CN114308796A - Frame-type photovoltaic module operation and maintenance robot and control method thereof - Google Patents
Frame-type photovoltaic module operation and maintenance robot and control method thereof Download PDFInfo
- Publication number
- CN114308796A CN114308796A CN202210151815.4A CN202210151815A CN114308796A CN 114308796 A CN114308796 A CN 114308796A CN 202210151815 A CN202210151815 A CN 202210151815A CN 114308796 A CN114308796 A CN 114308796A
- Authority
- CN
- China
- Prior art keywords
- frame
- robot
- robot body
- photovoltaic module
- distance measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to a frame-type photovoltaic module operation and maintenance robot and a control method thereof, wherein the robot comprises a frame and a robot body, the frame is provided with a frame driving device and a first distance measuring device, the frame driving device is used for driving a frame main body to move back and forth along upper and lower frames of a photovoltaic module, and the frame is provided with the first distance measuring device for detecting the distance between the frame main body and the photovoltaic module; the robot body is provided with a robot driving device, a second distance measuring device and a cleaning device, the robot driving device is matched with the frame to drive the robot body to move on the frame in a reciprocating mode, the second distance measuring device is used for detecting the distance between the robot body and the photovoltaic assembly, and the cleaning device is used for cleaning the surface of the photovoltaic assembly; above-mentioned frame-type photovoltaic module fortune dimension robot can realize the total coverage on photovoltaic module surface to replace artifically, reduce photovoltaic module and wash difficulty and physical expenditure, avoid artifical inhomogeneous problem of wasing, improve the cleaning performance.
Description
Technical Field
The invention relates to the technical field of photovoltaic module cleaning equipment, in particular to a frame type photovoltaic module operation and maintenance robot and a control method thereof.
Background
Solar technology continues to grow in commercial, agricultural and industrial applications in our country, with a wide application prospect. The energy transfer of a solar energy system is generally related to the available irradiance and spectral content of the sun as well as the inherent performance of various environmental, climatic factors and components. However, other external factors related to geographic location and conditions may have a greater impact on system performance. Among these, pollution is a commonly overlooked or underestimated problem that may be the primary problem for the viability of solar devices.
At present, the most common domestic dust removal mode is to physically clean the surface of the solar equipment by water or a detergent solution manually. This approach may result in higher operating and maintenance costs. And when cleaning intractable spot, because the mounting means of photovoltaic module needs to adjust according to the environment that is located, this makes the mounted position of photovoltaic module can bring the difficulty to manual cleaning occasionally, for example some regions need the ladder just can wash when wasing. For some stubborn stains, such as bird droppings, repeated scrubbing is usually required to remove the stubborn stains, and the difficulty of cleaning is further increased when the stubborn stains are in places where the scrubbing of the tool is impossible. In mountain region photovoltaic array, each photovoltaic array distributes comparatively independently, is not in the coplanar, and the inclination is also different moreover, can produce the inclination of two directions sometimes, and this further increases the abluent degree of difficulty.
Disclosure of Invention
The invention aims to provide a frame-type photovoltaic module operation and maintenance robot, which is used for reducing difficulty and physical expenditure in cleaning photovoltaic modules.
The second purpose of the invention is to provide a control method based on the frame-type photovoltaic module operation and maintenance robot.
In order to achieve the purpose, the invention provides the following technical scheme:
a frame-type photovoltaic module operation and maintenance robot comprises:
the frame is provided with a frame driving device and a first distance measuring device, the frame is used for being movably fixed on an upper frame and a lower frame of the photovoltaic assembly, the frame driving device is used for driving the frame main body to reciprocate along the upper frame and the lower frame of the photovoltaic assembly, the first distance measuring device is arranged on one side, close to the left frame of the photovoltaic assembly and/or the right frame of the photovoltaic assembly, of the frame, and the first distance measuring device is used for detecting the distance between the frame main body and the photovoltaic assembly;
the robot comprises a robot body, the robot body is provided with robot driving device, second range unit and cleaning device, robot driving device with the frame cooperation is in with the drive the robot body is in the direction reciprocating motion of last frame and lower frame along perpendicular to photovoltaic module on the frame, second range unit is followed the direction of movement of robot body set up respectively in the both ends of robot body, second range unit is used for detecting distance between robot body and the photovoltaic module, cleaning device follows the direction of movement of robot body set up respectively in the both ends of robot body are used for cleaning the photovoltaic module surface.
Optionally, the robot driving device includes a plurality of pairs of traveling wheels and a driving motor for driving each traveling wheel to rotate, the traveling wheels are of a gear structure, the frame is provided with a rack structure adapted to the traveling wheels, and the gear structure of each traveling wheel is engaged with the rack structure.
Optionally, the frame includes two longerons and two crossbeams, two the both ends of longeron respectively with two the crossbeam can be dismantled and be connected, two the crossbeam is used for cooperating with photovoltaic module's frame, two the crossbeam is provided with respectively frame drive arrangement, two longeron and/or two the crossbeam is provided with respectively first range unit, two the longeron is provided with respectively the rack structure.
Optionally, the cross beam comprises a baffle and a bottom plate, the baffle is connected with the bottom plate to form an L-shaped structure, the longitudinal beam is connected with the bottom plate and/or the baffle, the frame driving device is arranged on the bottom plate, and the first distance measuring devices are respectively arranged at two ends of the bottom plate.
Optionally, the robot body is further provided with rotatable guide wheels, and the guide wheels are at least arranged at four corners of the robot body.
Optionally, the sweeping device comprises a disc brush and a disc brush driving device for driving the disc brush to rotate.
Optionally, the sweeping device comprises a plurality of said disc brushes.
