CN205049978U - Photovoltaic array cleaning head position appearance control system - Google Patents
Photovoltaic array cleaning head position appearance control system Download PDFInfo
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- CN205049978U CN205049978U CN201520720768.6U CN201520720768U CN205049978U CN 205049978 U CN205049978 U CN 205049978U CN 201520720768 U CN201520720768 U CN 201520720768U CN 205049978 U CN205049978 U CN 205049978U
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- cleaning head
- measuring sensor
- distance measuring
- control system
- photovoltaic array
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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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- Cleaning By Liquid Or Steam (AREA)
Abstract
The utility model discloses a photovoltaic array cleaning head position appearance control system, support positioning unit including controller, distance measuring sensor array, operating parts, information display spare, power and cleaning head, distance measuring sensor array, operating parts, information display spare and cleaning head support positioning unit and pass through cable junction with the controller respectively, the distance measuring sensor array contains at least one side range finding subassembly and at least one tip range finding subassembly, and wherein, side range finding subassembly contains two at least distance measuring sensor along cleaning head unit support side interval arrangement, and tip range finding subassembly contains at least one and installs the distance measuring sensor at cleaning head unit support tip. The utility model discloses can the full counterpoint appearance mutually of direction control cleaning head, degree of automation is higher, and has good interaction, can satisfy the demand for control under the different work condition.
Description
Technical field
The utility model relates to a kind of photovoltaic array cleaning head Pose Control system.
Background technology
Along with the problems such as global energy shortage, unusual weather conditions and environmental pollution become increasingly conspicuous, actively push forward new forms of energy strategy, quickening new forms of energy are applied, become the common recognition of countries in the world.Sun power enriches as one, clean and reproducible new forms of energy, and it develops alleviating energy crisis, preserves the ecological environment and ensure that sustainable economic development have great and practical meaning.In recent years, solar energy power generating industry presents the impetus developed rapidly under the support of various countries' relevant policies, enters the extensive development stage.
The solar panel of photovoltaic plant is installed with the outdoor inclination of the form of array, and the sand grains in air, dust, foreign material and some corrosive deposits are easy to be attached to its surface.Especially in arid, windy and that vegetation is rare desertificated area, 1 ~ 2 week just can at the full sand and dust of cell panel upper cover, have a strong impact on its photoelectric transformation efficiency, even damage cell panel, therefore, regularly or in good time to solar panel carry out clean just become photovoltaic plant day-to-day operation safeguard in requisite important step.
Along with the Large scale construction of photovoltaic plant, the mechanized cleaning of solar panel is more and more taken seriously and promotes the use of.The external mechanized cleaning comparatively early achieved photovoltaic plant solar panel, these cleaning equipments, for local climate, topographic condition and photovoltaic plant scale, structure generally adopt crawler body, tractor chassis or truck chassis.
In operation process, operator wants operating equipment to advance along photovoltaic array, also need to adjust cleaning head pose, with avoid cleaning head depart from photovoltaic array surface cause leakage to be washed or press photovoltaic array surface cause array and equipment impaired, operation process high-pressure, proposes higher requirement to operator.
Market there is the cleaning device being controlled cleaning head and photovoltaic array surface distance by distance measuring sensor, but due to sensor placement single, survey data can not reflect cleaning head pose comprehensively, thus automaticity is lower, and practical application effect is limited.
Utility model content
For overcoming the deficiencies in the prior art, the technical problems to be solved in the utility model be to provide a kind of automaticity higher, can comprehensive control cleaning head relative pose, there is the portable photovoltaic array cleaning head Pose Control system of good interactivity.
For solving the problems of the technologies described above, the utility model by the following technical solutions:
A kind of photovoltaic array cleaning head Pose Control system, comprises controller, distance measuring sensor array, operating parts, information displaying part, power supply and cleaning head supporting and location unit; Distance measuring sensor array, operating parts, information displaying part are connected by cable with controller respectively with cleaning head supporting and location unit; Distance measuring sensor array comprises at least one side ranging component and at least one end ranging component, wherein, side ranging component comprises at least two along the spaced apart distance measuring sensor of cleaning head unit rack side, and end ranging component comprises the distance measuring sensor that at least one is arranged on cleaning head unit rack end.
