CN117282698A - Photovoltaic cleaning robot and method for autonomously selecting cleaning route thereof - Google Patents
Photovoltaic cleaning robot and method for autonomously selecting cleaning route thereof Download PDFInfo
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- CN117282698A CN117282698A CN202311218864.6A CN202311218864A CN117282698A CN 117282698 A CN117282698 A CN 117282698A CN 202311218864 A CN202311218864 A CN 202311218864A CN 117282698 A CN117282698 A CN 117282698A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 126
- 238000000034 method Methods 0.000 title claims description 22
- 238000005096 rolling process Methods 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 239000000428 dust Substances 0.000 claims description 27
- 230000003287 optical effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 6
- 230000003213 activating effect Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Classifications
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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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Dispersion Chemistry (AREA)
- Health & Medical Sciences (AREA)
- Geophysics (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
The invention belongs to the technical field of photovoltaics, and particularly relates to a photovoltaic cleaning robot which comprises a control mechanism, a crawler chassis, a power supply device, a front rolling brush device and a rear rolling brush device, wherein the control mechanism enables the photovoltaic cleaning robot to autonomously select a cleaning route and complete the cleaning operation of components by controlling the crawler chassis; the cleaning route designed by the invention can improve the cleaning efficiency of the photovoltaic cleaning robot, and can reduce the probability of the edge and corner of the photovoltaic module being missed and rubbed, thereby reducing the damage of the hot spot effect to the photovoltaic module.
Description
Technical Field
The invention belongs to the technical field of photovoltaics, and particularly relates to a photovoltaic cleaning robot and a method for autonomously selecting a cleaning route.
Background
After foreign matters such as sand dust and bird droppings are deposited on the photovoltaic panel, the power generation efficiency of the photovoltaic module can be greatly influenced, and meanwhile, the local hot spot effect can be caused, and even the photovoltaic module is damaged, so that the photovoltaic module is cleaned regularly and continuously, and due to the limitation of factors such as environment, labor cost and the like, the photovoltaic cleaning robot with high automation degree and strong environmental adaptability is developed.
However, the existing photovoltaic cleaning robot has low cleaning efficiency, poor effect, high energy consumption and difficult full-traversal cleaning. The moving mechanism of the photovoltaic robot is generally designed to be complex because the functions of adsorption, seam crossing, scram, steering and the like are required to be realized, and the edges and corners of the photovoltaic module are always missed to be rubbed no matter an N-shaped cleaning route or a Z-shaped cleaning route is adopted, and when the missed corners are lower than other parts of the photovoltaic module due to the generated energy, the missed corners are taken as the electric consumption of the resistor, so that the damage of the hot spot effect to the photovoltaic module is aggravated.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention wish to provide a photovoltaic cleaning robot and a method for autonomously selecting a cleaning route thereof, so as to solve or alleviate the problems in the prior art that the photovoltaic cleaning robot has low cleaning efficiency and cannot completely traverse cleaning, and at least provide a beneficial choice.
The technical scheme of the embodiment of the invention is realized as follows: a photovoltaic cleaning robot comprises a control mechanism, a crawler chassis, a power supply device, a front rolling brush device and a rear rolling brush device.
To achieve the above object, as a further aspect of the present invention, there is provided a photovoltaic cleaning robot and a method for autonomously selecting a cleaning route thereof, a control mechanism mounted on the cleaning robot autonomously selecting a cleaning route and completing a cleaning operation of a component by controlling the crawler chassis, comprising the steps of:
step one, placing a photovoltaic cleaning robot at a corner of a component to be cleaned, wherein the corner is taken as a starting point, after a start button is pressed, the photovoltaic cleaning robot starts a front rolling brush device after self-inspection and moves to the opposite corner along a straight line according to a first direction, so that a first row/column cleaning operation is completed;
step two, after the first row/column cleaning operation is completed, the cleaning robot closes the front rolling brush device, starts the rear rolling brush device, and moves backwards to a first distance along a curve track to stay for a first time;
step three, after the first time, the cleaning robot closes the back rolling brush device, and starts the front rolling brush device to continuously move to the edge of the second row/column photovoltaic module along a straight line according to the first direction;
step four, after the edge of the second row/column photovoltaic module is reached, the cleaning robot closes the front rolling brush device, starts the rear rolling brush device, and linearly moves to the opposite corner according to the second direction to finish the second row/column cleaning operation;
repeating the second step to the fourth step to complete the autonomous selection cleaning operation, so that the whole photovoltaic module is fully covered;
and step five, returning the cleaning robot to the starting point after the full-coverage cleaning of the photovoltaic module is completed.