Optionally, the cleaning device further comprises a negative pressure adsorption device, and the negative pressure adsorption device is used for generating negative pressure suction force between the robot body and the photovoltaic module and collecting dirt.
Optionally, the negative pressure adsorption device includes at least two centrifugal fans sequentially disposed on the robot body along a moving direction of the robot body.
Optionally, the frame is further provided with a first posture detection device for detecting the inclination angle of the frame, and/or the robot body is further provided with a second posture detection device for detecting the inclination angle of the robot body.
A control method of the frame-type photovoltaic module operation and maintenance robot comprises the following steps:
1) the robot body starts the robot driving device, the second distance measuring device and the cleaning device, so that the robot body starts to move from an initial position close to a lower frame of the photovoltaic assembly to an upper frame of the photovoltaic assembly, the second distance measuring device at one end, close to the upper frame of the photovoltaic assembly, of the robot body detects the distance between the robot body and the photovoltaic assembly in real time, if the detection value of the second distance measuring device is larger than or equal to a first preset value, the robot body is controlled to continue to move to the upper frame of the photovoltaic assembly, and if the detection value of the second distance measuring device is smaller than the first preset value, the step 2 is carried out;
2) the robot driving device reversely drives the robot body to enable the robot body to move towards the lower frame of the photovoltaic assembly, a second distance measuring device at one end, close to the lower frame of the photovoltaic assembly, of the robot body detects the distance between the robot body and the surface of the photovoltaic assembly in real time, the robot driving device stops until the detection value of the second distance measuring device is smaller than a first preset value, and the step 3 is carried out;
3) the frame driving device drives the frame to move along the upper frame and the lower frame of the photovoltaic assembly for a preset distance, the preset distance is smaller than or equal to the width of the frame, and the frame stops moving after moving for the preset distance and enters the step 4);
4) and (5) repeating the steps 1) to 3) until the detection value of the first distance measuring device is larger than a second preset value, and finishing the cleaning.
Optionally, before the step 1), a preparation step is further included:
a) after a cleaning instruction is obtained, the first distance measuring devices on two sides of the frame detect the distance between the frame and the photovoltaic module, if the detection values of the first distance measuring devices on two sides of the frame are both smaller than or equal to a second preset value, the frame is controlled to move leftwards or rightwards along the upper frame and the lower frame of the photovoltaic module until the detection value of the first distance measuring device on one side of the frame is larger than the second preset value, the step b) is entered, and if the detection value of the first distance measuring device on one side of the frame is smaller than or equal to the second preset value and the detection value of the first distance measuring device on the other side of the frame is larger than the second preset value, the step b) is directly entered;
b) and (3) detecting the distance between the robot body and the photovoltaic module by the second distance measuring device at one end, close to the lower frame of the photovoltaic module, of the robot body, entering the step 1 if the detection value of the second distance measuring device is smaller than a first preset value, and entering the step 1 if the detection value of the second distance measuring device is larger than or equal to the first preset value, and moving the robot body to the initial position of the lower frame of the photovoltaic module until the detection value of the second distance measuring device is smaller than the first preset value.
Optionally, the step 2) specifically includes:
201) the robot driving device drives the robot body reversely to enable the robot body to move towards the lower frame of the photovoltaic assembly, and the second distance measuring device at one end, close to the lower frame of the photovoltaic assembly, of the robot body detects the distance between the robot body and the surface of the photovoltaic assembly in real time until the detection value of the second distance measuring device is smaller than the first preset value, and then the robot driving device stops;
202) detecting whether the inclination angle of the frame is in a normal range, if so, entering the step 3), and if not, adjusting the angle of the frame to be in the normal range and then entering the step 3).
Optionally, the step 3) specifically includes:
301) the frame driving device drives the frame to move for a preset distance along an upper frame and a lower frame of the photovoltaic assembly, the first distance measuring device detects the distance between the frame and the photovoltaic assembly in real time, and the frame stops when the frame moves for the preset distance or the first distance measuring device detects that the distance between the frame and the photovoltaic assembly is larger than a second preset value;
302) detecting the actual moving distance of the frame, if the actual moving distance of the frame is equal to the preset distance, entering the step 4), if the actual moving distance of the frame is larger than 0 and smaller than the preset distance, repeating the step 1) and the step 2) and then finishing the cleaning, and if the actual moving distance of the frame is 0, finishing the cleaning.
