a second signal induction sensor; correspondingly, a second signal emitter is installed on the photovoltaic cleaning robot, and the second signal induction sensor is used for inducing a second signal emitted by the second signal emitter; when the photovoltaic cleaning robot is located on the barge equipment, the installation position of the second signal emitter is opposite to the position of the second signal induction sensor.
Optionally, a guide rail sensor is mounted on the barge equipment; the walking track is provided with a starting point identifier and an end point identifier, the starting point identifier is used for indicating a starting point of the walking track, and the end point identifier is used for indicating an end point of the walking track;
the rail sensor is configured to:
identifying a starting point identifier and an end point identifier of the walking track;
after the terminal point identifier is identified, triggering the barge equipment to move to a starting point corresponding to the starting point identifier;
after the car refuting device moves towards the starting point, if the starting point identification is identified, the car refuting device is triggered to stop.
Optionally, the set position of the destination mark on the walking track is located between a track position corresponding to a last photovoltaic array and a track position corresponding to a penultimate photovoltaic array, where the last photovoltaic array is a photovoltaic array that is reached last by the barge equipment along the second direction; the penultimate photovoltaic array refers to a photovoltaic array which arrives next to the refuter equipment along the second direction; the barge equipment is also used for:
after the guide rail sensor identifies the end point identifier, if the photovoltaic array is identified again, the photovoltaic cleaning robot moves in the opposite direction of the second direction after cleaning the photovoltaic array and returning to the barge equipment, so as to return to the starting point of the walking track.
Optionally, the rail sensor is a scanner; correspondingly, the starting point identifier is a first graph identifier for identifying the starting point, the end point identifier is a second graph identifier for identifying the end point, and the scanner supports recognition of the first graph identifier and the second graph identifier;
alternatively, the first and second electrodes may be,
the guide rail sensor is a third signal induction sensor; accordingly, the starting point is identified as a third signal emitter, the ending point is identified as a fourth signal emitter, and the third signal sensing sensor is configured to sense a third signal emitted by the third signal emitter and a fourth signal emitted by the fourth signal emitter.
The beneficial effect of this application lies in: the walking track is arranged at one end of the photovoltaic module and extends along a second direction; the barge equipment is used for moving on the walking track, identifying the photovoltaic array when moving to the second direction on the walking track, and stopping moving when identifying the photovoltaic array; the photovoltaic cleaning robot is located on the barge equipment at an initial position and used for moving towards a first direction to leave the barge equipment when the barge equipment identifies the photovoltaic array and cleaning the photovoltaic array; returning the refuting equipment when the cleaning is finished; the problem that when the number of photovoltaic arrays included in the photovoltaic module is large, the photovoltaic cleaning robots need to be placed on each photovoltaic array, so that the system structure is complex or the manual carrying efficiency is low can be solved; because the photovoltaic cleaning assembly can automatically replace the photovoltaic array, the cleaning efficiency of the photovoltaic assembly can be improved.
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 a novel photovoltaic cleaning robot barge system provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a barge apparatus provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a novel photovoltaic cleaning robot barge system according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of a photovoltaic cleaning robot provided in 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 a novel photovoltaic cleaning robot barge system provided in an embodiment of the present application, where the novel photovoltaic cleaning robot barge system is used for cleaning a photovoltaic module 100, and the photovoltaic module 100 includes a plurality of photovoltaic arrays 101 extending along a first direction. As shown in fig. 1, the system comprises at least:
a traveling rail 110 disposed at one end of the photovoltaic module 100 and extending in a second direction; wherein the second direction is perpendicular to the first direction;
the barge device 120 is used for moving on the walking rail 110, identifying the photovoltaic array 101 when moving on the walking rail 110 to the second direction, and stopping moving when identifying the photovoltaic array 101;
the photovoltaic cleaning robot 130 is located on the barge equipment 120 at an initial position and used for moving towards a first direction to leave the barge equipment 120 when the barge equipment 120 identifies the photovoltaic array 101 and cleaning the photovoltaic array 101; returning to the barge facility 120 when the purge is complete.
The first and second directions are both directions on a plane parallel to the photovoltaic array 100, with reference to the first and second directions shown in fig. 1.
