CN114985317A - Clean system of photovoltaic panel intelligence - Google Patents
Clean system of photovoltaic panel intelligence Download PDFInfo
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- CN114985317A CN114985317A CN202210078472.3A CN202210078472A CN114985317A CN 114985317 A CN114985317 A CN 114985317A CN 202210078472 A CN202210078472 A CN 202210078472A CN 114985317 A CN114985317 A CN 114985317A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- 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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Abstract
The invention discloses an intelligent cleaning system for a photovoltaic panel, which comprises a running track, wherein the running track is arranged along the laying direction of a plurality of groups of flat single-shaft photovoltaic modules, each flat single-shaft photovoltaic module comprises a plurality of stand columns and photovoltaic panels arranged on the stand columns, and the running track is arranged on the stand columns; the cleaning robot is movably arranged on the running track and used for cleaning the passing flat single-shaft photovoltaic module; the network transmission module is used for transmitting data between the cleaning robot and the site base station; and the rear-end operation and maintenance platform is used for controlling the work of the intelligent cleaning system. According to the invention, the operation track and the cleaning robot are arranged, the cleaning robot moves along the operation track to clean dust or sundries on the surface of the photovoltaic panel in time, and the structural distribution characteristics of large length of the flat single-axis photovoltaic module and uniform distance among the single rows are adapted, so that the problem of cross-row continuous cleaning operation is solved, the safe production of electric power is ensured, and the generated energy, the integral operation level of the power station and the profitability are improved.
Description
Technical Field
The invention belongs to the technical field of photovoltaic power generation, and particularly relates to an intelligent cleaning system for a photovoltaic panel.
Background
In recent years, solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy source. For a photovoltaic power station, dirt such as wind sand, dust and the like is easily accumulated on the surface of a solar cell panel, the dirt is an important factor influencing the generated energy, the light irradiation quantity received by a component can be reduced, the system efficiency is influenced, the generated energy is reduced, if the component is not timely cleaned scientifically and professionally, the generated power of the component can be attenuated by 40% -60% to the maximum extent, the generated energy is reduced by 20% -30%, the hot spot effect can be caused by local shielding, the generated energy loss is caused, the service life of group price is influenced, and meanwhile, potential safety hazards are caused.
Flat unipolar photovoltaic module in the photovoltaic power plant is the multirow and arranges the setting, and this flat unipolar photovoltaic module includes many stands and installs the photovoltaic board on the stand, and traditional manual work cleans the mode and can make photovoltaic board surface dust or debris can not obtain timely clearance owing to clean reasons such as untimely, inefficiency, seriously influences the generated energy, and simultaneously, the debris that do not obtain the clearance can form the hot spot effect to the photovoltaic board surface. In order to adapt to the structural distribution characteristics of large length and uniform distance among the single rows of the flat single-shaft photovoltaic module, the problem of continuous sweeping operation of the cross rows needs to be solved.
Disclosure of Invention
The invention provides an intelligent cleaning system for a photovoltaic panel, which can continuously clean the photovoltaic panel, and aims to overcome the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: photovoltaic panel intelligent cleaning system comprises
The operation tracks are arranged along the laying direction of the multiple groups of flat single-shaft photovoltaic modules, each flat single-shaft photovoltaic module comprises a plurality of stand columns and photovoltaic panels arranged on the stand columns, and the operation tracks are arranged on the stand columns;
the cleaning robot is movably arranged on the running track and used for cleaning the passing flat single-shaft photovoltaic module;
the network transmission module is used for transmitting data between the cleaning robot and the site base station;
and the rear-end operation and maintenance platform is used for controlling the work of the intelligent cleaning system.
Further, the orbit includes the straight rail section of arranging along flat unipolar photovoltaic module length direction and is used for connecting adjacent two sets of the curved track of straight rail section, straight rail section is located between adjacent two sets of flat unipolar photovoltaic module, just curved rail section extends with straight rail section cooperation so that the orbit is "S" shape along the range direction of the flat unipolar photovoltaic module of multirow.