As optimization, cleaning head supporting and location unit comprises cleaning head elevating mechanism, cleaning head luffing mechanism and cleaning head transverse-moving mechanism, and the end of cleaning head supporting and location unit has the connecting interface installing cleaning head unit.
As optimization, the distance measuring sensor in distance measuring sensor array all adopts ultrasonic range finder sensor.
As optimization, the side ranging component in distance measuring sensor array has 2, is arranged on limit, left side and the right edge of cleaning head unit rack respectively.
As optimization, the end ranging component in distance measuring sensor array has 2, is arranged on the top and bottom of cleaning head unit rack respectively.
As optimization, the core processor of controller is single-chip microcomputer.
As optimization, the utility model also comprises the touch display screen having the man-machine interaction page and can be shown cleaning head pose parameter and adjustment cleaning head Pose Control parameter by the described page, and described touch display screen is connected by bus cable with controller.
The beneficial effects of the utility model:
A) Pose Control that more comprehensively, automaticity is higher: except the Distance geometry depth of parallelism between cleaning head and photovoltaic array surface can be controlled, state can also be departed from by measuring cleaning head relative to the upper and lower edge of photovoltaic array, and then control the lateral excursion of cleaning head relative to photovoltaic array surface;
B) interactivity is strong: the pose parameter not only can being observed cleaning head by touch display screen intuitively, comprehensively, neatly, can also adjust cleaning head Pose Control parameter in real time, with the demand for control under satisfied different operating mode.
Accompanying drawing explanation
Fig. 1 is the composition frame chart of the utility model embodiment.
Fig. 2 is the distance measuring sensor schematic layout pattern of the utility model embodiment.
In figure: 1-controller; 2-ultrasonic distance-measuring sensor array; 3-operating grip; 4-touch display screen; 5-cleaning head supporting and location unit; 6-power supply; 7-warning device; 8-cleaning head unit rack; 9-cleaning head upper end distance measuring sensor; 10-cleaning head lower end distance measuring sensor; 11-cleaning head side distance measuring sensor.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
See Fig. 1, a kind of photovoltaic array cleaning head Pose Control system of the present embodiment, comprises controller 1, ultrasonic range finder sensor array 2, operating grip 3, touch display screen 4, cleaning head supporting and location unit 5, power supply 6; Wherein, ultrasonic range finder sensor array 2, operating grip 3, touch display screen 4, cleaning head supporting and location unit 5 are all connected with controller 1 by cable; Each main function components specifically describes as follows:
Controller 1, is made up of flush bonding processor and the peripheral cell realizing Isolation and power amplification function.As the expansion of dirigibility, controller 1 can be made up of vehicle-mounted computer or vehicle-mounted PLC and corresponding expansion board clamping.Controller 1 has four-way and exports to digital output modul from all directions, respectively corresponding high and low, bow, face upward, far, near, left and right eight directions.Controller 1 has the input of analog quantity, output and CAN, LIN, RS422/485 bus simultaneously, to meet different sensors interface requirement and different performance element as the demand for control of regular tap valve group, servo-valve, servomotor, stepper motor.
The posture information of the cleaning head obtained from distance measuring sensor array 2 is reached touch display screen 4 by controller 1 in real time, observe for operator, and posture information is carried out processing lifting on rear drive cleaning head supporting and location unit 5, pitching and transverse-moving mechanism action simultaneously.
Touch display screen 4, selects general industry rank or vehicle-mounted touch display, observes photovoltaic array cleaning head posture information, and provide exchange channels for operator.As simplified design and cost control, also touch display screen can be replaced with LED charactron and button.
Cleaning head supporting and location unit 5, comprises cleaning head elevating mechanism, cleaning head luffing mechanism and cleaning head transverse-moving mechanism, for performing lifting, pitching, traversing operation to cleaning head.The end of cleaning head supporting and location unit has the connecting interface installing cleaning head unit, can install cleaning head unit by this connecting interface.
Described cleaning head unit refers in photovoltaic array cleaning equipment and directly implements clean stand-alone assembly to photovoltaic array solar panel, be arranged on the end of cleaning head supporting and location unit, generally comprise cleaning head unit rack and be arranged on the cleaning function part etc. on cleaning head unit rack, cleaning function part can be the combination of a kind of or several formation in cleaning brush, cleaning scraping cutter, water flow jet part and jet-impingement part etc.In this case control object of the present utility model.