According to the technical scheme, the invention discloses a frame-type photovoltaic component operation and maintenance robot which comprises a frame and a robot body, wherein the frame is provided with a frame driving device and a first distance measuring device, the frame is used for being movably fixed on an upper frame and a lower frame of a photovoltaic component, the frame driving device is used for driving a frame main body to reciprocate along the upper frame and the lower frame of the photovoltaic component, one side, close to a left frame of the photovoltaic component and/or a right frame of the photovoltaic component, of the frame is provided with the first distance measuring device, and the first distance measuring device is used for detecting the distance between the frame main body and the photovoltaic component; the robot body is provided with a robot driving device, a second distance measuring device and a cleaning device, the robot driving device is matched with the frame to drive the robot body to reciprocate on the frame along the direction perpendicular to the upper frame and the lower frame of the photovoltaic assembly, the second distance measuring device is respectively arranged at two ends of the robot body along the moving direction of the robot body, the second distance measuring device is used for detecting the distance between the robot body and the photovoltaic assembly, and the cleaning device is respectively arranged at two ends of the robot body along the moving direction of the robot body to clean the surface of the photovoltaic assembly; when the robot is applied, the frame is fixed on an upper frame and a lower frame of the photovoltaic module and is positioned at one end of the photovoltaic module, the robot body is fixed on the frame, then the robot body is started, the robot body moves up and down in a reciprocating mode from the lower end of the frame → the upper end of the frame → the lower end of the frame once, in the process, the cleaning device cleans the photovoltaic module, then the frame moves leftwards or rightwards along the upper frame and the lower frame of the photovoltaic module by a preset distance which is smaller than or equal to the width of the frame, after the preset distance is moved, the frame stops, the robot body moves in a reciprocating mode once again in the moving mode, and the frame and the robot body circularly act in the mode until the frame moves to the other end of the photovoltaic module; therefore, above-mentioned frame-type photovoltaic module fortune dimension robot's structure and working method make it can realize the total coverage on photovoltaic module surface, thereby need wash with the help of the ladder position that could just wash or unable abluent position when washing the manual work, do not receive the restriction of photovoltaic module place area topography, thereby can replace the manual work, degree of difficulty and physical power expenditure when reducing washing photovoltaic module, and can guarantee all to carry out even washing to photovoltaic module's each department, avoid because the photovoltaic module angle, the inhomogeneous problem of manual cleaning that the restriction of topography leads to, improve the cleaning performance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a top view of a frame-type photovoltaic module operation and maintenance robot provided in an embodiment of the present invention;
fig. 2 is a top view of a robot body of the framed photovoltaic module operation and maintenance robot provided by the embodiment of the invention;
fig. 3 is a flowchart of a control method of the frame-type photovoltaic module operation and maintenance robot according to an embodiment of the present invention.
Wherein:
1. 2 is a longitudinal beam; 3. 4, a rack structure; 5. 6, 7 and 8 are brackets; 9. 10, 11 and 12 are frame driving devices; 13. 14 is a bottom plate; 15. 16 is a baffle plate; 17. 18, 19 and 20 are first distance measuring devices; 21. 22 is a second distance measuring device; 23. 24, 25 and 26 are disc brush driving devices; 27. 28, 29 and 30 are disc brushes; 31. 32, 33 and 34 are guide wheels; 35. 36, 37 and 38 are road wheels; 39. 40, 41 and 42 are robot driving motors; 43. 44 is a centrifugal fan; 45 is a frame; 46 is a robot body.
Detailed Description
One of the cores of the invention is to provide a frame-type photovoltaic component operation and maintenance robot, and the structural design of the frame-type photovoltaic component operation and maintenance robot can reduce the difficulty and the physical expenditure when cleaning photovoltaic components.
The other core of the invention is to provide a control method based on the frame-type photovoltaic module operation and maintenance robot.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and fig. 2, fig. 1 is a top view of a framed photovoltaic module operation robot according to an embodiment of the present invention, and fig. 2 is a top view of a robot body of the framed photovoltaic module operation robot according to the embodiment of the present invention.
The embodiment of the invention discloses a frame-type photovoltaic component operation and maintenance robot which comprises a frame 45 and a robot body 46.
The robot body 46 and the frame 45 in the embodiment of the present invention are made of light materials, and in consideration of that the density of industrial aluminum profiles is only 2.7g/cm3, which is about 1/3 of the density of steel, copper or brass, the materials are definitely the best lightweight materials. The industrial aluminum profile also has the advantages of excellent forming, high strength, corrosion resistance, long service life, little pollution, extremely high recoverability and the like. Therefore, the frame 45 is made of aluminum profiles, the model is KNFSB52040, the frame 45 can be folded conveniently and is carried conveniently together with the robot body 46, and the problems that the existing photovoltaic cleaning robot is too large in size and weight and is not easy to move and carry are solved; robot body 46 is provided with robot drive arrangement, second range unit and cleaning device, robot drive arrangement and frame 45 cooperation are with the direction reciprocating motion of drive robot body 46 edge perpendicular to photovoltaic module's last frame and lower frame on frame 45, second range unit sets up respectively in the both ends of robot body 46 along the direction of movement of robot body 46, second range unit is used for detecting the distance between robot body 46 and the photovoltaic module, cleaning device sets up respectively in the both ends of robot body 46 along the direction of movement of robot body 46 and is used for cleaning the photovoltaic module surface.
The controller of the frame-type photovoltaic module operation and maintenance robot uses the single chip microcomputer as a master control, and the single chip microcomputer is connected with the ZigBee module through a serial port, so that the single chip microcomputer can be in broadcast communication with the robot body 46 and the frame 45, and the purposes of information interaction and coordination control of the single chip microcomputer and the rest of the robot body and the frame 45 are achieved.
The robot body 46 uses a single chip microcomputer as a main control and is connected with the ZigBee module through a serial port; the single chip microcomputer generates PWM and transmits the PWM to the robot driving device, so that the operation of the robot driving device is controlled, the robot body 46 can normally move up and down on the frame 45, the distance between the front and back of the second distance measuring device on the robot body 46 and the upper edge and the lower edge of the frame 45 is used for judging whether the current movement is finished or not, the current movement is converted into the next-stage movement, the second distance measuring device can be an ultrasonic distance measuring device, a laser distance measuring device and the like, the cleaning device can be a disc brush or a rolling brush, a negative pressure adsorption device can be further arranged on the basis of the disc brush or the rolling brush to adsorb dust, the robot driving device is composed of a plurality of pairs of robot driving motors and walking wheels, and the robot driving motors drive the walking wheels to rotate so as to realize the up-down movement of the robot body 46 along the frame 45. In the embodiment of the invention, the cleaning device comprises one or more disc brushes, and the brush material selected by the disc brushes has lower damage degree to the solar photovoltaic cell panel than the current manual cleaning mode, so that the solar transmittance is more effectively protected, the annual attenuation rate of the power generation amount of the photovoltaic module is slowed down, the photoelectric conversion efficiency is increased, the photovoltaic module is more directly protected, the maintenance cost is reduced, and the service life is prolonged.