Furthermore, the operation track is composed of two spaced branch rails, the distance between the center lines of two adjacent rows of straight rail sections is D1, the curved rail section comprises two arc branch sections which are respectively tangent to the adjacent straight rail sections and a transition branch section which is arranged between the two arc branch sections and is tangent to the arc branch sections, the radius of the middle branch line of the two branch rails of the arc branch sections is set to be R, the length of the transition branch section is set to be L0, the distance between the two branch rails is set to be D2, and R is more than or equal to (1.3-1.7) D2 and less than or equal to 0.5D 1.
Further, the running rails are arranged on the vertical columns of the two adjacent groups of flat single-axis photovoltaic modules through the mounting frame, a plane perpendicular to the rotation center line of the photovoltaic panel is taken as a first reference plane, a straight line which passes through the rotation center line of the photovoltaic panel along the axial direction of the projection of the vertical column on the first reference plane is taken as a first reference line U1, and the maximum vertical distance between the projection of the photovoltaic panel on the first reference plane in the horizontal state and the first reference line U1 is taken as Y1; and the minimum distance from the projection of the top of the mounting frame on the first reference surface to the projection point of the rotation center line of the photovoltaic panel on the first reference surface is Y2, wherein Y1 < Y2.
Furthermore, a charging module is arranged on the running track, a charging assembly is arranged on the cleaning robot, and when the cleaning robot moves to the charging module, the charging assembly and the charging module are matched to charge the cleaning robot; and/or a position tag capable of marking the position of the charging module is arranged at the charging module, and the cleaning robot is provided with a reader capable of reading the information of the position tag.
Furthermore, the cleaning robot comprises a moving platform capable of walking along a running track, a mechanical arm arranged on the moving platform and a tail end cleaning assembly arranged on the mechanical arm, wherein the tail end cleaning assembly is in contact with the photovoltaic panel under the control of the mechanical arm; and/or a main control system and a power supply system of the cleaning robot are arranged on the motion platform.
Furthermore, the motion platform comprises a rack arranged on the operation track, a driving wheel assembly arranged on the rack and matched with the operation track, and a power assembly used for driving the driving wheel assembly to act; and/or the driving wheel assemblies are provided with two groups, one group of driving wheel assemblies are used as driving wheel sets and are driven by the power assembly, and the other group of driving wheel assemblies are used as follow-up wheel sets; and/or two driving wheels of the driving wheel set and the follow-up wheel set are connected through a differential assembly respectively, the differential assembly comprises swing arms connected with the driving wheels of the driving wheel set and the follow-up wheel set respectively, and the two swing arms connected with the same wheel set are connected through a hinge.
Furthermore, guide wheels are respectively arranged on two sides of the rack, the axes of the guide wheels are vertically arranged, and the guide wheels are in rolling contact with the side edges of the running track; and/or still be provided with spacing wheel in the frame, leading wheel and orbit's downside rolling contact, the orbit is located between spacing wheel and the driving wheel.
Furthermore, the mechanical arm is mounted on the moving platform through a swing mechanism, when the cleaning robot carries out forward cleaning operation, the swing mechanism is kept still, and the robot carries a cleaning assembly through the mechanical arm to complete cleaning operation on the first row of photovoltaic panels and the fourth row of photovoltaic panels; when the robot moves to the bent rail section, the mechanical arm lifts the tail end cleaning assembly to be separated from the photovoltaic panel; when the robot cleans the first row and the fourth row of photovoltaic panels, the mechanical arm 32 performs lifting action, the cleaning assembly is separated from the photovoltaic panels, the swing mechanism performs 180-degree rotation action, the moving platform performs reverse action, and the second row and the third row of photovoltaic panels are cleaned.
Furthermore, the photovoltaic power generation system further comprises an environment detection device for detecting environment parameters of the local photovoltaic station, wherein the environment detection device comprises a dust detection module, a rainwater detection module, a temperature and humidity detection module, a wind speed detection module, a power supply module and a communication module.
In conclusion, the beneficial effects of the invention are as follows:
through setting up the orbit and cleaning the robot, cleaning the robot and walking along the orbit and in order to carry out timely clearance to photovoltaic board surface dust or debris, adapt to flat unipolar photovoltaic module length big and each single relatively unified structural distribution characteristics of row interval to the operation problem of cleaning in succession of row is striden in the solution, guarantee electric power safety production promotes the generated energy, and then promotes the whole operation level of power station and profitability.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of fig. 1 from another perspective.