The one end of the photovoltaic module 100 refers to one end in the first direction. Alternatively, each photovoltaic array 101 may be arranged in a straight line or a curve along the first direction, and when the photovoltaic array 101 is arranged in the curve, one end of the photovoltaic array 101 close to the traveling rail 110 is perpendicular to the traveling rail 110.
In one example, the barge apparatus 120 has an array sensor mounted thereon; the photovoltaic array 101 is identified by an array sensor. Specifically, the array sensor is used for: during the movement of the barge equipment 120, identifying whether the barge equipment 120 reaches the photovoltaic array 101; when the photovoltaic array 101 is detected, the barge device is triggered to stop.
Specifically, the barge equipment 120 is provided with a control component which is respectively connected with the array sensor and a mobile driving component (such as a driving motor) in a communication way, the mobile driving component is connected with the mobile component (such as a wheel, refer to 21 in fig. 2) on the barge equipment 120 in a transmission way, and when the array sensor identifies that the photovoltaic array 101 is reached, a feedback signal is sent to the control component; the control component controls the mobile driving component to stop operating according to the feedback signal, so that the mobile component stops operating, and at this time, the barge equipment 120 stops operating.
Optionally, the array sensor is an image recognition sensor. At the moment, the image recognition sensor collects an environmental image in real time, and the image collection direction of the image recognition sensor comprises a first direction; identifying an environment image; upon recognizing that the environmental image includes image information of the photovoltaic array 101, it is determined that the barge apparatus 120 arrives at the photovoltaic array 101. To ensure that the barge apparatus 120 is parked in a position opposite the photovoltaic array 101, the barge apparatus 120 determines the parking position of the barge apparatus 120 based on the position of the image information of the photovoltaic array 101 in the image of the environment and the position of the image recognition sensor mounted on the barge apparatus 120. Such as: the image recognition sensor is installed at the middle position of the barge equipment 120, and when the central feature point of the photovoltaic array 101 is located at the middle position of the environment image, the current environment image acquisition position is determined to be the stop position of the barge equipment 120.
Alternatively, the array sensor is a first signal sensing sensor. Correspondingly, a first signal emitter is installed on the walking track, and a first signal induction sensor is used for inducing a first signal emitted by the first signal emitter; the installation position of the signal emitter corresponds to the position of each photovoltaic array. Optionally, the first signal sensing sensor may be a hall sensor, in which case the first signal emitter is configured to emit a magnetic signal, and the first signal emitter may be a magnet; alternatively, the first signal sensing sensor may be a photosensor, in which case the first signal emitter is configured to emit an optical signal. The present embodiment does not limit the type of the first signal sensing sensor. Such as: the first signal emitter is mounted on the running rail 110 at a first position, which is a position opposite to a corner of the one end of the photovoltaic array 101 located in the second direction, referred to as a first position 111 in fig. 1. At this time, when the first signal induction sensor recognizes the first signal emitted by the first signal emitter at the first position 111, it is determined that the barge apparatus 120 arrives at the photovoltaic array 101. Of course, the first signal emitter 110 may be installed at other positions of the running rail 110, and it is only necessary to ensure that the stop position of the barge is opposite to the photovoltaic array 101.
In one example, the barge apparatus 120 has a first communication component installed thereon; the photovoltaic cleaning robot 130 is provided with a second communication assembly. At this time, when the barge equipment 120 stops, the photovoltaic cleaning robot 130 is triggered to leave the barge equipment 120, including: after recognizing that the photovoltaic array 101 stops moving, the barge equipment 120 sends a cleaning instruction to the photovoltaic cleaning robot 130 through the first communication component; the photovoltaic cleaning robot 130 receives the cleaning instruction through the second communication component, and performs a step of moving to the first direction to leave the barge equipment according to the cleaning instruction.
Specifically, the barge equipment 120 is provided with a control component, and the control component is respectively connected with the array sensor and the first communication component in a communication way. When the array sensor identifies that the photovoltaic array 101 is reached, sending a feedback signal to the control assembly; the control component sends a cleaning instruction to the photovoltaic cleaning robot 130 through the first communication component according to the feedback signal, so that the photovoltaic cleaning robot 130 leaves the barge equipment 120. Correspondingly, the photovoltaic cleaning robot 130 is also provided with a control assembly, the control assembly is respectively connected with the second communication assembly and the mobile driving assembly in a communication manner, the mobile driving assembly is connected with the mobile assembly on the photovoltaic cleaning robot 130 in a transmission manner, and at the moment, the second communication assembly receives the cleaning instruction and then sends the cleaning instruction to the control assembly; the control component controls the mobile driving component to start operating according to the cleaning instruction, so that the mobile driving component drives the mobile component to drive the photovoltaic cleaning robot 130 to move towards the first direction.
It should be added that, in this embodiment, after the photovoltaic cleaning robot 130 leaves the barge equipment 120, the photovoltaic cleaning robot 130 moves in the first direction to clean the corresponding photovoltaic array 101 (refer to fig. 3), and the other end of the photovoltaic array 101, which is far away from the walking rail 110, is provided with the intercepting component 31, where the intercepting component 31 is used to trigger the photovoltaic cleaning robot 130 to move in the opposite direction of the first direction when the photovoltaic cleaning robot 130 reaches the other end of the photovoltaic array 101, so that the photovoltaic cleaning robot 130 returns to the barge equipment 120, specifically refer to the schematic diagram of the operation path of the photovoltaic cleaning robot 130 and the operation path of the barge equipment 120 shown in fig. 3.
Alternatively, the intercepting component 31 may be a signal emitter, and accordingly, a signal induction sensor is disposed on the photovoltaic cleaning robot 130, and when the signal induction sensor senses a signal emitted by the signal emitter, it is determined that the photovoltaic cleaning robot 130 reaches the other end of the photovoltaic array 101. Alternatively, the intercepting component 31 may be an anti-collision rod, and accordingly, a distance sensor or a proximity sensor is disposed on the photovoltaic cleaning robot 130, and when the distance sensor or the proximity sensor senses the anti-collision rod, it is determined that the photovoltaic cleaning robot 130 reaches the other end of the photovoltaic array 101.
Optionally, the first communication component and the second communication component establish a communication connection based on a wireless communication protocol to ensure that the photovoltaic cleaning robot 130 can receive the cleaning instruction through the communication connection.
Optionally, the photovoltaic cleaning robot 130 is further configured to send the running state information to the barge equipment 120 through the second communication component; the barge equipment 120 is further configured to receive the operation state information through the first communication component, and send the operation state information to the designated equipment.
The operating state information includes, but is not limited to: a stuck state, a normal operation state, a battery state, and/or a fault state, etc., and the present embodiment does not limit the type of the operation state information.
The designated devices include, but are not limited to: a cloud platform server, a terminal used by operation and maintenance personnel, and the like, and the present embodiment does not limit the device type of the specified device.
In one example, the barge apparatus 120 has barge sensors mounted thereon. A stop sensor is arranged on the photovoltaic cleaning robot 130;
the barge sensor is used for: identifying whether the photovoltaic cleaning robot 130 is located on the barge apparatus 120;
the stop sensor is for: identifying whether the photovoltaic cleaning robot 130 returns to the barge apparatus 120; when the returning barge equipment 120 is identified, the photovoltaic cleaning robot 130 is triggered to send a return confirmation message to the barge equipment 120;
after the photovoltaic cleaning robot 130 leaves the vehicle refuting device 120, the vehicle refuting device sensor recognizes that the photovoltaic cleaning robot 130 is located on the vehicle refuting device, and when the vehicle refuting device 120 receives the confirmation return message, the vehicle refuting device 120 is triggered to move again, and the movement in the second direction is stopped until the photovoltaic module 100 is cleaned.
Specifically, after the car refuting device 120 sends the cleaning instruction through the first communication component, if the stop sensor recognizes that the photovoltaic cleaning robot 130 returns to the car refuting device 120, a return confirmation message is sent to the control component in the photovoltaic cleaning robot 130, and the photovoltaic cleaning robot 130 sends the return confirmation message to the car refuting device 120 through the second communication component. Accordingly, the barge-in device 120 receives the confirmation regression message through the first communication component. Meanwhile, if the barge sensor identifies that the photovoltaic cleaning robot 130 is located on the barge device 120, the control component in the barge device 120 receives feedback information sent by the barge sensor; and controlling the movement driving component of the car refuting device 120 to operate according to the feedback information and the confirmation regression message, so that the movement driving component drives the movement component in the car refuting device 120 to operate, and the car refuting device 120 is driven to move along the second direction again.
Optionally, the barge sensor is a proximity sensor. At this time, the proximity sensor detects whether an object is approaching the barge equipment 120 in real time; when an object approaches, determining that the photovoltaic cleaning robot 130 is located on the barge device 130; when there is no object proximity, it is determined that the photovoltaic cleaning robot 130 is not located on the barge apparatus 130.
Or the barge sensor is a second signal induction sensor; correspondingly, a second signal emitter is installed on the photovoltaic cleaning robot 130, and a second signal induction sensor is used for inducing a second signal emitted by the second signal emitter; when the photovoltaic cleaning robot 130 is located on the barge facility 120, the second signal emitter is installed at a position opposite to the second signal induction sensor. Optionally, the second signal sensing sensor may be a hall sensor, in which case the second signal emitter is used to emit a magnetic signal, and the second signal emitter may be a magnet; alternatively, the second signal sensing sensor may be a photosensor, in which case the second signal emitter is adapted to emit an optical signal. The present embodiment does not limit the type of the second signal sensing sensor. Such as: the second signal induction sensor is installed at a central position on the barge equipment 120, and the second signal emitter is also installed at a central position of the photovoltaic cleaning robot 130, so that when the photovoltaic cleaning robot 130 is located on the barge equipment 120, the installation position of the second signal emitter is opposite to the position of the second signal induction sensor.
Of course, the barge sensor may also be a pressure sensor, and the implementation manner of the barge sensor is not limited in this embodiment.
Optionally, the stop sensor is a fourth signal sensing sensor; correspondingly, the barge equipment 120 is provided with a fifth signal emitter, and the fourth signal induction sensor is used for inducing a fifth signal emitted by the fifth signal emitter; when the photovoltaic cleaning robot 130 is located on the barge facility 120, the installation position of the fifth signal emitter (refer to the position indicated by 32 in fig. 3) is opposite to the position of the fourth signal induction sensor. Optionally, the fourth signal induction sensor may be a hall sensor, and in this case, the fifth signal emitter is configured to emit a magnetic signal, and the fifth signal emitter may be a magnet; alternatively, the fourth signal sensing sensor may be a photoelectric sensor, in which case the fifth signal emitter is adapted to emit a light signal. The present embodiment does not limit the type of the fifth signal induction sensor.
In one example, the barge apparatus 120 has a rail sensor mounted thereon. Accordingly, a start point identifier 112 and an end point identifier 113 are disposed on the traveling track 110, the start point identifier 112 is used for indicating a start point of the traveling track, and the end point identifier 113 is used for indicating an end point of the traveling track. The rail sensor is used for: identifying a starting point identifier 112 and an end point identifier 113 of the walking track; after the end point identifier 113 is identified, the barge equipment 120 is triggered to move to the starting point corresponding to the starting point identifier 112; after the barge apparatus 120 moves to the starting point, if the starting point identifier 112 is recognized, the barge apparatus 120 is triggered to stop.
Optionally, the set position of the endpoint identifier 112 on the travel track is between the track position corresponding to the last photovoltaic array and the track position corresponding to the second to last photovoltaic array. The last photovoltaic array refers to the photovoltaic array which arrives at the latest of the barge equipment along the second direction; the penultimate photovoltaic array refers to the photovoltaic array that arrives penultimate along the barge facility in the second direction. At this time, the barge apparatus 120 is further configured to:
after the guide rail sensor recognizes the end point identifier 113, if the photovoltaic array is recognized again, the photovoltaic cleaning robot moves in the opposite direction of the second direction after the photovoltaic cleaning robot cleans the photovoltaic array and returns to the barge device 120, so as to return to the start point of the traveling track.
Specifically, the control component in the car refuting device 120 is communicatively connected to the guide rail sensor, and after the control component controls the movement driving component to operate (i.e., the car refuting device 120 moves in the second direction again), if the guide rail sensor identifies the destination identifier 113, the movement driving component continues to be controlled to operate, so as to drive the car refuting device 120 to move in the second direction. Then, if the control component receives feedback information sent by the array sensor, the control component controls the mobile driving component to operate in the reverse direction after the car refuting device 120 notifies the photovoltaic cleaning robot 130 to clean the last photovoltaic array, and after the photovoltaic cleaning robot 130 finishes cleaning and returns to the car refuting device 120, so as to drive the car refuting device 120 to move in the reverse direction of the second direction. Then, if the guide rail sensor identifies the starting point identifier 112, sending feedback information to the control component; the control component controls the mobile driving component to stop running according to the feedback information. Compared with the technical scheme after the terminal mark is arranged on the last photovoltaic array, the photovoltaic cleaning robot 130 cleans the last photovoltaic array, the barge equipment 120 can return directly without continuously moving forward for a section, and returns after the terminal mark is recognized, so that one section of the traveling track 110 can be laid less.
Optionally, the rail sensor is a scanner; accordingly, the starting point identifier is a first graphic identifier for identifying the starting point, the end point identifier is a second graphic identifier for identifying the end point, and the scanner supports recognition of the first graphic identifier and the second graphic identifier.
Or the guide rail sensor is a third signal induction sensor; accordingly, the start point indicator 112 is a third signal emitter, the end point indicator 113 is a fourth signal emitter, and the third signal sensing sensor is configured to sense a third signal emitted by the third signal emitter and a fourth signal emitted by the fourth signal emitter. Optionally, the third signal induction sensor may be a hall sensor, in which case, the third signal emitter and the fourth signal emitter are used for emitting magnetic signals, and the third signal emitter and the fourth signal emitter may be magnets; alternatively, the third signal sensing sensor may be a photoelectric sensor, in which case the third signal emitter and the fourth signal emitter are used to emit optical signals. The present embodiment does not limit the type of the third signal induction sensor.
Optionally, the photovoltaic cleaning robot 130 and the barge equipment 120 are both provided with a solar photovoltaic power supply system, supporting independent power supply. Referring to the photovoltaic cleaning robot 130 shown in fig. 4, the photovoltaic cleaning robot 130 is powered using a photovoltaic power supply system 41. Referring to the barge arrangement 120 shown in fig. 2, the barge arrangement 120 is powered using the photovoltaic power system 22.
Optionally, in order to prevent the barge equipment 120 from moving out of the traveling rail 110, collision avoidance assemblies 114 are respectively disposed at two ends of the traveling rail 110, and are used for forcing the barge equipment 120 to stop moving so as to prevent the barge equipment 120 from moving out of the traveling rail 110.
In summary, the novel photovoltaic cleaning robot barge system provided by the embodiment is provided with the traveling track which is arranged at one end of the photovoltaic module and extends along the second direction; the barge equipment is used for moving on the walking track, identifying the photovoltaic array when moving to the second direction on the walking track, and stopping moving when identifying the photovoltaic array; the photovoltaic cleaning robot is located on the barge equipment at an initial position and used for moving towards a first direction to leave the barge equipment when the barge equipment identifies the photovoltaic array and cleaning the photovoltaic array; returning the refuting equipment when the cleaning is finished; the problem that when the number of photovoltaic arrays included in the photovoltaic module is large, the photovoltaic cleaning robots need to be placed on each photovoltaic array, so that the system structure is complex or the manual carrying efficiency is low can be solved; because the photovoltaic cleaning assembly can automatically replace the photovoltaic array, the cleaning efficiency of the photovoltaic assembly can be improved.
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. A novel photovoltaic cleaning robot barge system is characterized by being used for cleaning a photovoltaic module, wherein the photovoltaic module comprises a plurality of photovoltaic arrays extending along a first direction; the system comprises:
the walking track is arranged at one end of the photovoltaic module and extends along a second direction, and the second direction is perpendicular to the first direction;
the barge equipment is used for moving on the walking track, identifying the photovoltaic array when moving to the second direction on the walking track, and stopping moving when identifying the photovoltaic array;
the photovoltaic cleaning robot is initially positioned on the barge equipment and used for moving towards the first direction to leave the barge equipment and cleaning the photovoltaic array when the barge equipment identifies the photovoltaic array; returning the refuting equipment when the cleaning is finished.
2. The system of claim 1, wherein the barge apparatus has an array sensor mounted thereon; the array sensor is used for:
during the movement process of the barge equipment, identifying whether the barge equipment reaches a photovoltaic array;
triggering the barge equipment to stop when the photovoltaic array is identified to be reached.
3. The system of claim 2,
the array sensor is an image recognition sensor;
alternatively, the first and second electrodes may be,
the array sensor is a first signal induction sensor, correspondingly, a first signal emitter is installed on the walking track, and the first signal induction sensor is used for inducing a first signal emitted by the first signal emitter; the installation position of the signal emitter corresponds to the position of each photovoltaic array.
4. The system of claim 1, wherein the barge apparatus has a first communication component mounted thereon; the photovoltaic cleaning robot is provided with a second communication assembly;
the barge equipment is used for sending a cleaning instruction to the photovoltaic cleaning robot through the first communication component after the photovoltaic array is identified to stop moving;
the photovoltaic cleaning robot is used for receiving the cleaning instruction through the second communication assembly and executing the step of moving to the first direction to leave the barge equipment according to the cleaning instruction.
5. The system of claim 4,
the photovoltaic cleaning robot is also used for sending running state information to the barge equipment through the second communication assembly;
the car refuting equipment is further used for receiving the running state information through the first communication assembly and sending the running state information to designated equipment.
6. The system of claim 1, wherein the barge apparatus has a barge sensor mounted thereon; a stop sensor is arranged on the photovoltaic cleaning robot;
the barge sensor is used for: identifying whether the photovoltaic cleaning robot is located on the barge apparatus;
the stop sensor is to: identifying whether the photovoltaic cleaning robot returns to the barge equipment; when the refuting equipment is identified to return, triggering the photovoltaic cleaning robot to send a return confirmation message to the refuting equipment;
after the photovoltaic cleaning robot leaves the vehicle refuting device, the vehicle refuting device sensor recognizes that the photovoltaic cleaning robot is located on the vehicle refuting device, and when the vehicle refuting device receives the return confirmation message, the vehicle refuting device is triggered to move again until the photovoltaic assembly stops moving in the second direction after cleaning is finished.
7. The system of claim 6,
the barge sensor is a proximity sensor;
alternatively, the first and second electrodes may be,
the barge sensor is a second signal induction sensor; correspondingly, a second signal emitter is installed on the photovoltaic cleaning robot, and the second signal induction sensor is used for inducing a second signal emitted by the second signal emitter; when the photovoltaic cleaning robot is located on the barge equipment, the installation position of the second signal emitter is opposite to the position of the second signal induction sensor.
8. The system of claim 1, wherein the barge apparatus has a rail sensor mounted thereon; the walking track is provided with a starting point identifier and an end point identifier, the starting point identifier is used for indicating a starting point of the walking track, and the end point identifier is used for indicating an end point of the walking track;
the rail sensor is configured to:
identifying a starting point identifier and an end point identifier of the walking track;
after the terminal point identifier is identified, triggering the barge equipment to move to a starting point corresponding to the starting point identifier;
after the car refuting device moves towards the starting point, if the starting point identification is identified, the car refuting device is triggered to stop.
9. The system of claim 8, wherein the set position of the destination marker on the travel track is between a track position corresponding to a last photovoltaic array and a track position corresponding to a penultimate photovoltaic array, the last photovoltaic array being a photovoltaic array that the barge device has last arrived at in the second direction; the penultimate photovoltaic array refers to a photovoltaic array which arrives next to the refuter equipment along the second direction; the barge equipment is also used for:
after the guide rail sensor identifies the end point identifier, if the photovoltaic array is identified again, the photovoltaic cleaning robot moves in the opposite direction of the second direction after cleaning the photovoltaic array and returning to the barge equipment, so as to return to the starting point of the walking track.
10. The system of claim 8,
the guide rail sensor is a scanner; correspondingly, the starting point identifier is a first graph identifier for identifying the starting point, the end point identifier is a second graph identifier for identifying the end point, and the scanner supports recognition of the first graph identifier and the second graph identifier;
alternatively, the first and second electrodes may be,
the guide rail sensor is a third signal induction sensor; accordingly, the starting point is identified as a third signal emitter, the ending point is identified as a fourth signal emitter, and the third signal sensing sensor is configured to sense a third signal emitted by the third signal emitter and a fourth signal emitted by the fourth signal emitter.
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| CN202010818505.4A CN111865209A (en) | 2020-08-14 | 2020-08-14 | Novel photovoltaic clean robot system of refuting |
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