The frame 45 also uses a single chip microcomputer as a main control and is connected with the ZigBee module through a serial port; the first distance measuring devices on the frame 45 can be arranged at four corners of the frame 45 or at two ends of the frame 45 in the moving direction and are used for detecting the distance between the installation position and the surface of the photovoltaic module, so as to judge the gap between the photovoltaic modules and prevent the frame 45 from falling off the photovoltaic module; the same as the robot body 46, the single chip microcomputer on the frame 45 also generates PWM and transmits the PWM to the frame driving device, so that the operation of the frame driving device is controlled, the frame 45 can move left and right along the upper and lower borders of the photovoltaic assembly, the frame driving device comprises a frame 45 driving motor and a belt wheel, the belt wheel is rotatably arranged on the frame 45 and can be in contact fit with the borders of the photovoltaic assembly when the frame 45 is installed on the photovoltaic assembly, and the frame 45 driving motor drives the belt wheel to rotate so that the frame 45 moves along the upper and lower borders of the photovoltaic assembly.
Accelerometers may be further disposed on the frame 45 and the robot body 46 to obtain the moving direction and the moving distance of the frame 45 and the robot body 46.
When the robot cleaning device is used, the frame 45 is fixed on the upper frame and the lower frame of the photovoltaic module and is positioned at one end of the photovoltaic module, the robot body 46 is fixed on the frame 45, then the robot body 46 is started, the robot body 46 moves up and down in a reciprocating mode from the lower end of the frame 45 → the upper end of the frame 45 → the lower end of the frame 45, the cleaning device cleans the photovoltaic module in the process, then the frame 45 moves leftwards or rightwards along the upper frame and the lower frame of the photovoltaic module by a preset distance which is smaller than or equal to the width of the frame 45, after the preset distance is moved, the frame 45 is stopped, the robot body 46 moves in a reciprocating mode once again, and the frame 45 and the robot body 46 circularly move in the mode until the frame 45 moves to the other end of the photovoltaic module.
Compared with the prior art, the structure and the working mode of the frame-type photovoltaic module operation and maintenance robot provided by the embodiment of the invention can realize full coverage on the surface of the photovoltaic module, so that the positions which can be cleaned only by means of a ladder or cannot be cleaned during manual cleaning are cleaned without being limited by the terrain of the area where the photovoltaic module is located, the manual cleaning can be replaced, the difficulty and the physical expenditure during cleaning the photovoltaic module are reduced, uniform cleaning of each position of the photovoltaic module can be ensured, the problem of nonuniform manual cleaning caused by the limitation of the angle and the terrain of the photovoltaic module is avoided, and the cleaning effect is improved.
Preferably, in the embodiment of the present invention, the walking wheels on the robot body 46 are gear structures, the frame 45 is provided with a rack structure 3(4) adapted to the walking wheels, and the gear structures of the walking wheels are meshed with the rack structure 3(4), so that the robot body 46 is more stable when the frame 45 walks, although in other embodiments.
In the embodiment of the present invention, the frame 45 includes two longitudinal beams 1(2) and two cross beams, two ends of the two longitudinal beams 1(2) are detachably connected to the two cross beams respectively, so as to be detachable and stored when not in use, specifically, the cross beams are detachably connected to the longitudinal beams 1(2) through brackets 5, 6, 7, and 8, the two cross beams are used for being matched with a frame of the photovoltaic module, the two cross beams are respectively provided with the frame driving device, each cross beam is respectively provided with two frame driving devices, the two longitudinal beams 1(2) and/or the two cross beams are respectively provided with a first distance measuring device, and the two longitudinal beams 1(2) are respectively provided with a rack structure 3 (4).
In order to further optimize the technical scheme, in order to facilitate the matching and fixing of the frame 45 and the photovoltaic module frame, in the embodiment of the present invention, the beam includes a baffle 15(16) and a bottom plate 13(14), the baffle 15(16) and the bottom plate 13(14) are connected to form an L-shaped structure to match with the photovoltaic module frame, the longitudinal beam 1(2) is connected to the bottom plate 13(14) and/or the longitudinal beam 1(2) is connected to the baffle 15(16), the frame driving device is disposed on the bottom plate 13(14), and the two ends of the bottom plate 13(14) are respectively provided with the first distance measuring device.
As shown in fig. 1 and 2, the robot body 46 is further provided with rotatable guide wheels, and the guide wheels are arranged at least at four corners of the robot body 46, and the guide wheels can be in contact fit with the frame 45 during the moving process of the robot body 46 to reduce the collision between the robot body 46 and the frame 45 and play a role in guiding the robot body 46.
As shown in fig. 1 and 2, in the embodiment of the present invention, the cleaning device includes two disc brushes arranged side by side and a disc brush driving device for driving the two disc brushes to rotate, the second distance measuring device is located between the two disc brushes and slightly protrudes from the edge of the disc brushes, so that when the second distance measuring device detects the cross beam, that is, the second distance measuring device changes the distance between the detection robot body 46 and the photovoltaic module into the distance between the detection robot body 46 and the frame 45, the detection value of the second distance measuring device is smaller than the first preset value, and the disc brushes just finish cleaning the edge of the surface of the photovoltaic module.