Fig. 3 is a left side view of the partial structure of fig. 1.
Fig. 4 is a partial structural view of the running rail of fig. 1.
Fig. 5 is a block diagram of another embodiment of the travel track of fig. 1.
Fig. 6 is a perspective view of the swing mechanism of fig. 1.
Fig. 7 is a perspective view of a portion of the structure of fig. 1.
Fig. 8 is a perspective view of fig. 7 from another perspective.
Fig. 9 is an enlarged view of a portion a in fig. 8.
Fig. 10 is a state diagram of the motion platform on a straight rail section.
Fig. 11 is a state diagram of the motion platform moving onto the arc-shaped branch section.
Fig. 12 is a schematic structural view of the connection between the swing arm and the hinge in fig. 10.
Fig. 13 is a schematic diagram of the forward cleaning operation of the rail-mounted intelligent cleaning robot.
Fig. 14 is a schematic diagram of a reverse cleaning operation of the rail-mounted intelligent cleaning robot.
Fig. 15 is a schematic diagram of a power management system of the cleaning robot.
Fig. 16 is a schematic view of a wireless charging method according to the present invention.
Fig. 17 is a block diagram of the environment detection system.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
Referring to fig. 1-2, an intelligent cleaning system for a photovoltaic panel comprises a running track 10, a cleaning robot 30, a network transmission module and a back-end operation and maintenance platform; the operation tracks 10 are laid every two rows of flat single-shaft photovoltaic modules 20, wherein each flat single-shaft photovoltaic module 20 comprises a plurality of upright posts 21 and photovoltaic plates 22 arranged on the upright posts 21, and the operation tracks 10 are fixed on the upright posts 21 of two adjacent groups of flat single-shaft photovoltaic modules through a plurality of groups of mounting frames 23; the running track 10 is composed of two spaced sub-tracks 11, is arranged along the laying direction of a plurality of groups of flat single-axis photovoltaic modules, and is used for guiding the cleaning robot 30 to move along the laying of the flat single-axis photovoltaic modules. The cleaning robot is set to be a track type robot, can be movably arranged on the running track, can automatically walk on the running track according to set frequency and under the condition of issuing instructions according to weather conditions or manual work after the cleaning robot is started, and is used for cleaning pollutants on the surface of the passing flat single-shaft photovoltaic module 20.
In some embodiments, the network transmission module adopts an ad hoc network mode and combines a wired wireless communication mode, so that the network transmission module has the advantages of spectrum safety, strong anti-interference capability and the like; at the mobile end of the robot, an electric wireless communication mode is adopted, and data are transmitted to a field base station; the communication can be carried out from the site base station to the background through wireless or optical fiber. The back-end operation and maintenance platform adopts a B/S framework, is responsible for data interaction, analysis and mining and is used as a core control part of the intelligent cleaning system.
Referring to fig. 3, in some embodiments, the mounting frame 23 includes a fixing rod 231 having two ends respectively connected to the vertical posts 21 on the two adjacent groups of flat single-axis photovoltaic modules 20, and a bracket 232 fixed to the fixing rod and connected to the running track 10; the mode that orbit 10 adopted stand 21 to support lays, saves orbital the cost of laying, and orbital laying does not receive the influence of topography, reduces the degree of difficulty that the track was laid, and mounting bracket 23 can improve the stability of adjacent two sets of flat unipolar photovoltaic module 20 simultaneously. Meanwhile, the operation track is arranged on the stand column, so that the ground space is not occupied, and workers can conveniently enter the field to maintain the track and the cleaning robot.
Referring to fig. 3, in some embodiments, taking a plane perpendicular to the rotation center line of the photovoltaic panel 22 as a first reference plane, a straight line along the axial direction of the projection of the pillar 21 on the first reference plane and passing through the rotation center line of the photovoltaic panel is a first reference line U1, and the maximum perpendicular distance between the projection on the first reference plane in the horizontal state of the photovoltaic panel 22 and the first reference line U1 is Y1; the minimum distance from the projection of the top surface of the fixing rod 231 on the first reference surface to the projection point of the rotation center line of the photovoltaic panel on the first reference surface is Y2, wherein Y1 is less than Y2, and the interference with the fixing rod 231 in the angle adjustment process of the photovoltaic panel is avoided.