As still further aspects of the invention: the crawler chassis is provided with a metal detection sensor and an ultrasonic sensor, wherein the metal detection sensor and the ultrasonic sensor are used for detecting the type of the photovoltaic surface, and further, a basis is provided for a control device to control the motion state of the crawler chassis.
As still further aspects of the invention: types of photovoltaic surfaces include out-of-bounds and across-slits
As still further aspects of the invention: the control mechanism is used for realizing autonomous movement of the robot, adjusting the position, the direction and the speed of the robot, correctly activating the front rolling brush and the rear rolling brush, adjusting the rotating speed, managing the power supply of the robot and controlling the electric quantity of the battery.
As still further aspects of the invention: the front rolling brush device and the rear rolling brush device are provided with optical dust sensors, the optical dust sensors are used for detecting dust concentration on the photovoltaic panel, and when the dust concentration is lower than a first concentration, single-pass cleaning is performed; when the dust concentration is higher than the first concentration, a plurality of times of cleaning are carried out until the dust concentration on the photovoltaic module is lower than the first concentration.
As still further aspects of the invention: the optical dust sensor comprises an infrared light emitting diode and an infrared phototransistor, wherein the infrared light emitting diode directs the photovoltaic module to emit infrared rays, and after the infrared rays are scattered and absorbed by dust on the photovoltaic panel, the rest part of the infrared rays are received by the infrared phototransistor and converted into electric signals in proportion to the dust concentration.
As still further aspects of the invention: the exciting current of the infrared light emitting diode is driven by medium-frequency narrow pulse current, and the light signals received by the infrared phototransistor are modulated light pulses with the same frequency, so that the interference of light and sunlight is prevented while the infrared light emitting diode is reduced.
By adopting the technical scheme, the embodiment of the invention has the following advantages:
according to the scheme, the cleaning efficiency of the photovoltaic cleaning robot is improved, the probability that edges and corners of the photovoltaic module are missed is reduced, and the damage of the hot spot effect to the photovoltaic module is reduced.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become apparent by reference to the drawings and the following detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for autonomously selecting a cleaning path for a photovoltaic cleaning robot according to the present invention;
fig. 2 is a flowchart II of a photovoltaic cleaning robot and a method for autonomously selecting a cleaning route thereof according to the present invention.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
It should be noted that the terms "first," "second," "symmetric," "array," and the like are used merely for distinguishing between description and location descriptions, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of features indicated. Thus, a feature defining "first," "symmetry," or the like, may explicitly or implicitly include one or more such feature; also, where certain features are not limited in number by words such as "two," "three," etc., it should be noted that the feature likewise pertains to the explicit or implicit inclusion of one or more feature quantities;
in the present invention, unless explicitly specified and limited otherwise, terms such as "mounted," "connected," "secured," and the like are to be construed broadly; for example, the connection can be fixed connection, detachable connection or integrated molding; the connection may be mechanical, direct, welded, indirect via an intermediate medium, internal communication between two elements, or interaction between two elements. The specific meaning of the terms described above in the present invention will be understood by those skilled in the art from the specification and drawings in combination with specific cases.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the photovoltaic cleaning robot of the invention comprises a control mechanism, a crawler chassis, a power supply device, a front rolling brush device and a rear rolling brush device, wherein the control mechanism enables the photovoltaic cleaning robot to autonomously select a cleaning route and complete the cleaning operation of components by controlling the crawler chassis, and the photovoltaic cleaning robot comprises the following steps:
step one, placing a photovoltaic cleaning robot at the upper right corner of a component to be cleaned, after placing stably, pressing a start button, and performing self-checking procedures on the photovoltaic cleaning robot, wherein the self-checking contents comprise: the method comprises the steps of (1) starting an alarm system by a photovoltaic robot when abnormality is detected, wherein the battery allowance, the water allowance, the robot posture and the control mechanism state are the same; when the detection is normal, the robot starts the front rolling brush device and horizontally moves to the upper left corner from the right to the left, so that the cleaning operation of the first row of photovoltaic modules is completed;
in the moving process, a metal detection sensor and an ultrasonic sensor which are arranged on the crawler chassis are used for detecting the type of the photovoltaic surface, so that a basis is provided for a control device to control the motion state of the crawler chassis, and when the type of the surface of the photovoltaic assembly is detected to be a seam, the photovoltaic robot enhances the adsorption force of an adsorption mechanism, and the safe work of the photovoltaic robot is ensured; when the type of the surface of the photovoltaic module is detected to be a boundary, the photovoltaic cleaning robot stops moving, and simultaneously the front rolling brush is closed. In the cleaning process, optical dust sensors arranged on the front rolling brush device and the rear rolling brush device detect dust accumulation on the photovoltaic module in real time and send the result to a control mechanism;
step two, after the cleaning operation of the first row is completed, the cleaning robot closes the front rolling brush device, starts the rear rolling brush device, and moves backwards along the curved track, the displacement distance is the length of the two cleaning robots, and then stays for 10s;
after the cleaning robot is closed, the back rolling brush device starts the front rolling brush device to move horizontally to the edge of the second row of photovoltaic modules in the right-to-left direction;
step four, after the edge of the second row of photovoltaic modules is reached, the cleaning robot closes the front rolling brush device, starts the rear rolling brush device, and horizontally moves to the opposite corner from left to right according to the horizontal direction, so that the second row of cleaning operation is completed;
repeating the second step to the fourth step to complete the autonomous selection cleaning operation, so that the whole photovoltaic module is fully covered;
and step five, returning the cleaning robot to the upper right corner after the full-coverage cleaning of the photovoltaic module is completed.