Further, in the above embodiment, the cleaning apparatus further includes a negative pressure adsorption apparatus for generating negative pressure suction force between the robot body 46 and the photovoltaic module to improve stability of the robot body 46 and collect dirt. Specifically, the negative pressure adsorption device includes at least two centrifugal fans sequentially disposed on the robot body 46 along the moving direction of the robot body 46, and when the negative pressure adsorption device is applied, the power of the centrifugal fans can be adjusted according to actual needs to change the generated negative pressure suction force, so that the stability of the robot body 46 is higher.
Further optimize above-mentioned technical scheme, above-mentioned frame 45 still is provided with the first gesture detection device that is used for detecting frame 45 inclination, and/or, robot 46 still is provided with the second gesture detection device that is used for detecting robot 46 inclination, first gesture detection device or second gesture detection device all can be used for detecting current frame 45's inclination, when the inclination of abnormal condition appears in the in-process that frame 45 moved, can be detected out, after once the operation, the inclination of adjustment frame 45 during to normal work, guarantee frame 45 normal operating.
The first attitude detection device and the second attitude detection device can use a modularized MPU6050-JY60 which can communicate by using serial ports and directly output Euler angles in three directions, so that the device is convenient to use.
An embodiment of the present invention further provides a control method of the frame-type photovoltaic module operation and maintenance robot as described in the foregoing embodiment, as shown in fig. 3, the control method includes the steps of:
s1: the robot body 46 starts the robot driving device, the second distance measuring device and the cleaning device, so that the robot body 46 starts to move from the initial position close to the lower frame of the photovoltaic module to the upper frame of the photovoltaic module, the second distance measuring device at one end of the robot body 46 close to the upper frame of the photovoltaic module detects the distance between the robot body 46 and the photovoltaic module in real time, if the detection value of the second distance measuring device is greater than or equal to the first preset value, the robot body 46 is controlled to continue to move to the upper frame of the photovoltaic module, and if the detection value of the second distance measuring device is smaller than the first preset value, the step S2 is entered;
the detection value of the second distance measuring device is greater than or equal to the first preset value, which indicates that the second distance measuring device on the robot body 46 does not detect the photovoltaic module frame or framework 45, the robot body 46 needs to move continuously according to the current direction, and the detection value of the second distance measuring device is smaller than the first preset value, which indicates that the second distance measuring device on the robot body 46 detects the photovoltaic module frame or framework 45, and the robot body 46 moves to the edge of the photovoltaic module.
S2: the robot driving device reversely drives the robot body 46 to enable the robot body 46 to move towards the lower frame of the photovoltaic module, a second distance measuring device at one end, close to the lower frame of the photovoltaic module, of the robot body 46 detects the distance between the robot body 46 and the surface of the photovoltaic module in real time, the robot driving device stops until the detection value of the second distance measuring device is smaller than a first preset value, and the step S3 is carried out;
the descending process of the robot body 46 is substantially identical to the ascending process.
S3: the frame driving device drives the frame 45 to move along the upper frame and the lower frame of the photovoltaic module by a preset distance, the preset distance is smaller than or equal to the width of the frame 45, and the frame 45 stops moving after moving by the preset distance and then the step S4 is executed;
after the robot body 46 reciprocates up and down once, the frame 45 moves left or right by a preset distance to move the robot body 46 to a position where the photovoltaic module is not cleaned, and the preset distance is smaller than or equal to the width of the frame 45 to avoid a strip-shaped area which is not cleaned from occurring between two cleaning positions.
S4: and repeating the steps S1 to S3 until the detection value of the first distance measuring device is larger than the second preset value, and finishing the cleaning.
A preparation step is further included before step S1:
a: after a cleaning instruction is obtained, the first distance measuring devices on two sides of the frame 45 detect the distance between the frame 45 and the photovoltaic module, if the detection values of the first distance measuring devices on two sides of the frame 45 are both smaller than or equal to a second preset value, the frame 45 is controlled to move leftwards or rightwards along the upper frame and the lower frame of the photovoltaic module until the detection value of the first distance measuring device on one side of the frame 45 is larger than the second preset value, the step b is entered, and if the detection value of the first distance measuring device on one side of the frame 45 is smaller than or equal to the second preset value and the detection value of the first distance measuring device on the other side of the frame 45 is larger than the second preset value, the step b is directly entered;
the detection values of the first distance measuring devices on the two sides of the frame 45 are smaller than or equal to the second preset value, which indicates that the frame 45 is not located at the end part of the photovoltaic module, the frame 45 needs to be moved to the end part of the photovoltaic module first, and the detection value of the first distance measuring device on one side of the frame 45 is larger than the second preset value, which indicates that the frame 45 has been moved to one end of the photovoltaic module, and the next step can be performed.
b: the second distance measuring device at one end of the robot body 46 close to the lower border of the photovoltaic module detects the distance between the robot body 46 and the photovoltaic module, and if the detection value of the second distance measuring device is smaller than the first preset value, the step S1 is performed, and if the detection value of the second distance measuring device is larger than or equal to the first preset value, the robot body 46 moves to the initial position of the lower border of the photovoltaic module until the detection value of the second distance measuring device is smaller than the first preset value, and the step S1 is performed.
If the detection value of the second distance measuring device at the end, close to the lower frame of the photovoltaic module, of the robot body 46 is smaller than the first preset value, it indicates that the second distance measuring device detects the frame or the beam of the photovoltaic module, and the robot body 46 is located at the lower end of the frame 45, the step S1 is performed, and if the detection value of the second distance measuring device is greater than or equal to the first preset value, it indicates that the robot body 46 is not located at the initial position, and it is necessary to adjust the position of the robot body 46 to the initial position first and then perform the step S1.