Referring to fig. 1, 2, 6, 7, in some embodiments, the cleaning robot 30 includes a motion platform 31, a robotic arm 32, and an end cleaning assembly 33; the moving platform 31 travels along the track of the running track 10, and a main control system 34 and a power supply system of the whole cleaning robot are installed on the moving platform 31, wherein the power supply system at least comprises a storage battery 35; the mechanical arm 32 is mounted on the moving platform 31 through a slewing mechanism 40 and used for driving the mechanical arm to rotate 360 degrees relative to the moving platform; the terminal cleaning assembly 33 is mounted at one end of the mechanical arm 32 far away from the moving platform 31, and the terminal cleaning assembly 33 is in contact with the photovoltaic panel 22 under the control of the mechanical arm 32 and is used for cleaning the photovoltaic panel 22.
In some embodiments, the robotic arm 32 is coupled to the swing mechanism 40 via a mounting flange 321, wherein the swing mechanism 40 is mounted on the carrying platform 53, and 360 ° rotation of the robotic arm 32 relative to the carrying platform 53 is achieved via the swing mechanism 40; the swing mechanism 40 includes a swing reducer 41 and a second motor 42; the rotation speed reducer 41 is a common transmission mechanism, and the structure of the rotation speed reducer is not described in detail, and the rotation speed reducer 41 is connected to the mounting interface through the fixing flange 43 and is connected to the mounting flange 321 through the connecting flange 44 to drive the mechanical arm 32 to rotate. The second motor 42 is used as a power source of the rotation reducer 41 for driving the rotation reducer 41 to work, and the second motor 42 is controlled by an encoder.
Referring to fig. 3, in some embodiments, the width of the moving platform is set to Y3, and the minimum distance between two adjacent rows of photovoltaic panels in the horizontal state is Y4, where 1:1< Y3: Y4 ≦ 1:22, preferably, Y3: Y4 ≦ 1: 19-21; most preferably, Y3: Y4 is 1: 20.3. Through the limitation of above relation, avoid motion platform to take place to interfere with the photovoltaic board in the motion process to make the photovoltaic board be located the working range of arm, avoid the end to clean subassembly 33 and appear wasing the dead angle, make simultaneously to arrange compactly between the flat unipolar photovoltaic module 20 of adjacent, realize the abundant application to the place.
Referring to fig. 1, 2, and 4, in some embodiments, the running rail 10 includes a straight rail section 12 and a curved rail section 13; the straight rail sections 12 are arranged along the length direction of the flat single-shaft photovoltaic modules 20, and the straight rail sections are positioned between two adjacent groups of flat single-shaft photovoltaic modules; bent rail section 13 connects two adjacent rows of straight rail sections 12, and bent rail section and straight rail section cooperation are so that the orbit is "S" shape and extends along the array direction of the flat unipolar photovoltaic module of multirow, and then the row walking can be striden to motion platform 31, realizes striding the flat unipolar photovoltaic module of multirow and cleans the operation in order, improves cleaning efficiency.
Referring to FIG. 4, in some embodiments, with a distance D1 between the center lines of two adjacent rows of straight rail sections 12, the curved rail section 13 includes two arc-shaped branch sections 131 tangent to the adjacent straight rail sections 12, and a transition branch section 132 disposed between the two arc-shaped branch sections 131 and tangent to the arc-shaped branch sections 131, wherein the radius of the bisector of the two branches of the arc-shaped branch sections 131 is set to R, the length of the transition branch section 132 is set to L0, and the distance between the two branches 11 is set to D2, wherein (1.3-1.7) D2 is equal to or less than R equal to or less than 0.5D1, preferably, (1.4-1.6) D2 is equal to or less than R equal to or less than 0.5D1, and most preferably, 1.54D2 is equal to or less than R equal to or less than 0.5D1, so that the motion platform 31 can be smoothly transited from the straight rail sections 12 to the arc-shaped branch sections 131.
Referring to fig. 5, in some embodiments, when D1 is 2R, L0 is 0, and accordingly, the curved track segment 13 has a full semicircular arc.