In this embodiment, specific: after the one-way cleaning is finished, the control structure judges whether the cleaning is needed for multiple passes according to the dust collection amount on the photovoltaic module detected by the optical dust sensor in real time, when the collection amount on the photovoltaic module is less than or equal to 1mg/cm < 3 >, the cleaning is stopped, when the collection amount on the photovoltaic module is more than 1mg/cm < 3 >, the second cleaning operation is performed until the collection amount on the photovoltaic module is less than or equal to 1mg/cm < 3 >, and the cleaning is stopped.
As shown in fig. 2, another photovoltaic cleaning robot and a method for autonomously selecting a cleaning route thereof according to an embodiment of the present application are provided.
Step one, placing a photovoltaic cleaning robot at the lower right corner of a component to be cleaned, after placing stably, pressing a start button, and performing self-checking procedures on the photovoltaic cleaning robot, wherein the self-checking contents comprise: the method comprises the steps of (1) starting an alarm system by a photovoltaic robot when abnormality is detected, wherein the battery allowance, the water allowance, the robot posture and the control mechanism state are the same; when the detection is normal, the robot starts the front rolling brush device and vertically moves to the upper right corner from bottom to top to finish the cleaning operation of the first row of photovoltaic modules;
in the moving process, a metal detection sensor and an ultrasonic sensor which are arranged on the crawler chassis are used for detecting the type of the photovoltaic surface, so that a basis is provided for a control device to control the motion state of the crawler chassis, and when the type of the surface of the photovoltaic assembly is detected to be a seam, the photovoltaic robot enhances the adsorption force of an adsorption mechanism, and the safe work of the photovoltaic robot is ensured; when the type of the surface of the photovoltaic module is detected to be a boundary, the photovoltaic cleaning robot stops moving, and simultaneously the front rolling brush is closed. During cleaning, optical dust sensors arranged on the front rolling brush device and the rear rolling brush device detect dust collection amount on the photovoltaic module in real time, and send the result to a control mechanism;
step two, after the cleaning operation of the first example is completed, the cleaning robot closes the front rolling brush device, starts the rear rolling brush device, and moves downwards along the curve track, the displacement distance is the length of two cleaning robots, and then stays for 10s;
after the step three, 10s, the cleaning robot closes the rear rolling brush device, starts the front rolling brush device to move vertically to the edge of the second photovoltaic module in the direction from bottom to top;
step four, after the edge of the second row of photovoltaic modules is reached, the cleaning robot closes the front rolling brush device, starts the rear rolling brush device, and moves to the lower corner from bottom to top in the vertical direction to finish the second row of cleaning operation;
repeating the second step to the fourth step to complete the autonomous selection cleaning operation, so that the whole photovoltaic module is fully covered;
and step five, returning the cleaning robot to the lower right corner after the full-coverage cleaning of the photovoltaic module is completed.
In this embodiment, specific: after the one-way cleaning is finished, the control structure judges whether the cleaning is needed for multiple passes according to the dust collection amount on the photovoltaic module detected by the optical dust sensor in real time, when the collection amount on the photovoltaic module is less than or equal to 1mg/cm < 3 >, the cleaning is stopped, when the collection amount on the photovoltaic module is more than 1mg/cm < 3 >, the second cleaning operation is performed until the collection amount on the photovoltaic module is less than or equal to 1mg/cm < 3 >, and the cleaning is stopped.
The whole working flow of the invention is just the above, and the step is repeated when the invention is used next time.
In the several embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. The foregoing is only the embodiments of the present application, and not the patent scope of the present application is limited by the foregoing description, but all equivalent structures or equivalent processes using the contents of the present application and the accompanying drawings, or directly or indirectly applied to other related technical fields, which are included in the patent protection scope of the present application.
Claims (8)
1. A photovoltaic cleaning robot, characterized in that: the photovoltaic cleaning robot cleaning device comprises a control mechanism, a crawler chassis, a power supply device, a front rolling brush device and a rear rolling brush device, wherein the control mechanism enables the photovoltaic cleaning robot to autonomously select a cleaning route and complete cleaning operation of components by controlling the crawler chassis;
the crawler chassis is provided with an adsorption mechanism, a metal detection sensor and an ultrasonic sensor, and the adsorption mechanism is used for adsorbing the cleaning robot on the surface of the component;
the metal detection sensor and the ultrasonic sensor are used for detecting the type of the photovoltaic surface, and further provide basis for the control device to control the motion state of the crawler chassis.
2. A photovoltaic cleaning robot and a method for autonomously selecting a cleaning route thereof, characterized by comprising the steps of:
step one, placing a photovoltaic cleaning robot at a corner of a component to be cleaned, wherein the corner is taken as a starting point, after a start button is pressed, the photovoltaic cleaning robot starts a front rolling brush device after self-inspection and moves to the opposite corner along a straight line according to a first direction, so that a first row/column cleaning operation is completed;
step two, after the first row/column cleaning operation is completed, the cleaning robot closes the front rolling brush device, starts the rear rolling brush device, and moves backwards to a first distance along a curve track to stay for a first time;
step three, after the first time, the cleaning robot closes the back rolling brush device, and starts the front rolling brush device to continuously move to the edge of the second row/column photovoltaic module along a straight line according to the first direction;
step four, after the edge of the second row/column photovoltaic module is reached, the cleaning robot closes the front rolling brush device, starts the rear rolling brush device, and linearly moves to the opposite corner according to the second direction to finish the second row/column cleaning operation; repeating the two-four steps to complete the autonomous selection cleaning operation, so that the whole photovoltaic module is fully covered;
and step five, returning the cleaning robot to the starting point after the full-coverage cleaning of the photovoltaic module is completed.
3. A photovoltaic cleaning robot and method of autonomously selecting a cleaning route thereof according to claim 2, characterized in that: the first direction and the second direction are opposite to each other.
4. A photovoltaic cleaning robot according to claim 1, characterized in that: types of the photovoltaic surface include boundaries and cross-slits.
5. A photovoltaic cleaning robot according to claim 1, characterized in that: the control mechanism is used for realizing autonomous movement of the robot, adjusting the position, the direction and the speed of the robot, correctly activating the front rolling brush and the rear rolling brush, adjusting the rotating speed, managing the power supply of the robot and controlling the electric quantity of the battery.
6. A photovoltaic cleaning robot and method of autonomously selecting a cleaning route thereof according to claim 2, characterized in that: the front rolling brush device and the rear rolling brush device are provided with optical dust sensors, the optical dust sensors are used for detecting dust concentration on the photovoltaic panel, and when the dust concentration is lower than a first concentration, single-pass cleaning is performed; when the dust concentration is higher than the first concentration, a plurality of times of cleaning are performed until the dust concentration on the photovoltaic module is lower than the first concentration.
7. A photovoltaic cleaning robot and method of autonomously selecting a cleaning route according to claim 6, characterized in that: the optical dust sensor comprises an infrared light emitting diode and an infrared phototransistor, wherein the infrared light emitting diode emits infrared rays to the photovoltaic module in a directional manner, and after the infrared rays are scattered and absorbed by dust on the photovoltaic panel, the rest parts of the infrared rays are received by the infrared phototransistor and converted into electric signals in proportion to the dust concentration.
8. A photovoltaic cleaning robot and method of autonomously selecting a cleaning route according to claim 6, characterized in that: the exciting current of the infrared light emitting diode is driven by medium-frequency narrow pulse current, and the light signals received by the infrared phototransistor are set to be modulated light pulses with the same frequency.
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| CN202311218864.6A CN117282698A (en) | 2023-09-20 | 2023-09-20 | Photovoltaic cleaning robot and method for autonomously selecting cleaning route thereof |
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| CN202311218864.6A CN117282698A (en) | 2023-09-20 | 2023-09-20 | Photovoltaic cleaning robot and method for autonomously selecting cleaning route thereof |
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