Step S2 specifically includes:
s201: the robot driving device reversely drives the robot body 46 to enable the robot body 46 to move towards the lower frame of the photovoltaic assembly, and the second distance measuring device at one end, close to the lower frame of the photovoltaic assembly, of the robot body 46 detects the distance between the robot body 46 and the surface of the photovoltaic assembly in real time until the detection value of the second distance measuring device is smaller than the first preset value, and then the robot driving device stops;
s202: detecting whether the inclination angle of the frame 45 is within a normal range, if the inclination angle of the frame 45 is within the normal range, the step S3 is performed, and if the inclination angle of the frame 45 is not within the normal range, the step S3 is performed after the angle of the frame 45 is adjusted to the normal range, and a new cleaning process is performed.
Step S3 specifically includes:
s301: the frame driving device drives the frame 45 to move for a preset distance along the upper frame and the lower frame of the photovoltaic assembly, the first distance measuring device detects the distance between the frame 45 and the photovoltaic assembly in real time, and the frame 45 stops when the preset distance is moved or the first distance measuring device detects that the distance between the frame 45 and the photovoltaic assembly is larger than a second preset value;
s302: detecting the actual moving distance of the frame 45, if the actual moving distance of the frame 45 is equal to the preset distance, proceeding to step S4, if the actual moving distance of the frame 45 is greater than 0 and less than the preset distance, repeating step S1 and step S2, and ending the cleaning, if the actual moving distance of the frame 45 is 0.
The frame-type photovoltaic module operation and maintenance robot and the control method thereof have the advantages that:
1) the invention provides a robot framework of track traveling, negative pressure adsorption and disc brush cleaning aiming at the problems of large inclination angle of a photovoltaic module, large lateral gradient of partial array, obstacle crossing gap and obstacle crossing height of the module, and solves the operation problems of the robot in complex application scenes such as inclination angle, gradient, gap and obstacle of the module.
2) Aiming at the problems that dust is easy to accumulate on a component frame to form intractable dust deposition and the generated power loss is serious, the invention develops a robot 'advancing and cleaning cooperative control system', has the function of variable-speed parking and cleaning in key polluted areas and realizes the fixed-point cleaning of intractable pollutants.
3) Aiming at the problem that substances with strong adhesiveness such as pollen, resin sediments, bird feces and the like are accumulated on a photovoltaic module, the invention designs a combined cleaning structure of a rotary disc brush and negative pressure adsorption, and enhances the cleaning effect of the adhesive pollutants by combining the variable speed parking function.
4) The robot body 46 and the frame 45 are made of light materials, the frame 45 can be folded conveniently and is carried conveniently together with the robot body 46, and the problems that the existing photovoltaic cleaning robot is too large in size and weight, difficult to move and difficult to carry are solved.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
It should be understood that the use of "system," "device," "unit," and/or "module" herein is merely one way to distinguish between different components, elements, components, parts, or assemblies of different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
In the description of the embodiments herein, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
If used in this application, the flowcharts are intended to illustrate operations performed by the system according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
It is also noted that, in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in an article or device that comprises the element.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (14)
1. The utility model provides a frame-type photovoltaic module fortune dimension robot which characterized in that includes:
the frame is provided with a frame driving device and a first distance measuring device, the frame is used for being movably fixed on an upper frame and a lower frame of the photovoltaic assembly, the frame driving device is used for driving the frame main body to reciprocate along the upper frame and the lower frame of the photovoltaic assembly, the first distance measuring device is arranged on one side, close to the left frame of the photovoltaic assembly and/or the right frame of the photovoltaic assembly, of the frame, and the first distance measuring device is used for detecting the distance between the frame main body and the photovoltaic assembly;
the robot comprises a robot body, the robot body is provided with robot driving device, second range unit and cleaning device, robot driving device with the frame cooperation is in with the drive the robot body is in the direction reciprocating motion of last frame and lower frame along perpendicular to photovoltaic module on the frame, second range unit is followed the direction of movement of robot body set up respectively in the both ends of robot body, second range unit is used for detecting distance between robot body and the photovoltaic module, cleaning device follows the direction of movement of robot body set up respectively in the both ends of robot body are used for cleaning the photovoltaic module surface.
2. A frame-type photovoltaic module operation and maintenance robot as claimed in claim 1, wherein the robot driving device comprises a plurality of pairs of walking wheels and a driving motor for driving each walking wheel to rotate, the walking wheels are in a gear structure, the frame is provided with a rack structure matched with the walking wheels, and the gear structure of each walking wheel is meshed with the rack structure.
3. A frame-type photovoltaic module operation and maintenance robot as claimed in claim 2, wherein the frame comprises two longitudinal beams and two cross beams, two ends of the two longitudinal beams are detachably connected with the two cross beams respectively, the two cross beams are used for matching with a frame of a photovoltaic module, the two cross beams are provided with the frame driving device respectively, the two longitudinal beams and/or the two cross beams are provided with the first distance measuring device respectively, and the two longitudinal beams are provided with the rack structure respectively.
4. A frame-type photovoltaic module operation and maintenance robot as claimed in claim 3, wherein the cross beam comprises a baffle plate and a bottom plate, the baffle plate is connected with the bottom plate to form an L-shaped structure, the longitudinal beam is connected with the bottom plate and/or the baffle plate, the frame driving device is disposed on the bottom plate, and the first distance measuring device is disposed at each end of the bottom plate.
5. A frame-type photovoltaic module operation and maintenance robot as claimed in any one of claims 1-4, wherein the robot body is further provided with rotatable guide wheels, and the guide wheels are arranged at least at four corners of the robot body.