Of course, for the situation that other scenes exist on the site, the running tracks 10 can be laid according to the arrangement of the photovoltaic panels 22 on the site, and the movement of the intelligent cleaning robot and the planning of the cleaning task are performed according to the specific running tracks 10.
Referring to fig. 7, in some embodiments, the motion platform 31 includes a frame 311, a traction wheel assembly, and a power assembly; the frame 311 is located between the two sub-rails 11, the frame 311 is erected on the running rail 10 through two sets of driving wheel assemblies, the two sets of driving wheel assemblies are arranged at intervals along the length direction of the frame 311 to provide forward power for the whole moving platform 31, wherein the length direction of the frame 311 is defined as the forward direction of the whole moving platform 31 on the running rail 10; one group of driving wheel assemblies are used as driving wheel sets and driven by the power assembly, each driving wheel set comprises two driving wheels 312a symmetrically arranged on two sides of the rack, the other group of driving wheel assemblies are used as follow-up wheel sets, and each follow-up wheel set comprises two follow-up wheels 312b symmetrically arranged on two sides of the rack; only one group of driving wheel assemblies is used as a driving wheel set, so that the problems that two sides of a straight line run are asynchronous, a set control speed difference is difficult to achieve when a curved rail section runs and the like in the dual-motor driving process are solved; in other embodiments, both of the two driving wheel assemblies can be set as driving wheel sets, so as to improve the driving capability.
Referring to fig. 8 and 9, in some embodiments, two sets of guide wheel assemblies are further disposed on the frame 311, the two sets of guide wheel assemblies are disposed at intervals along the length direction of the frame 311, each set of guide wheel assemblies includes two guide wheels 314 symmetrically disposed on two sides of the frame 311, an axis of each guide wheel 314 is vertically disposed, and the guide wheels 314 are in rolling contact with one side of the split rail 11 facing the frame 311, so that the moving platform 31 integrally runs along a center line of the two split rails 11, the moving platform 31 is prevented from deflecting to cause the driving wheels 312 to fall off relative to the running track 10, and the moving platform 31 is ensured to stably run on the running track 10.
Referring to fig. 7-9, in some embodiments, two sets of limiting wheel assemblies are further disposed on the frame 311, the two sets of limiting wheel assemblies are disposed at intervals along the length direction of the frame 311, each set of limiting wheel assemblies includes two limiting wheels 315 symmetrically disposed on two sides of the frame 311, the limiting wheels 315 are in rolling contact with the lower side surface of the operation track 10, and the limiting wheels 315 cooperate with the driving wheels to further improve the stability of the moving platform 31. Preferably, the spacing between the two sets of spacing wheels 315 is greater than the spacing between the two sets of moving wheels 312.
Referring to fig. 4 and 10, in some embodiments, taking a plane passing through top surfaces of two partial rails at the same time as a second reference plane, a perpendicular distance between a projection of a rotation center of the driving wheel set on the second reference plane and a projection of a rotation center of the follower wheel set on the second reference plane is L1, wherein a radius of a bisector of the two partial rails of the arc-shaped branch section 131 is set as R; l1 ═ 0.4-0.7) R, preferably L1 ═ 0.5-0.6) R, and most preferably L1 ═ 0.575R, so that the motion platform can stably run on the arc-shaped leg, and wear between the guide wheels and the running rail is reduced.
Referring to fig. 14-16, in some embodiments, the two driving wheels of the driving wheel set and the two driving wheels of the following wheel set are respectively connected through a differential assembly, so as to realize turning walking of the moving platform 31 on the curved rail section 13; the differential assembly comprises a swing arm 361 and a hinge 362; two swing arms 361 are arranged, and the swing arms 361 are respectively connected with one of the driving wheels; the hinge 362 is connected with two swing arms 361 to play a role in turning guidance; while passing through the arc-shaped leg 131, the front-rear swing arm 361 rotates by a rotation angle α via the hinge 362. The guide wheel 314 and the driving wheel close to one side of the center of the arc-shaped branch section have low walking speed to generate friction and sliding resistance; the guide wheel 314 and the driving wheel on the side far away from the center of the arc-shaped branch section have high traveling speed. Wherein the size of α is related to the parameters such as the radius of the arc-shaped branch 131, the track of the guide wheel 314, the distance between the two hinges 362, and the like.
The cleaning robot 30 sequentially cleans the photovoltaic panel 22 by the following steps:
(1) during forward cleaning operation, the slewing mechanism 40 is kept still, and the robot carries a tail end cleaning assembly through the mechanical arm 32 to complete cleaning operation on the first row and the fourth row of photovoltaic panels;
(2) when the robot moves to the curved rail section 13, the mechanical arm 32 lifts the end cleaning assembly 33 away from the optical RFID photovoltaic panel 22;
(3) when the robot cleans the first row and the fourth row of photovoltaic panels, the mechanical arm 32 performs lifting action, the cleaning assembly is separated from the photovoltaic panels 22, and 40 performs 180-degree rotation action and the movement platform 31 performs reverse action to clean the second row and the third row of photovoltaic panels.
Referring to fig. 1 and 8, in some embodiments, at least one group of charging modules 14 is arranged on a path that the moving platform 31 needs to pass through, so as to avoid the problem that the cleaning robot cannot work normally due to insufficient electric energy, and ensure that the cleaning robot can realize long-distance continuous cleaning operation; wherein, the electric energy of the module 14 that charges is directly got in the photovoltaic power plant block terminal, and wherein the interval of adjacent module 14 that charges is according to the length design of cleaning robot single charge walking distance and the flat unipolar photovoltaic module of single row, is provided with the subassembly 37 that charges corresponding with the module 14 that charges on the frame 311. The charging assembly 37 is installed at the lower side of the frame 311, and after the moving platform 31 reaches a charging point, the moving platform can stably contact with the charging module 14, so that stable charging is realized.
In some embodiments, the charging module 14 includes two relay charging points (charging contacts) disposed on the running rail 10, wherein 2 charging contacts are fixedly connected to the two sub-rails 11 through an insulating material, one charging contact is a positive electrode, the other charging contact is a negative electrode, and the contacts are made of titanium alloy. Each relay charging point is provided with a markable charging module position tag, wherein the position tag is set as an RFID tag. The intelligent cleaning robot is provided with a reader which can automatically read the position label information. Correspondingly, the charging assembly 37 is 2 power-taking contacts which are fixedly arranged on the running track 10 and correspond to the charging contacts, and the power-taking contacts are made of titanium alloy. And in the movement process of the cleaning robot, when the cleaning robot reaches the charging position, the charging contact is contacted with the power taking contact.
In some embodiments, the charging modules 14 are arranged on the running track at intervals of 800m, so that the cleaning robot can realize long-distance continuous cleaning operation. Of course, in other embodiments, the distance between adjacent charging modules 14 may be designed according to the power consumption of the cleaning robot.
In some embodiments, an electric quantity monitoring module is arranged on the cleaning robot, when the cleaning robot reads a position tag on a relay charging point, the current electric quantity state is automatically judged, and if the electric quantity is sufficient and charging is not needed, the cleaning robot continues to move; if the current electric quantity is insufficient, the cleaning robot stops moving; meanwhile, a power management system on the cleaning robot is enabled, and the electric energy on the relay charging point can charge the storage battery 35 of the cleaning robot; when charging is not needed, the power management system on the cleaning robot is disabled, and the robot cannot be charged. A schematic diagram of the structure in which power management is performed is shown in fig. 15.
Of course, in other embodiments, referring to fig. 16, the charging module 14 and the charging assembly 37 adopt non-contact induction charging, wherein the charging module 14 includes a transmission control box and a transmission coil box disposed on the running track 10, and the transmission control box and the transmission coil box are installed between the two tracks; the charging assembly 37 includes a receiving controller housing and a receiving coil housing provided on the cleaning robot, and is located below the moving platform 31. The same as fixed charging, every 14 departments that charge all set up a position label, and wherein the position label is established to the RFID label, is provided with the reader on the cleaning robot, can read the label automatically.
The non-contact induction charging has the advantages that: the charging process has no metal charging contact and electric spark, the charging is safe and reliable, the accurate combination and seamless alignment are not needed, the waterproof and dustproof capacity is strong, and the service life is prolonged by non-contact connection.