According to the different topworkies on cleaning head supporting and location unit 5, operating grip 3 has regular tap amount and exports and the operating grip of modulating output or the operating grip of band numerical coding function, can Non-follow control cleaning head in the displacement of all directions.
Ultrasonic distance-measuring sensor array 2, see Fig. 2, comprises the side ranging component that two are arranged on limit and right edge on the left of cleaning head unit rack 8 respectively, and two end ranging component being arranged on cleaning head unit rack 8 top and bottom respectively.The side ranging component being arranged on limit and right edge on the left of cleaning head unit rack 8 all comprises two along the spaced apart side distance measuring sensor 11 of cleaning head unit rack 8 side; The end ranging component being arranged on cleaning head unit rack 8 upper end comprises a upper end distance measuring sensor 9, and the end ranging component being arranged on cleaning head unit rack 8 lower end comprises a lower end distance measuring sensor 10.
Power supply 6, takes from vehicular power-bottle (12V or 24V), also can take from vehicle-mounted generating set.
Principle of work of the present utility model:
During normal work, cleaning head is positioned at distance cell panel surface certain distance scope and carries out clean-out operation.
The installation of photovoltaic array is not perfect condition, not exclusively coplanar and there is high low head between cell panel, add that road surface rises and falls, advance and the factor effect such as to depart from, make the distance on cleaning head distance cell panel surface suddenly big or suddenly small, even crooked, have a strong impact on cleaning quality and injure the safety of cell panel.
During system works, ultrasonic distance-measuring sensor array 2 Real-time Collection range information, and information is sent to controller 1, controller 1 is by showing that to the process of measurement data cleaning head is relative to the distance of photovoltaic front, the depth of parallelism and horizontal (the vertical line direction between the upper and lower edge of photovoltaic array) side-play amount, and compare with corresponding expectation value, information is reached touch display screen 4 simultaneously, observe for operator.When the deviation of cleaning head pose parameter measured value and expectation value is greater than the numerical value of permission, controller 1 drives lifting on cleaning head supporting and location unit 5, pitching and transverse-moving mechanism action, makes cleaning head remain on suitable operation interval and carries out clean-out operation.
Need to further illustrate: in the present embodiment, when the distance value generation phase step type sudden change that distance measuring sensor 9 continuous coverage of cleaning head upper end obtains, represent edge on cleaning head entirety deflection photovoltaic array, controller 1 drives the action of cleaning head supporting and location unit 5 topworks, makes cleaning head whole unit along photovoltaic front downwards along mobile; When the distance value generation phase step type sudden change that distance measuring sensor 10 continuous coverage of cleaning head lower end obtains, edge under expression cleaning head entirety deflection photovoltaic array, controller 1 drives the action of cleaning head supporting and location unit 5 topworks, makes cleaning head whole unit along photovoltaic front upwards along mobile.
When facing a danger situation, controller 1 drives warning device 7 to report to the police, and reminds operator to note.
The illustrative embodiments that above embodiment is only used to principle of the present utility model is described and adopts, but the utility model is not limited thereto.For those skilled in the art, when not departing from spirit of the present utility model and essence, can make various modification and improvement, these modification and improvement are also considered as protection domain of the present utility model.
Claims (7)
1. a photovoltaic array cleaning head Pose Control system, is characterized in that: comprise controller, distance measuring sensor array, operating parts, information displaying part, power supply and cleaning head supporting and location unit; Distance measuring sensor array, operating parts, information displaying part are connected by cable with controller respectively with cleaning head supporting and location unit; Distance measuring sensor array comprises at least one side ranging component and at least one end ranging component, wherein, side ranging component comprises at least two along the spaced apart distance measuring sensor of cleaning head unit rack side, and end ranging component comprises the distance measuring sensor that at least one is arranged on cleaning head unit rack end.
2. a kind of photovoltaic array cleaning head Pose Control system according to claim 1, it is characterized in that: cleaning head supporting and location unit comprises cleaning head elevating mechanism, cleaning head luffing mechanism and cleaning head transverse-moving mechanism, the end of cleaning head supporting and location unit has the connecting interface installing cleaning head unit.
3. a kind of photovoltaic array cleaning head Pose Control system according to claim 1, is characterized in that: the distance measuring sensor in distance measuring sensor array all adopts ultrasonic range finder sensor.
4. a kind of photovoltaic array cleaning head Pose Control system according to claim 1, is characterized in that: the side ranging component in distance measuring sensor array has 2, is arranged on limit, left side and the right edge of cleaning head unit rack respectively.
5. a kind of photovoltaic array cleaning head Pose Control system according to claim 1, is characterized in that: the end ranging component in distance measuring sensor array has 2, is arranged on the top and bottom of cleaning head unit rack respectively.
6. a kind of photovoltaic array cleaning head Pose Control system according to claim 1, is characterized in that: the core processor of controller is single-chip microcomputer.
7. a kind of photovoltaic array cleaning head Pose Control system according to claim 1, it is characterized in that: also comprise the touch display screen having the man-machine interaction page and can be shown cleaning head pose parameter and adjustment cleaning head Pose Control parameter by the described page, described touch display screen is connected by bus cable with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520720768.6U CN205049978U (en) | 2015-09-17 | 2015-09-17 | Photovoltaic array cleaning head position appearance control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520720768.6U CN205049978U (en) | 2015-09-17 | 2015-09-17 | Photovoltaic array cleaning head position appearance control system |
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| Publication Number | Publication Date |
|---|---|
| CN205049978U true CN205049978U (en) | 2016-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520720768.6U Expired - Fee Related CN205049978U (en) | 2015-09-17 | 2015-09-17 | Photovoltaic array cleaning head position appearance control system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106953589A (en) * | 2017-03-21 | 2017-07-14 | 深圳市晟鑫能源科技有限公司 | It is a kind of to judge very stuck and false stuck control method for photovoltaic cleaner |
| CN107876468A (en) * | 2017-11-10 | 2018-04-06 | 中车青岛四方车辆研究所有限公司 | Photovoltaic cleaning equipment and its control method |
| CN107876469A (en) * | 2017-11-10 | 2018-04-06 | 中车青岛四方车辆研究所有限公司 | Photovoltaic cleaning equipment and its control method |
| CN107966986A (en) * | 2017-11-23 | 2018-04-27 | 浙江国自机器人技术有限公司 | A kind of robot and its air navigation aid, system, equipment |
| CN107977001A (en) * | 2017-11-23 | 2018-05-01 | 浙江国自机器人技术有限公司 | A kind of robot and its air navigation aid, system, equipment |
| CN107992037A (en) * | 2017-11-23 | 2018-05-04 | 浙江国自机器人技术有限公司 | A kind of robot and its air navigation aid, system, equipment |
-
2015
- 2015-09-17 CN CN201520720768.6U patent/CN205049978U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106953589A (en) * | 2017-03-21 | 2017-07-14 | 深圳市晟鑫能源科技有限公司 | It is a kind of to judge very stuck and false stuck control method for photovoltaic cleaner |
| CN106953589B (en) * | 2017-03-21 | 2019-03-05 | 深圳市晟鑫能源科技有限公司 | It is a kind of to judge very stuck and false stuck control method for photovoltaic cleaner |
| CN107876468A (en) * | 2017-11-10 | 2018-04-06 | 中车青岛四方车辆研究所有限公司 | Photovoltaic cleaning equipment and its control method |
| CN107876469A (en) * | 2017-11-10 | 2018-04-06 | 中车青岛四方车辆研究所有限公司 | Photovoltaic cleaning equipment and its control method |
| CN107876469B (en) * | 2017-11-10 | 2019-09-27 | 中车青岛四方车辆研究所有限公司 | Photovoltaic cleaning equipment and its control method |
| CN107966986A (en) * | 2017-11-23 | 2018-04-27 | 浙江国自机器人技术有限公司 | A kind of robot and its air navigation aid, system, equipment |
| CN107977001A (en) * | 2017-11-23 | 2018-05-01 | 浙江国自机器人技术有限公司 | A kind of robot and its air navigation aid, system, equipment |
| CN107992037A (en) * | 2017-11-23 | 2018-05-04 | 浙江国自机器人技术有限公司 | A kind of robot and its air navigation aid, system, equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170831 Address after: 450001 No. 311 science Avenue, hi tech Zone, Henan, Zhengzhou Patentee after: HAIWEI ZHENGZHOU HIGH TECHNOLOGY Co.,Ltd. Address before: Beijing Guangzhou road 450015 Henan city of Zhengzhou province No. 126 Patentee before: 713TH Research Institute OF CSIC |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160224 Termination date: 20210917 |