6. A frame-type photovoltaic module operation and maintenance robot as claimed in any one of claims 1-4, wherein the cleaning device comprises a disc brush and a disc brush driving device for driving the disc brush to rotate.
7. A frame-type photovoltaic module operation and maintenance robot according to claim 6, characterized in that, cleaning device includes a plurality of said disc brushes.
8. A frame-type photovoltaic module operation and maintenance robot as claimed in claim 6, wherein the cleaning device further comprises a negative pressure suction device for generating negative pressure suction between the robot body and the photovoltaic module and collecting dirt.
9. A frame-type photovoltaic module operation and maintenance robot as claimed in claim 8, wherein the negative pressure adsorption device comprises at least two centrifugal fans sequentially arranged on the robot body along the moving direction of the robot body.
10. A frame-type photovoltaic module operation and maintenance robot as claimed in any one of claims 1-4 and 7-9, wherein said frame is further provided with a first posture detection device for detecting an inclination angle of said frame, and/or said robot body is further provided with a second posture detection device for detecting an inclination angle of said robot body.
11. A control method for a frame-type photovoltaic module operation and maintenance robot as claimed in any one of claims 1-10, comprising the steps of:
1) the robot body starts the robot driving device, the second distance measuring device and the cleaning device, so that the robot body starts to move from an initial position close to a lower frame of the photovoltaic assembly to an upper frame of the photovoltaic assembly, the second distance measuring device at one end, close to the upper frame of the photovoltaic assembly, of the robot body detects the distance between the robot body and the photovoltaic assembly in real time, if the detection value of the second distance measuring device is larger than or equal to a first preset value, the robot body is controlled to continue to move to the upper frame of the photovoltaic assembly, and if the detection value of the second distance measuring device is smaller than the first preset value, the step 2 is carried out;
2) the robot driving device reversely drives the robot body to enable the robot body to move towards the lower frame of the photovoltaic assembly, a second distance measuring device at one end, close to the lower frame of the photovoltaic assembly, of the robot body detects the distance between the robot body and the surface of the photovoltaic assembly in real time, the robot driving device stops until the detection value of the second distance measuring device is smaller than a first preset value, and the step 3 is carried out;
3) the frame driving device drives the frame to move along the upper frame and the lower frame of the photovoltaic assembly for a preset distance, the preset distance is smaller than or equal to the width of the frame, and the frame stops moving after moving for the preset distance and enters the step 4);
4) and (5) repeating the steps 1) to 3) until the detection value of the first distance measuring device is larger than a second preset value, and finishing the cleaning.
12. The control method according to claim 11, characterized by further comprising, before the step 1), a preparation step of:
a) after a cleaning instruction is obtained, the first distance measuring devices on two sides of the frame detect the distance between the frame and the photovoltaic module, if the detection values of the first distance measuring devices on two sides of the frame are both smaller than or equal to a second preset value, the frame is controlled to move leftwards or rightwards along the upper frame and the lower frame of the photovoltaic module until the detection value of the first distance measuring device on one side of the frame is larger than the second preset value, the step b) is entered, and if the detection value of the first distance measuring device on one side of the frame is smaller than or equal to the second preset value and the detection value of the first distance measuring device on the other side of the frame is larger than the second preset value, the step b) is directly entered;
b) and (3) detecting the distance between the robot body and the photovoltaic module by the second distance measuring device at one end, close to the lower frame of the photovoltaic module, of the robot body, entering the step 1 if the detection value of the second distance measuring device is smaller than a first preset value, and entering the step 1 if the detection value of the second distance measuring device is larger than or equal to the first preset value, and moving the robot body to the initial position of the lower frame of the photovoltaic module until the detection value of the second distance measuring device is smaller than the first preset value.
13. The control method according to claim 11, wherein the step 2) specifically includes:
201) the robot driving device drives the robot body reversely to enable the robot body to move towards the lower frame of the photovoltaic assembly, and the second distance measuring device at one end, close to the lower frame of the photovoltaic assembly, of the robot body detects the distance between the robot body and the surface of the photovoltaic assembly in real time until the detection value of the second distance measuring device is smaller than the first preset value, and then the robot driving device stops;
202) detecting whether the inclination angle of the frame is in a normal range, if so, entering the step 3), and if not, adjusting the angle of the frame to be in the normal range and then entering the step 3).