In some embodiments, a rest area is provided at an end of the operation track 10, and after the cleaning robot performs a cleaning task, the cleaning robot automatically moves to the rest area and stably stops.
Referring to fig. 17, in some embodiments, the intelligent cleaning system further includes an environment detection device for detecting an environment parameter of the local photovoltaic station, where the environment detection device at least includes a dust detection module, a rainwater detection module, a temperature and humidity detection module, a wind speed detection module, a power supply module, and a communication module, where power supply is directly led from the photovoltaic station, the communication module interacts with the robot background software to provide a reference basis for a working environment of the robot, and a specific working principle of the environment detection device is as follows:
(1) according to the amount of dust on the photovoltaic panel or PM2.5, the robot is communicated with a robot background so as to start the robot in time to carry out cleaning operation;
(2) according to the detected current rainfall, the robot is communicated with a robot background to start the robot to clean, so that the function of cleaning with water is realized;
(3) and the detected temperature, humidity, wind speed and the like are used for auxiliary reference of the robot working environment. In extreme weather such as freezing in winter, extreme cold, high wind speed and the like, the robot cannot carry out cleaning operation.
The dust amount on the photovoltaic panel can be obtained by judging according to the detected PM 2.5.
In some embodiments, the environment detection devices are arranged at intervals of every 10 rows of photovoltaic panels, and 2 to 3 photovoltaic panels are arranged in every row, and the specific arrangement can be adjusted according to the field situation. The environment detection system and the cleaning robot form closed-loop control.
In some embodiments, a rest area is provided at an end of the operation track 10, and after the cleaning robot performs a cleaning task, the cleaning robot automatically moves to the rest area and stably stops.
Specific working mode of cleaning robot
(1) Under normal conditions and in the non-rainfall weather, the robot cleans at night and is in an automatic working mode. In order to improve the cleaning efficiency, the photovoltaic panel 22 needs to be adjusted by matching with a robot, the flat single-shaft photovoltaic panel 22 is completely laid flat, and the robot performs quick cleaning;
(2) if there is daytime precipitation weather, the robot opens the mode of cleaning automatically according to the information that environmental detection system gathered, is automatic mode of operation. In order to improve the cleaning efficiency of the robot, the flat single-shaft photovoltaic panel 22 is completely laid flat, and the robot performs quick cleaning. If short-term rainfall occurs according to the forecast of weather, a specific photovoltaic panel 22 can be manually selected (in the early stage, the photovoltaic panel 22 with more residual dirt can be automatically recorded when the robot cleans);
(3) if the robot needs to be manually assisted to start a cleaning task in non-precipitation weather and daytime cleaning operation, the robot is in a semi-autonomous working mode. The robot starts photovoltaic board 22 gradient monitoring devices, to photovoltaic board 22's gradient real-time detection, when guaranteeing the operation, cleans mechanism and photovoltaic board 22 and is in the best all the time and cleans the state.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (10)
1. The utility model provides a clean system of photovoltaic panel intelligence which characterized in that: comprises that
The operation tracks are arranged along the laying direction of the multiple groups of flat single-shaft photovoltaic modules, each flat single-shaft photovoltaic module comprises a plurality of stand columns and photovoltaic panels arranged on the stand columns, and the operation tracks are arranged on the stand columns;
the cleaning robot is movably arranged on the running track and used for cleaning the passing flat single-shaft photovoltaic module;
the network transmission module is used for transmitting data between the cleaning robot and the site base station;
and the rear-end operation and maintenance platform is used for controlling the work of the intelligent cleaning system.
2. The intelligent cleaning system for photovoltaic panels as claimed in claim 1, wherein: the orbit includes that the straight rail section of arranging along flat unipolar photovoltaic module length direction and be used for connecting adjacent two sets of the curved track of straight rail section, straight rail section is located between adjacent two sets of flat unipolar photovoltaic module, just curved rail section and straight rail section cooperation are so that the orbit is "S" shape and extends along the flat unipolar photovoltaic module' S of multirow array direction.
3. The intelligent cleaning system for photovoltaic panels as claimed in claim 2, wherein: the running track is composed of two branch rails arranged at intervals, the distance between the central lines of two adjacent rows of straight rail sections is D1, the curved rail section comprises two arc branch sections which are respectively tangent to the adjacent straight rail sections and a transition branch section which is arranged between the two arc branch sections and is tangent to the arc branch sections, the radius of the middle branch line of the two branch rails of the arc branch sections is set to be R, the length of the transition branch section is set to be L0, the distance between the two branch rails is set to be D2, and R is more than or equal to (1.3-1.7) D2 and less than or equal to 0.5D 1.
4. The intelligent cleaning system for photovoltaic panels as claimed in claim 1, wherein: the operation tracks are arranged on the vertical columns of two adjacent groups of flat single-axis photovoltaic modules through mounting frames, a plane perpendicular to the rotation center line of the photovoltaic panel is taken as a first reference plane, a straight line which passes through the rotation center line of the photovoltaic panel along the axial direction of the projection of the vertical column on the first reference plane is taken as a first reference line U1, and the maximum vertical distance between the projection of the photovoltaic panel on the first reference plane in the horizontal state and the first reference line U1 is taken as Y1; and the minimum distance from the projection of the top of the mounting frame on the first reference surface to the projection point of the rotation center line of the photovoltaic panel on the first reference surface is Y2, wherein Y1 < Y2.
5. The intelligent cleaning system for photovoltaic panels as claimed in claim 1, wherein: the cleaning robot is characterized in that a charging module is arranged on the running track, a charging assembly is arranged on the cleaning robot, and when the cleaning robot moves to the charging module, the charging assembly and the charging module are matched to charge the cleaning robot; and/or a position tag capable of marking the position of the charging module is arranged at the charging module, and the cleaning robot is provided with a reader capable of reading the information of the position tag.
6. The intelligent cleaning system for photovoltaic panels as claimed in claim 1, wherein: the cleaning robot comprises a motion platform capable of walking along a running track, a mechanical arm arranged on the motion platform and a tail end cleaning assembly arranged on the mechanical arm, wherein the tail end cleaning assembly is in contact with the photovoltaic panel under the control of the mechanical arm; and/or a main control system and a power supply system of the cleaning robot are arranged on the motion platform.
7. The intelligent cleaning system for photovoltaic panels as claimed in claim 6, wherein: the motion platform comprises a rack arranged on the operation track, a driving wheel assembly arranged on the rack and matched with the operation track, and a power assembly used for driving the driving wheel assembly to act; and/or the driving wheel assemblies are provided with two groups, one group of driving wheel assemblies are used as driving wheel sets and are driven by the power assembly, and the other group of driving wheel assemblies are used as follow-up wheel sets; and/or two driving wheels of the driving wheel set and the follow-up wheel set are connected through a differential assembly respectively, the differential assembly comprises swing arms connected with the driving wheels of the driving wheel set and the follow-up wheel set respectively, and the two swing arms connected with the same wheel set are connected through a hinge.
8. The intelligent cleaning system for photovoltaic panels as claimed in claim 7, wherein: guide wheels are respectively arranged on two sides of the rack, the axes of the guide wheels are vertically arranged, and the guide wheels are in rolling contact with the side edges of the running track; and/or still be provided with spacing wheel in the frame, leading wheel and orbit's downside rolling contact, the orbit is located between spacing wheel and the driving wheel.
9. The intelligent cleaning system for photovoltaic panels as claimed in claim 6, wherein: the robot carries the cleaning assembly through the mechanical arm to complete cleaning operation on the first row of photovoltaic panels and the fourth row of photovoltaic panels; when the robot moves to the bent rail section, the mechanical arm lifts the tail end cleaning assembly to be separated from the photovoltaic panel; when the robot cleans the first row and the fourth row of photovoltaic panels, the mechanical arm 32 performs lifting action, the cleaning assembly is separated from the photovoltaic panels, the swing mechanism performs 180-degree rotation action, the moving platform performs reverse action, and the second row and the third row of photovoltaic panels are cleaned.
10. The intelligent cleaning system for photovoltaic panels as claimed in claim 1, wherein: the environment detection device comprises a dust detection module, a rainwater detection module, a temperature and humidity detection module, a wind speed detection module, a power supply module and a communication module.
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| CN202210078472.3A CN114985317A (en) | 2022-01-24 | 2022-01-24 | Clean system of photovoltaic panel intelligence |
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