14. The control method according to claim 11, wherein the step 3) specifically includes:
301) the frame driving device drives the frame to move for a preset distance along an upper frame and a lower frame of the photovoltaic assembly, the first distance measuring device detects the distance between the frame and the photovoltaic assembly in real time, and the frame stops when the frame moves for the preset distance or the first distance measuring device detects that the distance between the frame and the photovoltaic assembly is larger than a second preset value;
302) detecting the actual moving distance of the frame, if the actual moving distance of the frame is equal to the preset distance, entering the step 4), if the actual moving distance of the frame is larger than 0 and smaller than the preset distance, repeating the step 1) and the step 2) and then finishing the cleaning, and if the actual moving distance of the frame is 0, finishing the cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210151815.4A CN114308796A (en) | 2022-02-18 | 2022-02-18 | Frame-type photovoltaic module operation and maintenance robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210151815.4A CN114308796A (en) | 2022-02-18 | 2022-02-18 | Frame-type photovoltaic module operation and maintenance robot and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114308796A true CN114308796A (en) | 2022-04-12 |
Family
ID=81030611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210151815.4A Pending CN114308796A (en) | 2022-02-18 | 2022-02-18 | Frame-type photovoltaic module operation and maintenance robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114308796A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598114A (en) * | 2015-07-28 | 2016-05-25 | 中节能太阳能科技有限公司 | Photovoltaic module cleaning device and cleaning method thereof |
| CN109047086A (en) * | 2018-08-02 | 2018-12-21 | 南京师范大学 | A kind of photovoltaic battery plate sweeping robot carrier and method for carrying |
| CN109940016A (en) * | 2019-05-06 | 2019-06-28 | 甘肃银虹机器人科技开发有限公司 | A kind of photovoltaic panel assembly clean robot |
| CN110000132A (en) * | 2019-03-28 | 2019-07-12 | 深圳市晟鑫能源科技有限公司 | A kind of Portable photovoltaic sweeping robot |
| CN110576016A (en) * | 2019-10-24 | 2019-12-17 | 安阳工学院 | Solar photovoltaic panel cleaning robot and cleaning method |
| CN111014214A (en) * | 2019-11-06 | 2020-04-17 | 宁夏大学 | Dust removal device for solar panel |
| CN210730481U (en) * | 2019-10-24 | 2020-06-12 | 安阳工学院 | Solar photovoltaic board cleans machine people |
| CN211457071U (en) * | 2020-03-13 | 2020-09-08 | 深圳市妙能科技有限公司 | Photovoltaic solar panel's anhydrous cleaning robot |
| CN212856732U (en) * | 2020-06-04 | 2021-04-02 | 常州润弘新能源有限公司 | Cleaning equipment for photovoltaic frame |
| CN113386560A (en) * | 2021-06-21 | 2021-09-14 | 海容(无锡)能源科技有限公司 | Gesture detection system of photovoltaic cleaning equipment |
| CN215430636U (en) * | 2021-09-27 | 2022-01-07 | 中国能源建设集团湖南省电力设计院有限公司 | Photovoltaic cell panel surface cleaning equipment |
-
2022
- 2022-02-18 CN CN202210151815.4A patent/CN114308796A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598114A (en) * | 2015-07-28 | 2016-05-25 | 中节能太阳能科技有限公司 | Photovoltaic module cleaning device and cleaning method thereof |
| CN109047086A (en) * | 2018-08-02 | 2018-12-21 | 南京师范大学 | A kind of photovoltaic battery plate sweeping robot carrier and method for carrying |
| CN110000132A (en) * | 2019-03-28 | 2019-07-12 | 深圳市晟鑫能源科技有限公司 | A kind of Portable photovoltaic sweeping robot |
| CN109940016A (en) * | 2019-05-06 | 2019-06-28 | 甘肃银虹机器人科技开发有限公司 | A kind of photovoltaic panel assembly clean robot |
| CN110576016A (en) * | 2019-10-24 | 2019-12-17 | 安阳工学院 | Solar photovoltaic panel cleaning robot and cleaning method |
| CN210730481U (en) * | 2019-10-24 | 2020-06-12 | 安阳工学院 | Solar photovoltaic board cleans machine people |
| CN111014214A (en) * | 2019-11-06 | 2020-04-17 | 宁夏大学 | Dust removal device for solar panel |
| CN211457071U (en) * | 2020-03-13 | 2020-09-08 | 深圳市妙能科技有限公司 | Photovoltaic solar panel's anhydrous cleaning robot |
| CN212856732U (en) * | 2020-06-04 | 2021-04-02 | 常州润弘新能源有限公司 | Cleaning equipment for photovoltaic frame |
| CN113386560A (en) * | 2021-06-21 | 2021-09-14 | 海容(无锡)能源科技有限公司 | Gesture detection system of photovoltaic cleaning equipment |
| CN215430636U (en) * | 2021-09-27 | 2022-01-07 | 中国能源建设集团湖南省电力设计院有限公司 | Photovoltaic cell panel surface cleaning equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105881555B (en) | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower | |
| US8240320B2 (en) | Washing apparatus and washing method for solar panels | |
| CN102974557B (en) | Photovoltaic battery panel pack cleaning device based on monorail travel unit | |
| JP3200455U (en) | Solar power panel cleaning robot | |
| CN110524551B (en) | Photovoltaic module cleans machine people ferry vehicle with automatically regulated function | |
| CN103406292A (en) | Photovoltaic module cleaning robot | |
| IL222558A (en) | Solar panel cleaning system | |
| JP2002273351A (en) | Method and apparatus for cleaning outer face of solar cell panel | |
| CN102078169A (en) | Floor cleaning robot | |
| CN105032821A (en) | Fixed cleaning apparatus for photovoltaic cell panels | |
| JP6409252B2 (en) | Solar panel cleaning device | |
| CN210730481U (en) | Solar photovoltaic board cleans machine people | |
| CN110576016A (en) | Solar photovoltaic panel cleaning robot and cleaning method | |
| WO2014203560A1 (en) | Cleaning device | |
| JP2014121680A (en) | Cleaning apparatus | |
| CN104158481A (en) | Mobile solar panel array surface movement system | |
| CN114226323A (en) | Intelligent robot suitable for operation and maintenance dust removal of photovoltaic power station and control method | |
| CN210300857U (en) | Cleaning robot | |
| CN216880648U (en) | Intelligent robot suitable for cleaning dust of operation and maintenance of photovoltaic power station | |
| CN110524552B (en) | Photovoltaic module cleans machine people system with self-adaptation regulatory function | |
| CN110841941B (en) | Automatic reversing photovoltaic cell cleaning robot and use method | |
| CN114308796A (en) | Frame-type photovoltaic module operation and maintenance robot and control method thereof | |
| CN105127116B (en) | Photovoltaic module cleaning device | |
| CN108971070A (en) | A kind of automation cleaning equipment suitable for photovoltaic panel | |
| CN212759860U (en) | Steering crawler wheel groove type dust removal device carried by unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |