WO2019100625A1 - 一种光伏清洗机器人的清洗方法 - Google Patents

一种光伏清洗机器人的清洗方法 Download PDF

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Publication number
WO2019100625A1
WO2019100625A1 PCT/CN2018/079067 CN2018079067W WO2019100625A1 WO 2019100625 A1 WO2019100625 A1 WO 2019100625A1 CN 2018079067 W CN2018079067 W CN 2018079067W WO 2019100625 A1 WO2019100625 A1 WO 2019100625A1
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WIPO (PCT)
Prior art keywords
cleaning
photovoltaic
machine
transportation device
photovoltaic panel
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PCT/CN2018/079067
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English (en)
French (fr)
Inventor
朱玲芬
张翼
周国成
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浙江国自机器人技术有限公司
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Publication of WO2019100625A1 publication Critical patent/WO2019100625A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • 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

Definitions

  • the invention relates to the technical field of photovoltaic module cleaning machines, in particular to a cleaning method of a photovoltaic cleaning robot.
  • the tracking array system is a new type of photovoltaic system that can automatically track the system to track solar movements in real time, allowing sunlight to directly illuminate the PV modules, thereby increasing the amount of solar radiation received by the PV modules and increasing the overall power generation of the solar PV system.
  • the existing large-capacity large-roller brush-washing transportation equipment of photovoltaic modules has low adaptability to terrain, easy to crush photovoltaic panels, requires manual operation, and is difficult to operate, high in cleaning cost, and not in harsh environment (high temperature , dusty, nighttime, etc.)
  • the existing roller-roller dry-cleaning transport equipment on the PV module cannot change the board.
  • the number of transport equipment that needs to be put into one-time investment is very large, and the photovoltaic bracket is required to be designed and cleaned.
  • the equipment and supporting construction costs are huge, and the maintenance tasks of transportation equipment are heavy.
  • the object of the present invention is to provide a cleaning method for a photovoltaic cleaning robot, which is used for reducing manpower input, and avoids the influence of terrain factors on the cleaning effect, and has high cleaning efficiency.
  • the present invention provides the following technical solutions:
  • a cleaning method for a photovoltaic cleaning robot comprising the following steps:
  • the washing machine on the transport device is sequentially placed on the photovoltaic panel to be cleaned, and the washing machine independently performs cleaning.
  • the method further includes:
  • the washing machine on the transport device is placed on the photovoltaic panel to be cleaned, and the washing machine performs cleaning independently.
  • the method further includes:
  • the method further includes:
  • the method further includes:
  • the step “controlling the transportation device to move to the target position of the photovoltaic panel to be cleaned” is specifically:
  • the transportation device is controlled to move toward the row end of the photovoltaic panel to be cleaned, and when the carrier platform of the transportation device moves to a target position of the row end of the cleaning photovoltaic panel, the movement is stopped.
  • the step of “putting the washing machine on the transport device to the photovoltaic panel to be cleaned in sequence” is specifically:
  • the step of “putting the washing machine on the transport device to the photovoltaic panel to be cleaned in sequence” is specifically:
  • the washing machine on the transport device is sequentially placed on the same or different photovoltaic panels to be cleaned.
  • the step “the cleaning machine independently performs cleaning” is specifically:
  • the cleaning machine enters a cleaning state and moves according to a preset cleaning path; when the cleaning machine finishes the preset cleaning path, returns to the initial cleaning position of the photovoltaic panel to be retrieved by the transportation device The washing machine.
  • the preset cleaning path is specifically:
  • the cleaning method of the photovoltaic cleaning robot comprises: controlling a transportation device to move to a target position of a photovoltaic panel to be cleaned, at least one cleaning machine is disposed on the transportation device; and the cleaning machine on the transportation device is sequentially placed To the photovoltaic panel to be cleaned, the cleaning machine performs cleaning independently.
  • the cleaning method comprises at least one washing machine placed on a transporting device, and the washing machine can be separately separated from the transporting device by the washing machine, and the washing machine independently performs the cleaning work, thereby avoiding the influence of the transporting device on the washing machine, and the cleaning effect Reliable and uniform; at the same time, when transporting multiple washing machines at the same time, the cleaning efficiency of photovoltaic panels can be effectively improved by one-to-many method, and multiple washing machines can be realized in photovoltaic panels with the assistance of transportation equipment.
  • the inter-row, inter-string, etc. cannot be transferred between the target positions that are directly moved by the washing machine, and the applicability is improved.
  • FIG. 1 is a flow chart of a cleaning method of a photovoltaic cleaning robot provided by the present invention
  • FIG. 2 is a schematic structural view of a photovoltaic cleaning robot apparatus capable of separating work according to the present invention
  • FIG. 3 is a schematic top plan view of a detachable photovoltaic cleaning robot apparatus according to the present invention.
  • FIG. 4 is a schematic structural view of a specific embodiment of a cleaning machine of the photovoltaic cleaning robot apparatus shown in FIG. 3;
  • FIG. 5 is a schematic structural view of a specific embodiment of a handling system of the photovoltaic cleaning robot apparatus shown in FIG. 3;
  • FIG. 6 is a schematic structural view of another embodiment of a handling system of the photovoltaic cleaning robot apparatus shown in FIG. 3;
  • FIG. 7 is a schematic diagram of a working process of a photovoltaic cleaning robot device according to the present invention.
  • FIG. 8 is a schematic diagram of a working process of changing a plate of a photovoltaic cleaning robot device provided by the present invention.
  • the core of the invention is to provide a cleaning method for a photovoltaic cleaning robot, which can effectively reduce the utilization of human resources, and avoid the influence of terrain factors on the cleaning effect, high cleaning efficiency and good cleaning effect.
  • FIG. 1 is a flow chart of a cleaning method of a photovoltaic cleaning robot according to the present invention
  • FIG. 2 is a schematic structural view of a photovoltaic cleaning robot apparatus capable of separating operations according to the present invention
  • FIG. 4 is a schematic structural view of a cleaning machine of the photovoltaic cleaning robot apparatus shown in FIG. 3
  • FIG. 5 is a schematic diagram of a photovoltaic cleaning robot apparatus shown in FIG.
  • FIG. 6 is a schematic structural view of another embodiment of the handling system of the photovoltaic cleaning robot apparatus shown in FIG. 3
  • FIG. 7 is a schematic diagram of the photovoltaic cleaning robot apparatus provided by the present invention
  • FIG. 8 is a schematic diagram of the working process of the panel changing of the photovoltaic cleaning robot apparatus provided by the present invention.
  • the cleaning method of the photovoltaic cleaning robot can realize the separation operation, including the following steps:
  • At least one washing machine 2 is placed on the transport device 1, specifically, one or two or more washing machines 2 can be placed on the transport device 1;
  • the washing machine 2 on the transporting device 1 is sequentially placed on the photovoltaic panel 4 to be cleaned, and the washing machine 2 independently performs the cleaning independently.
  • the transport device 1 can be mounted with a carrier platform, and the cleaning machine 2 is placed on the carrier platform.
  • the movement of the transport device 1 can drive the cleaning machine 2 to move.
  • the carrier platform can be a ferry platform or other capable cleaning machine. 2 platform. After the cleaning machine 2 is placed on the photovoltaic panel 4, the cleaning machine 2 can separately clean the photovoltaic panel 4, and the transportation device 1 can perform other operations alone.
  • the method further includes:
  • the washing machine 2 on the transporting device 1 is placed on the photovoltaic panel 4 to be cleaned, and the washing machine performs cleaning independently.
  • the transport device 1 can transfer the cleaning machine 2 that has completed the cleaning work to any other photovoltaic panel 4 to be cleaned.
  • the cleaning machine 2 that completes the cleaning work can be transferred to the nearest distance to be cleaned. Photovoltaic panel 4.
  • the method further includes:
  • the electric washing machine 2 Monitoring whether the electric quantity of the washing machine 2 is lower than the preset electric quantity, and if so, the electric washing machine 2 is taken back to the transporting device 1 for charging; or the electric washing machine 2 is taken back to the transporting device 1 And controlling the transportation device 1 to move to the charging station to charge the cleaning machine 2 that is depleted; or, the cleaning machine 2 that controls the lack of electricity moves to the edge charging port of the photovoltaic panel 4 for charging.
  • the detection of the power of the cleaning machine 2 can be realized by the electric quantity detecting component installed on the cleaning machine 2, and the detecting of the electric quantity of the cleaning machine 2 can be performed when the cleaning machine 2 has not left the photovoltaic panel 4, or after the cleaning is completed. , transfer to transport equipment 1 after the transfer.
  • the method further includes:
  • the transportation device 1 is provided with a power detecting element, and by detecting the detection result of the electric quantity detecting element on the transportation device 1, it is determined whether the electric quantity of the transportation device 1 is lower than a preset electric quantity, and if so, controlling the navigation of the transportation device 1
  • the component and the driving component are turned on, and the transportation device 1 that controls the transportation device 1 to be depleted is moved to the charging place for charging.
  • the method further includes:
  • the transportation device 1 is controlled to retrieve the cleaning machine 2 that has completed the cleaning work.
  • the method further includes:
  • the control cleaning machine 2 issues an alarm signal, and the transportation device 1 can charge the cleaning machine 2 by receiving an alarm signal sent by the cleaning machine 2 or Transfer to other photovoltaic panels 4 to be cleaned.
  • the step "controlling the transportation device 1 moving to the target position of the photovoltaic panel 4 to be cleaned” is specifically:
  • the transport device 1 is controlled to move toward the row end of the photovoltaic panel 4 to be cleaned, and when the carrier platform of the transport device 1 moves to the target position of the row end of the cleaned photovoltaic panel 4, the movement is stopped.
  • the step "putting the washing machine 2 on the transport device 1 to the photovoltaic panel 4 to be cleaned in sequence” is specifically:
  • the handling mechanism located on the transport device 1 is controlled to be activated and the washing machine 2 is moved to the initial cleaning position of the photovoltaic panel 4 in accordance with the adjustment of the displacement and/or the adjustment angle.
  • the transport mechanism may specifically be a robot arm having a gripper or other transport mechanism capable of realizing the transfer of the washer 2 .
  • the step "putting the washing machine 2 on the transport device 1 to the photovoltaic panel 4 to be cleaned in sequence” is specifically:
  • the washing machine 2 on the transport device 1 is placed in turn on the same or different rows of photovoltaic arrays to be cleaned.
  • the row to be cleaned is a row of photovoltaic arrays consisting of a plurality of photovoltaic panels 4, and a cleaning machine 2 can be placed at each end of the row to be cleaned, and the two cleaning machines are respectively cleaned from the photovoltaics to be cleaned. Both ends of the array line start to be cleaned until the middle position; when the cleaning machine 2 is placed on the same row of the photovoltaic array to be cleaned, the front and rear cleaning machines 2 may be separated by a preset time, or may be in the same photovoltaic to be cleaned.
  • the cleaning machine 2 is placed at different target positions on the array row to realize a state in which a plurality of cleaning machines 2 on the same photovoltaic array to be cleaned simultaneously work to improve the cleaning effect.
  • each cleaning machine 2 can be placed on different rows of the photovoltaic array to be cleaned, as shown in FIG. 7 and FIG. 8 .
  • different numbers of cleaning machines 2 can also be placed on different rows of the photovoltaic array to be cleaned. Depending on the degree of staining of the photovoltaic panel 4 or the area of the row of photovoltaic arrays to be cleaned.
  • step "cleaning machine 2 performs cleaning independently” is specifically:
  • the cleaning machine 2 enters the cleaning state and moves according to the preset cleaning path; when the cleaning machine 2 finishes the preset cleaning path, it returns to the initial cleaning position of the photovoltaic panel 4, so that the transportation device 1 retrieves the cleaning machine 2.
  • the preset cleaning path is specifically:
  • the pre-planned preset cleaning path that is, the path pre-planned by the controller, or the preset cleaning path generated by the washing machine 2 according to the current environmental parameter.
  • the current environmental parameter may be the stain of the photovoltaic panel 4 or the photovoltaic array row. Degree, size parameters, or the number of washing machines, as well as the power, power, etc. of the washing machine.
  • the mobile device includes a main step for the cleaning machine 2 to be placed and grasped.
  • the specific embodiment may be:
  • the transport device 1 is controlled to move to the row end of the Nth photovoltaic panel 4, and the Nth cleaning machine 2 located on the carrier platform is moved to the Nth photovoltaic panel 4, and the cleaning of the Nth cleaning machine 2 is controlled independently.
  • a cleaning machine 2 is placed on each of the Nth photovoltaic panels 4 until the cleaning machine 2 on the transportation device 1 is completely discharged.
  • all the cleaning machines 2 may not be placed in the cleaning.
  • At least one cleaning machine is reserved on the photovoltaic panel, that is, the transportation device 1 as a backup.
  • the Nth photovoltaic panel 4 should be the Nth photovoltaic panel 4 adjacent to each other to reduce the total moving distance of the transportation device 1.
  • the specific may include:
  • the control transport device 1 returns to the row end of the Nth photovoltaic panel 4, moves the Nth cleaning machine 2 located on the Nth photovoltaic panel 4 onto the carrier platform, and controls the transport device 1 to move to the N+N photovoltaic panel 4 At the end of the line, the Nth cleaning machine 2 on the carrier platform is moved to the N+N photovoltaic panel 4, and the cleaning machine of the Nth cleaning machine 2 is controlled to perform cleaning independently.
  • the cleaning machines 2 on the first photovoltaic panel 4, the second photovoltaic panel 4, and the Nth photovoltaic panel 4 are sequentially transferred to the N+1th photovoltaic panel 4, the N+ photovoltaic panel 4, and the N+N.
  • the most preferred solution is that when the transport device 1 returns to the row end of the first photovoltaic panel 4, the washer 2 on the first photovoltaic panel 4 just completes the cleaning operation.
  • At least one cleaning machine 2 is installed on the carrier platform of the transportation device 1.
  • the carrier platform may specifically be a mother vehicle with a driving device, and a plurality of cleaning machines may be installed on one carrier platform.
  • the route of transport equipment 1, the number of washing machines 2 transferred by the mother car, the number N of washing machines 2 carried by the mother car should be based on the moving speed of the mother car, the cleaning efficiency of the washing machine 2, the length of the photovoltaic array, and the photovoltaic
  • the optimum scheme is calculated by factors such as the line spacing of the array, and is not limited to the parameter values given in this embodiment.
  • the cleaning method allows one or more washing machines 2 to be placed on one transport device 1, so that the transport device 1 can transport a plurality of washing machines 2 at the same time, and transfer another cleaning without affecting the operation of one of the washing machines 2.
  • the transfer of the single cleaning machine 2 on the different photovoltaic panels 4 is realized, and the cleaning efficiency of the photovoltaic panels 4 is effectively improved by one-to-many method, and also can be transported by the cleaning machine 2
  • the separate cleaning machine independently performs the cleaning work, thereby avoiding the influence of the transportation equipment 1 on the cleaning machine 2, and the cleaning effect is reliable and uniform.
  • the multiple cleaning machines 2 can be realized in the photovoltaic panel 4 with the assistance of the transportation equipment 1.
  • the inter-row, inter-string, etc. cannot be transferred between the target positions achieved by the direct movement of the washing machine 2, and the applicability is improved.
  • the above cleaning method can be realized by a detachable photovoltaic cleaning robot device.
  • the detachable photovoltaic cleaning robot device comprises:
  • the transport device 1 is configured to drive the washing machine 2 to move to the target position and provide energy to the washing machine 2, and each transport device 1 is provided with at least one washing machine 2, that is, at least one cleaning device is installed on each mother vehicle
  • the transporting device 1 can also charge the washing machine 2 to ensure energy consumption after the washing machine 2 is separated from the transporting device 1.
  • the cleaning machine 2 is configured to move and clean the photovoltaic panel 4 on the photovoltaic panel 4, and the cleaning machine 2 can be separately operated from the transportation device 1 to realize cleaning of the photovoltaic panel 4;
  • a handling system 3 for moving the cleaning machine 2 from the transportation device to the photovoltaic panel 4;
  • the control system is configured to acquire detection information of each detecting element located on the transportation device 1, the cleaning machine 2, and the transportation system 3, and control the operation of each of the actuators located on the transportation device 1, the cleaning machine 2, and the transportation system 3.
  • the transportation device 1 has the following functions: 1.
  • the carrying platform of the cleaning machine 2 can also charge the cleaning machine 2 online.
  • the online charging function is optional, and the concept of online charging is through the energy supply element of the transportation device 1.
  • the power supply component of the cleaning machine 2 is supplemented with electric energy. If it is not electrically driven, other energy forms can be replenished; 2.
  • the installation platform of the transportation system 3 is also an energy supply component, and the energy consumed by the transportation system 3 is from transportation.
  • the apparatus 1 is supplied, of course, the transport system 3 can also independently supply energy consumption, uniformly supplied by the transport apparatus 1 for optimization and implementation; 3.
  • the power core of the present invention is arranged on the part responsible for the energy supply of the energy-consuming components in the scheme; 4.
  • the relationship with other parts is similar to the relationship between "aircraft carrier” and “carrier aircraft”, “ejector”, etc. ; 5.
  • a carrier of the “control system” it is equipped with a series of devices that perform functions such as detection, transmission, and calculation of the "control system.”
  • the transport device 1 includes a moving actuator, a power component, a motion detecting component, and an arithmetic control component.
  • the mobile actuator refers to a functional component that gives the "transport equipment 1" the ability to obtain active space transfer.
  • the embodiment thereof has a mobile chassis 2-2, such as an automobile wheeled chassis, a crawler chassis, etc.; Ships, air-cushioned motorcycles, etc.; or aircrafts that move in the air, etc., with self-driving vehicles, not limited to implementation scenarios;
  • Power components are used for energy-consuming output and replenishment, specifically fuel tank and internal combustion engine combination, battery and motor combination, nuclear energy and generator set or solar cell and motor combination, etc., which can provide energy and output power, generally preferred It is a combination of battery and motor.
  • the movement detecting element belongs to one element of the control system, so that the transportation device 1 has an autonomous movement function for positioning the position of the transportation device 1 itself and the position of the target point.
  • Commonly used navigation methods include magnetic strip navigation, two-dimensional code navigation, 2D laser navigation, 3D laser navigation, GPS navigation, inertial navigation, mileage navigation, etc.
  • the general application is combined with two or more navigation methods to ensure navigation. Precision and reliability.
  • Another type of motion detection component for safety is ultrasonic, safety laser, edge, pull rope switch, etc. The purpose of these sensors is to detect the environment around the transport equipment 1 if there are obstacles or target objects appearing in the transport equipment.
  • the target information can be acquired on the driving route of 1 or within the detection range of these sensors, and then the target information is fed back to the arithmetic control component for information processing to provide the next action instruction.
  • Other motion detection components are mainly used to coordinate automatic control of moving actuators, such as battery power detection, chassis movement speed detection, and three-dimensional angle change detection of the chassis or the body.
  • the arithmetic control component is one of the components of the "control system” and is mainly composed of hardware with arithmetic functions, compiled software, various component controllers for control, and I/O. After receiving the information fed back by the motion detecting component, the arithmetic control component processes the programmed program according to the set program by the software, and outputs the corresponding command through the I/O to the controller of each component, and the controller executes the component. The specific operation of the component is controlled to achieve the control function. Moreover, in the application of automatic control, the motion detecting component often collects the operation result of the moving actuator, and feeds back the operation result to the arithmetic control component, and judges the execution condition through comparison of the built-in software. If the control requirement is not met, a new round The control adjustments will be output until the execution results meet the control requirements.
  • the cleaning machine 2 is a core part of achieving specific functions in the context of photovoltaic applications, and mainly includes a cleaning actuator 2-1, a moving chassis 2-2, a cleaning detecting component 2-3, and a control component.
  • the cleaning actuator 2-1 refers to a structure having a cleaning capability, and the cleaning structure has a dynamic cleaning method such as a rotatable cylindrical roller brush, a rotatable disk brush, or a structure having a dust suction function.
  • the cleaning components also have a passive cleaning method without power.
  • the moving chassis 2-2 provides thrust and pressure, and the mop cleaning method.
  • the cleaning head can be a block of one or more materials such as cloth, rubber, nylon, and the like. , strip shape, brush shape and other structural forms.
  • the method of spraying water to the surface to be cleaned or directly moisturizing the cleaning material is not excluded in the cleaning head or the outside, and the manner of adding the cleaning agent may also be selected, which is similar to the water spray structure.
  • the mobile chassis 2-2 is a wheeled or crawler type with linear controllable motion capability. It is powered by a battery and driven by a motor. Due to its application on the photovoltaic panel 4, the surface pressure is required to be small and the mirror wear is small.
  • the track chassis, and through the differential control, the chassis turning and U-turn function can be realized.
  • the cleaning detecting element 2-3 is mounted on the chassis to collect information of the moving chassis 2-2 itself and the surrounding environment.
  • the cleaning detecting element 2-3 is composed of a sensor group, and the cleaning detecting element 2-3 is a mobile chassis 2-2 autonomously moving. An important part of the function.
  • the cleaning detecting element 2-3 may be composed of one or more of an ultrasonic wave, a laser, a proximity switch, a camera, a 3D laser, an odometer, a speedometer, and the like. Navigation path identification and vehicle body status confirmation are mainly dependent on the cleaning detection element 2-3.
  • the control component is an upper control part of the cleaning machine 2, and mainly comprises a controller and a driver having a computing capability, a compiling capability, and a driving capability, and can receive the environmental information fed back by the cleaning detecting component 2-3 and the state information of the chassis itself.
  • corresponding commands are output to the actuators of the cleaning machine 2 for different feedbacks, such as cleaning, switching, acceleration and deceleration, forward and reverse rotation of the actuator 2-1, and the acceleration and deceleration of the moving chassis 2-2, Turn, turn around, etc.
  • control system is responsible for the information processing and decision making of the entire cleaning robot, and is responsible for receiving feedback information of the respective detection components of the cleaning, handling, and moving systems, and processing the information input by each system according to the software program built in the controller, according to The set strategy output controls the three systems of cleaning, handling and moving independently or in conjunction with the control commands.
  • the control system consists of the main controller and the controllers, drivers and detection components of each system.
  • the handling system 3 includes a gripping member for gripping the washing machine 2 and a multi-degree of freedom adjusting member for driving the gripping member to move.
  • the function of the transport system 3 is to provide a method of independently recognizing the spatial position of the object to be transported, and calculating the transport and placement path in conjunction with the control system to flexibly place the object to be transported. From the background of the application of photovoltaic cleaning: the purpose of the system is to achieve automatic transfer of the cleaning machine 2 or equipment.
  • the function of the handling system 3 is divided into two parts: a gripping member of the retracting and cleaning machine 2 and a multi-degree-of-freedom adjusting member of the robot-like arm, and the space position transfer, adjustment, and the cleaning machine 2 can be realized by the cooperation of the above-mentioned one part.
  • Flexible pick and place
  • the handling system 3 includes a gripping member and an auxiliary member 3-1-2, and a telescopic member 3-1-1 connected to the gripping member and the auxiliary member 3-1-2 for driving the gripping member and the auxiliary member.
  • the second rotating joint 3-2-3 and the third rotating joint 3-2-4 are each provided with a sensor for controlling the corresponding angle and/or displacement information.
  • the multi-degree-of-freedom adjusting member has a plurality of degrees of freedom, and each degree of freedom can achieve a change in angle or displacement under the driving of the corresponding driving element, and the sensor installed in the corresponding position can provide feedback. The change in angle or displacement.
  • the function of the telescopic component 3-1-1 is to fine-tune the end gripper, including the angle and the displacement amount, which may be a single degree of freedom adjustment or a degree of freedom adjustment at the same time, depending on actual needs;
  • the auxiliary component mainly refers to the position detecting component of the object to be grasped, that is, the cleaning machine 2, and the position information of the target by the position detecting component is collected and fed back to the control system, and after calculation and kinematics calculation, the joints are outputted -
  • the amount of movement of the multi-degree-of-freedom adjusting member is included, and the amount of movement includes the amount of change in the angle and the displacement.
  • the gripper at the end of the telescopic member 3-1-1 corresponds to the corresponding position of the washing machine 2.
  • each joint of the multi-degree-of-freedom adjusting member and the corresponding position of the telescopic member 3-1-1 are mounted with a position sensor, which can feedback the amount of change in the degree of freedom of the joint, and the position sensor collects the joint to execute the "control system".
  • the position information after the command is fed back to the "control system" for comparison to confirm whether the automatic adjustment operation is in place, thereby also forming a closed loop control.
  • the multi-degree of freedom adjustment component can also be a boom structure, as shown in FIG.
  • the main function of the gripping part and the auxiliary part 3-1-2 is to fix the washing machine 2 on the conveying system 3, carry out space transfer with the conveying system 3 and the transporting device 1, and finally realize the changing of the working area of the washing machine 2; After the work area, the cleaning machine 2 needs to be released to grasp the parts.
  • the grab component also has capabilities beyond the basic pick and place function:
  • the telescopic component 3-1-1 can compensate for the execution error of the end of the multi-degree of freedom adjustment component
  • Rotational freedom joint 3-2-1 can adjust the positional relationship of the washing machine 2 with respect to the conveying system 3, and ensure that the posture when the washing machine 2 is placed is satisfactory.
  • the sensor at the end gripper can sense the position of the washing machine 2 to provide secondary positioning for the gripping action, wherein the first positioning is achieved by the visual servoing operation of the multi-degree of freedom adjusting component of the handling system 3, at the end gripper After the sensor senses the target position, the sensor can be notified that the claw is opened, and the cleaning machine 2 is grasped.
  • the end claw structure of the grasping component can be other implementation forms, and the cleaning machine 2 can be fixed, which is not limited. The structure given in this embodiment.
  • the first stage the washing machine is transferred from the back of the mother car to the surface of the photovoltaic panel 4;
  • the mother car carries N washing machines, under the guidance of its own navigation components and control components, according to the program setting, stays at the 4th row of the photovoltaic panels in the array, and the mother car confirms its position to reach the set position through the navigation components.
  • the control system instructs the handling system 3 to start; the position detecting component in the handling system 3 first detects the position of the washing machine on the platform of the mother vehicle back, the position information is fed back to the control system, and the control system outputs the multi-degree of freedom adjustment component by calculation.
  • the motion command of each joint of the robot arm is controlled. Under the control of the command, the end of the arm moves to the vicinity of the washing machine.
  • the position is matched by the structure of the gripping member installed at the end of the arm and the gripping member on the washing machine.
  • the grab position is determined in the form of 2-4; after the end of the arm is in place, the gripping member is activated, the telescopic member 3-1-1 is actuated, and the gripper is driven closer to the gripping position 2-4 of the washing machine, and the gripper is mounted thereon.
  • the position detecting sensor when the distance between the claw position and the grasping position 2-4 reaches the set position, the sensor is triggered, the grasping action is started, and the claw is grasping the actuator After the opening is opened, after a certain position, the other position sensor on the claw is triggered, the grasping action is finished, the washing machine is fixed on the gripping member; then the telescopic member 3-1-1 moves to remove the washing machine.
  • the telescopic member 3-1-1 On the platform of the mother vehicle back, the telescopic member 3-1-1 also has a position sensor. When the claw member moves to a certain position along with the telescopic member 3-1-1, the sensor is triggered, and the movement of the telescopic member 3-1-1 is stopped. At this point, the "take" action is all over.
  • the bottom of the arm rotates in the direction of the photovoltaic array, as shown in FIG. 3, and rotates 90°, and the cleaning machine is located above the row end of the photovoltaic array.
  • the rotation angle depends on the walking direction of the mother vehicle and the photovoltaic array. Depending on the positional relationship, it is generally 90°.
  • the angle of rotation of the arm is also monitored by the sensor. After the angle of rotation reaches the set position, the rotation stops.
  • the detection system on the robot arm detects the positional relationship between the cleaning machine and the photovoltaic panel 4, and the detection result is fed back to the control system, and then the gap between the current position of the cleaning machine and the target position is confirmed, and the joints of the robot arm are output through the calculation of the control system.
  • the action command, the result of these actions is to adjust the washer to a position that is at an appropriate height from the surface of the photovoltaic panel 4.
  • the moved position is also detected by the detecting component on the robot arm, and the result is transmitted to the control system for comparison confirmation. If it is not in place, the adjustment is continued until the washing machine reaches the target position. This process is a closed loop control.
  • the telescopic component 3-1-1 is started, and the cleaning machine is gradually lowered to further approach the surface of the photovoltaic panel 4 until the cleaning machine is completely in contact with the surface of the photovoltaic panel 4, and the position sensor at the bottom of the cleaning machine is triggered. , inform the control system that the washing machine is in place.
  • the gripping member and the auxiliary member 3-1-2 of the claw are activated, the washing machine is released, the telescopic member 3-1-1 is restored to the initial position, and the end of the arm is restored to the set position, and thus, the "release” The action is all over.
  • FIG. 7 a schematic diagram of the operation of the cleaning machine for releasing the plate, after the cleaning machine is separated from the gripping member, starts moving on the photovoltaic panel 4, and starts the cleaning actuator 2-1, and the cleaning actuator 2-1 is active. With a motor-driven roller brush, start the cleaning process.
  • the design of the cleaning route should be set according to the arrangement form of the photovoltaic panel 4 and the size of the cleaning actuator 2-1, which is not further limited herein.
  • the mother car After the mother car is placed in the washing machine, after the mechanical arm returns to the set position, the mother car starts, according to the navigation route, moves to the next target position, and the next target position is also the row end of the photovoltaic panel 4 rows. After the position is repeated, the preceding paragraph is repeated. Take the washing machine and put the washing machine.
  • the washing machines placed on the surface of the photovoltaic panel 4 are also as described above, each of which starts the operation of cleaning the photovoltaic panels. In the above operation, when the number of cleaning machines that are simultaneously cleaned on the surface of the photovoltaic array reaches the set value, the mother car returns to the row end of the photovoltaic array row where the cleaning machine that starts the cleaning operation is ready to transfer the cleaning machine that completes the single-line cleaning work.
  • a schematic flow diagram of the cleaning machine changing operation is one of the embodiments of the transfer process.
  • the cleaning machine 2 provided in this embodiment can be separated from the mother vehicle by the transportation device 1, the cleaning machine 2, the handling system 3 and the control system, and the N cleaning machines can be realized in the photovoltaic system with the assistance of other parts. Array lines, inter-strings, etc. can not be transferred between the target positions achieved by the direct movement of the washing machine.
  • the movement of the washing machine on the surface of the photovoltaic panel 4 does not depend on the structural form of the board, and autonomous navigation and cleaning can be realized;
  • the transporting device 1 is not limited to mobile
  • the chassis 2-2 may be a sea, land and air moving tool such as an aircraft or a ship;
  • the carrying part may be a mechanical arm type grab structure or a platform type ferry plan;
  • the washing machine 2 may be separated from the transport device 1 and separately
  • the work avoids the influence of the transportation equipment on the cleaning machine 2, the cleaning effect is reliable and uniform, and the applicability is improved.

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  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Photovoltaic Devices (AREA)

Abstract

一种光伏清洗机器人的清洗方法，包括：控制运输设备（1）移动至待清洗光伏板（4）的目标位置，运输设备（1）上至少放置有一台清洗机（2）（S1）；将运输设备（1）上的清洗机（2）依次放置到待清洗光伏板（4）上，清洗机（2）独立执行清洗（S2）。提供的清洗方法通过在一台运输设备（1）上放置至少一台清洗机（2），并且，通过清洗机（2）与运输设备（1）分离后清洗机（2）独立执行清洗工作，避免了运输设备（1）对清洗机（2）的影响，清洗效果可靠、均匀；同时，当运输设备（1）同时运输多个清洗机（2）时，通过一对多的方式，有效提高对光伏板（4）的清洗效率，并且，多台清洗机（2）在运输设备（1）的协助下可以实现在光伏板（4）行间、串间等不能依靠清洗机（2）直接移动达到的目标位置间转移，适用性提高。

Description

一种光伏清洗机器人的清洗方法
本申请要求于2017年11月23日提交中国专利局、申请号为201711183699.X、发明名称为“一种光伏清洗机器人的清洗方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及光伏组件清洗机技术领域，特别是涉及一种光伏清洗机器人的清洗方法。
背景技术
随着社会对清洁能源需求的比重不断增大，光伏应用也不断深入和细化，从研发到应用各环节，多种不同种类的光伏设备逐渐得到了众多关注。
影响清洗方式的因素除了上述的地形、自动化水平、成本、组件安全、效率以外，光伏组件本身的特点也决定了合适的清洗方式的特点。跟踪阵列式系统是一种新型的光伏系统，能够自动跟踪系统通过实时跟踪太阳运动，使太阳光直射光伏组件，从而增加光伏组件接收到的太阳辐射量，提高太阳光伏发电系统的总体发电量。
在现有市场上，光伏组件表面运输设备主要有两种：地面行走的大底盘大辊刷水洗式以及板上行走辊刷干洗式。上述两种方式主要存在以下缺点：
首先，现有的光伏组件的大底盘大辊刷水洗式运输设备，对地形的适应能力低，易压坏光伏板，需要人工操作，且操作难度大，清洗成本高，没有在恶劣环境(高温、多尘、夜间等)下作业的能力；
其次，现有的光伏组件板上行走辊刷干洗式运输设备，无法换板作业，为了覆盖全部的清洗面积，需要一次性投入的运输设备数量非常庞大，而且还要求光伏支架做配套设计，清洗的设备和配套施工成本投入巨大，运输设备维护任务繁重。
同时，在跟踪式阵列和双玻板的应用场景中，对于清洗方案提出了更 高的要求，而前文中提到的现有解决方案根本无法满足“双玻板安装在跟踪阵列上”的该场景下的清洗需求，而这种组合方式恰恰就是当下及以后相当长一段时间内的主流的光伏发电模式。
因此，如何有效提高清洗机器人的效率和适用性，降低成本，是本领域技术人员目前需要解决的技术问题。
发明内容
本发明的目的是提供一种光伏清洗机器人的清洗方法，用于减少人力的投入，同时避免地形因素对清洗效果的影响，清洗效率高。
为实现上述目的，本发明提供如下技术方案：
一种光伏清洗机器人的清洗方法，包括以下步骤：
控制运输设备移动至待清洗光伏板的目标位置，所述运输设备上至少放置有一台清洗机；
将所述运输设备上的清洗机依次放置到所述待清洗光伏板上，所述清洗机独立执行清洗。
优选的，所述步骤“将所述运输设备上的清洗机依次放置到所述待清洗光伏板上，所述清洗机独立执行清洗”之后，还包括：
将完成清洗工作的清洗机取回至所述运输设备上；
将所述运输设备上的清洗机放置到待清洗光伏板上，所述清洗机独立执行清洗。
优选的，还包括：
监测所述清洗机的电量是否低于预设电量，如果是，则将缺电的清洗机取回至所述运输设备上进行充电；或者，将缺电的清洗机取回至所述运输设备上，并控制所述运输设备移动至充电处为所述缺电的清洗机进行充电；或者，控制缺电的清洗机移动至所述光伏板的边缘充电口处进行充电。
优选的，还包括：
检测所述运输设备的电量是否低于预设电量，如果是，则控制缺电的运输设备移动至充电处进行充电。
优选的，还包括：
检测所述清洗机是否完成清洗，如果是，则控制所述运输设备取回完 成清洗工作的清洗机。
优选的，所述步骤“控制运输设备移动至待清洗光伏板的目标位置”具体为：
控制所述运输设备向所述待清洗光伏板的行端移动，当所述运输设备的载机平台移动至所述清洗光伏板的行端的目标位置时，停止移动。
优选的，所述步骤“将所述运输设备上的清洗机依次放置到所述待清洗光伏板上”具体为：
获取所述运输设备上的清洗机的位置信息，并根据所述光伏板的初始清洗位置，得到所述清洗机需要移动的调节位移和/或调整角度；
控制位于所述运输设备上的搬运机构启动，并根据所述调节位移和/或调整角度将所述清洗机移动至所述光伏板的初始清洗位置。
优选的，所述步骤“将所述运输设备上的清洗机依次放置到所述待清洗光伏板上”具体为：
将所述运输设备上的清洗机依次放置到相同或者不同的待清洗光伏板上。
优选的，所述步骤“所述清洗机独立执行清洗”具体为：
所述清洗机进入清洗状态，并按照预设清洗路径移动；当所述清洗机走完所述预设清洗路径后，返回至所述光伏板的初始清洗位置，以待所述运输设备取回所述清洗机。
优选的，所述预设清洗路径具体为：
预先规划的预设清洗路径，或者，所述清洗机根据当前环境参数生成的预设清洗路径。
本发明所提供的光伏清洗机器人的清洗方法，包括：控制运输设备移动至待清洗光伏板的目标位置，所述运输设备上至少放置有一台清洗机；将所述运输设备上的清洗机依次放置到所述待清洗光伏板上，所述清洗机独立执行清洗。该清洗方法通过在一台运输设备上放置至少一台清洗机，并且，通过清洗机可与运输设备分离后单独所述清洗机独立执行清洗工作，避免了运输设备对清洗机的影响，清洗效果可靠、均匀；同时，当运输设备同时运输多个清洗机时，通过一对多的方式，有效提高对光伏板的清洗效率，并且，多台清洗机在运输设备的协助下可以实现在光伏板行间、串 间等不能依靠清洗机直接移动达到的目标位置间转移，适用性提高。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明所提供的光伏清洗机器人的清洗方法的流程图；
图2为本发明所提供的可分离作业的光伏清洗机器人设备的结构示意图；
图3为本发明所提供的可分离作业的光伏清洗机器人设备的俯视结构示意图；
图4为图3所示光伏清洗机器人设备的清洗机一种具体实施方式结构示意图；
图5为图3所示光伏清洗机器人设备的搬运系统一种具体实施方式的结构示意图；
图6为图3所示光伏清洗机器人设备的搬运系统另一种具体实施方式的结构示意图；
图7为本发明所提供的光伏清洗机器人设备的放板工作流程示意图；
图8为本发明所提供的光伏清洗机器人设备的换板工作流程示意图；
其中：1：运输设备；2：清洗机；2-1：清洗执行元件；2-2：移动底盘；2-3：清洗检测元件；2-4：抓取位；3：搬运系统；3-1-1：伸缩部件；3-1-2：抓取部件及辅件；3-2-1：回转自由度关节；3-2-2：第一转动关节；3-2-3：第二转动关节；3-2-4：第三转动关节；4-光伏板。
具体实施方式
本发明的核心是提供一种光伏清洗机器人的清洗方法，能够有效的降低对人力资源的利用，同时避免地形因素对清洗效果的影响，清洗效率高， 清洗效果好。
为了使本技术领域的人员更好地理解本发明方案，下面结合附图和具体实施方式对本发明作进一步的详细说明。
请参考图1至图8，图1为本发明所提供的光伏清洗机器人的清洗方法的流程图；图2为本发明所提供的可分离作业的光伏清洗机器人设备的结构示意图；图3为本发明所提供的可分离作业的光伏清洗机器人设备的俯视结构示意图；图4为图3所示光伏清洗机器人设备的清洗机一种具体实施方式结构示意图；图5为图3所示光伏清洗机器人设备的搬运系统一种具体实施方式的结构示意图；图6为图3所示光伏清洗机器人设备的搬运系统另一种具体实施方式的结构示意图；图7为本发明所提供的光伏清洗机器人设备的放板工作流程示意图；图8为本发明所提供的光伏清洗机器人设备的换板工作流程示意图。
在该实施方式中，光伏清洗机器人的清洗方法，可实现分离作业，包括以下步骤：
控制运输设备1移动至待清洗光伏板4的目标位置，运输设备1上至少放置有一台清洗机2，具体的，运输设备1上可以放置一台或者两台或者更多台清洗机2；
将运输设备1上的清洗机2依次放置到待清洗光伏板4上，清洗机2独立清洗机独立执行清洗。
具体的，运输设备1上可以安装有载机平台，清洗机2放置在载机平台上，运输设备1的移动可以带动清洗机2移动，载机平台具体可以为摆渡平台或者其他能够放置清洗机2的平台。将清洗机2放置到光伏板4上后，清洗机2可单独对光伏板4进行清洗，运输设备1可单独进行其他工作。
进一步，步骤“将运输设备1上的清洗机2依次放置到待清洗光伏板4上，清洗机独立执行清洗”之后，还包括：
将完成清洗工作的清洗机2取回至运输设备1上；
将运输设备1上的清洗机2放置到待清洗光伏板4上，清洗机独立执行清洗。
运输设备1可以将完成清洗工作的清洗机2转移至任意其他待清洗光 伏板4上，当然，为了节省运输设备1的移动距离，可以将完成清洗工作的清洗机2转移至最近距离的待清洗光伏板4。
在上述各实施方式的基础上，还包括：
监测清洗机2的电量是否低于预设电量，如果是，则将缺电的清洗机2取回至运输设备1上进行充电；或者，将缺电的清洗机2取回至运输设备1上，并控制运输设备1移动至充电处为缺电的清洗机2进行充电；或者，控制缺电的清洗机2移动至光伏板4的边缘充电口处进行充电。
具体的，对清洗机2电量的检测可以通过安装在清洗机2上的电量检测元件实现，对清洗机2电量的检测可以在清洗机2尚未离开光伏板4时进行，也可以在清洗完成后，转移至运输设备1后进行。
在上述各实施方式的基础上，还包括：
检测运输设备1的电量是否低于预设电量，如果是，则控制缺电的运输设备1移动至充电处进行充电。
具体的，运输设备1上安装有电量检测元件，通过获取运输设备1上的电量检测元件的检测结果，判断运输设备1的电量是否低于预设电量，如果是，则控制运输设备1的导航元件和驱动元件开启，控制运输设备1缺电的运输设备1移动至充电处进行充电。
在上述各实施方式的基础上，还包括：
检测清洗机2是否完成清洗，如果是，则控制运输设备1取回完成清洗工作的清洗机2。
在上述各实施方式的基础上，还包括：
检测清洗机2是否完成清洗工作或者电量是否低于预设电量，如果是，则控制清洗机2发出报警信号，运输设备1可以通过接受清洗机2发出的报警信号，对清洗机2进行充电或者转移至其他待清洗光伏板4上。
在上述各实施方式的基础上，步骤“控制运输设备1移动至待清洗光伏板4的目标位置”具体为：
控制运输设备1向待清洗光伏板4的行端移动，当运输设备1的载机平台移动至清洗光伏板4的行端的目标位置时，停止移动。
在上述各实施方式的基础上，步骤“将运输设备1上的清洗机2依次放置到待清洗光伏板4上”具体为：
获取运输设备1上的清洗机2的位置信息，并根据光伏板4的初始清洗位置，得到清洗机2需要移动的调节位移和/或调整角度；
控制位于运输设备1上的搬运机构启动，并根据调节位移和/或调整角度将清洗机2移动至光伏板4的初始清洗位置。
具体的，搬运机构具体可以为具有抓具的机械臂，或者，其他能够实现清洗机2转移的搬运机构。
在上述各实施方式的基础上，步骤“将运输设备1上的清洗机2依次放置到待清洗光伏板4上”具体为：
将运输设备1上的清洗机2依次放置到相同或者不同的待清洗光伏阵列行上。
具体的，待清洗光伏阵列行是指由若干光伏板4排列组成的光伏阵列中的一行，可以在待清洗光伏阵列行的两端各放置一个清洗机2，两个清洗机分别从待清洗光伏阵列行的两端开始清洗，直至中间位置；当清洗机2放置在同一个待清洗光伏阵列行上时，可以在前后清洗机2之间间隔预设时间，或者，可以在同一个待清洗光伏阵列行上的不同目标位置放置清洗机2，以实现同一个待清洗光伏阵列行上有多个清洗机2同时工作的状态，以提高清洗效果。当然，可以将各清洗机2放置在不同的待清洗光伏阵列行上，如图7和图8所示，当然，也可以在不同待清洗光伏阵列行上放置不同数量的清洗机2，具体可以根据光伏板4的污渍程度或者待清洗光伏阵列行的面积而定。
在上述各实施方式的基础上，步骤“清洗机2独立执行清洗”具体为：
清洗机2进入清洗状态，并按照预设清洗路径移动；当清洗机2走完预设清洗路径后，返回至光伏板4的初始清洗位置，以待运输设备1取回清洗机2。
优选的，预设清洗路径具体为：
预先规划的预设清洗路径，即由控制器预先规划的路径，或者，清洗机2根据当前环境参数生成的预设清洗路径，具体的，当前环境参数可以为光伏板4或者光伏阵列行的污渍程度、尺寸参数，或者清洗机的数量，以及清洗机的电量、功率等。
具体的，移动设备对清洗机2包括一个主要步骤，安放和抓取，如图 7和图8所示，在安放过程中，具体实施例可以为：
控制运输设备1向第一光伏板4的行端移动，并将位于载机平台上的第一清洗机2移动至第一光伏板4上，控制第一清洗机2清洗机独立执行清洗；
控制运输设备1向第二光伏板4的行端移动，并将位于载机平台上的第二清洗机2移动至第二光伏板4上，控制第二清洗机2清洗机独立执行清洗；
控制运输设备1向第N光伏板4的行端移动，并将位于载机平台上的第N清洗机2移动至第N光伏板4上，控制第N清洗机2清洗机独立执行清洗。
上述各步骤中，分别向第N光伏板4上各放置有一个清洗机2，直至将运输设备1上的清洗机2全部放完，当然，也可以不将全部的清洗机2放置在待清洗光伏板上，即运输设备1上留存至少一个清洗机作为备用，优选的，第N光伏板4应当为相互靠近的第N光伏板4，以减少运输设备1的移动总距离。
在抓取过程中，具体可以包括：
控制运输设备1返回至第一光伏板4的行端，将位于第一光伏板4上的第一清洗机2移动至载机平台上，并控制运输设备1移动至第N+1光伏板4的行端，并将位于载机平台上的第一清洗机2移动至第N+1光伏板4上，控制第一清洗机2清洗机独立执行清洗；
控制运输设备1返回至第二光伏板4的行端，将位于第二光伏板4上的第二清洗机2移动至载机平台上，并控制运输设备1移动至第N+2光伏板4的行端，并将位于载机平台上的第二清洗机2移动至第N+2光伏板4上，控制第二清洗机2清洗机独立执行清洗；
控制运输设备1返回至第N光伏板4的行端，将位于第N光伏板4上的第N清洗机2移动至载机平台上，并控制运输设备1移动至第N+N光伏板4的行端，并将位于载机平台上的第N清洗机2移动至第N+N光伏板4上，控制第N清洗机2清洗机独立执行清洗。
上述步骤中，依次将第一光伏板4、第二光伏板4和第N光伏板4上的各清洗机2，转移至第N+1光伏板4、第N+光伏板4和第N+N光伏板4 上，最优选的方案为，当运输设备1回到第一光伏板4的行端时，第一光伏板4上的清洗机2刚好完成清洗工作。
这里需要说明的是，运输设备1的载机平台上安装有至少一台清洗机2，载机平台具体可以为带有驱动装置的母车，一个载机平台上也可以安装有多台清洗机2，运输设备1转移的路线、母车同时转移的清洗机2数量、母车携带的清洗机2数量N，应当根据母车的移动速度、清洗机2的清洗效率、光伏阵列单行长度以及光伏阵列的行间距等因素，来计算最佳方案，并不局限于本实施例所给出的参数值。
该清洗方法通过在一台运输设备1上放置一个或多个清洗机2，使得运输设备1可以同时运输多个清洗机2，在不影响其中一个清洗机2工作的前提下，转移另一个清洗机2至其他光伏板4上，实现单个清洗机2在不同光伏板4上的转移，通过一对多的方式，有效提高对光伏板4的清洗效率，并且，还通过清洗机2可与运输设备1分离后单独清洗机独立执行清洗工作，避免了运输设备1对清洗机2的影响，清洗效果可靠、均匀，同时，多台清洗机2在运输设备1的协助下可以实现在光伏板4行间、串间等不能依靠清洗机2直接移动达到的目标位置间转移，适用性提高。
上述清洗方法，可以通过可分离作业的光伏清洗机器人设备来实现，具体的，可分离作业的光伏清洗机器人设备包括：
运输设备1，用于带动清洗机2移动至目标位置，并为清洗机2提供能量，每个运输设备1上设置有至少一台清洗机2，即每个母车上安装有至少一台清洗机，运输设备1还可以为清洗机2充电，以保证清洗机2与运输设备1分离后的能量消耗。
清洗机2，用于在光伏板4上移动并清洗光伏板4，清洗机2可以脱离运输设备1单独工作，实现对光伏板4的清洗；
搬运系统3，用于将清洗机2从运输设备上移动至光伏板4上；
控制系统，用于获取位于运输设备1、清洗机2以及搬运系统3上的各检测元件的检测信息，并控制位于运输设备1、清洗机2以及搬运系统3上的各执行元件工作。
具体的，运输设备1具有以下这些作用：1、清洗机2的运载平台，也可以给清洗机2在线充电，当然，在线充电功能可选，在线充电的概念是 通过运输设备1的供能元件给清洗机2的供能元件补充电量，如果不是用电驱动的，也可以补给其他能量形式；2、搬运系统3的安装平台，也是供能元件，搬运系统3动作时需要消耗的能量来自运输设备1供给，当然，搬运系统3也可以独立供给能耗，统一由运输设备1供给便于优化和实施；3、作为本发明中的“躯干”部分，本发明的动力核心布置在该部分上，负责给方案中的所以耗能元件供能；4、作为主要的长距离运输设备1，与其他几部分的关系类似于“航母”与“舰载机”、“弹射器”等之间的关系；5、作为“控制系统”的载体，搭载了“控制系统”的检测、传输、运算等功能的系列设备。
进一步，运输设备1包括移动执行元件、动力元件、移动检测元件和运算控制元件。
其中，移动执行元件指赋予“运输设备1”获得主动空间转移能力的功能组件，它的实施方式有移动底盘2-2，常见的如汽车式轮式底盘、履带底盘等；也可以是水上的轮船、气垫摩托等；也可以是空中移动的飞行器等，具有自带驱动能力的交通工具，不限实施场景；
动力元件用于耗能的输出和补给，具体可以为油箱和内燃机组合、蓄电池和电机组合、核能和发电机组或者太阳能电池和电机组合等，即能提供能量、也能输出动力的部件，一般优选为蓄电池和电机组合。
移动检测元件属于控制系统的一个元件，使得运输设备1具备自主移动功能，用于定位运输设备1自身的位置和目标点的位置。常用的导航方式有磁条导航、二维码导航、2D激光导航、3D激光导航、GPS导航、惯性导航、里程导航等，一般应用以两种或两种以上的导航方式结合起来使用，确保导航精度与可靠性。另外一类为了安全而存在的移动检测元件有超声、安全激光、触边、拉绳开关等等，这些传感器的作用是检测运输设备1周边的环境，如果有障碍物或者目标物体出现在运输设备1的行驶路线上或者说出现在这些传感器的检测范围内，就能获取目标信息，之后目标信息反馈给运算控制元件，进行信息处理，提供下一步的行动指令。其他的移动检测元件主要为了配合实现移动执行元件的自动控制，比如电池电量检测、底盘移动速度检测、底盘或机身的三维角度变化检测等。
运算控制元件是“控制系统”的组成之一，主要由具有运算功能的硬 件、编译好的软件、进行控制的各部件控制器和I/O组成。运算控制元件在接收到移动检测元件反馈的信息之后，通过软件按照设定好的程序处理，得出对应的指令，通过I/O输出给各部件的控制器，由控制器对各部件的执行元件的具体操作进行控制，从而实现控制功能。而且在自动控制的应用中，移动检测元件往往还会收集移动执行元件的操作结果，并反馈操作结果给运算控制元件，通过内置软件的对比，判断执行情况，如果未满足控制要求，新一轮的控制调整将会输出，直到执行结果满足控制要求。
具体的，清洗机2是在光伏应用背景下实现具体功能的核心部分，主要包括清洗执行元件2-1、移动底盘2-2、清洗检测元件2-3和控制元件。
其中，清洗执行元件2-1是指具备清洗能力的结构，清洁结构有带动力的主动清洁方式，比如能转动的柱状辊刷、能转动的圆盘刷、或者具有吸尘作用的结构。当然，清洁部件也有不带动力的被动清洁方式，由移动底盘2-2提供推力和压力的，拖布式清洁方式，清洁头可以是布料、橡胶、尼龙等材料一种或多种组成的块状、条状、毛刷状等结构形式的。同时，清洗头内或者外部不排除附加向被清洗表面喷水或者直接湿润清洗材料的方式，也可选配增加清洗剂的方式，与喷水结构类似。
移动底盘2-2是带有线性可控运动能力的轮式或者履带式部件，是由蓄电池供电，电机驱动的，由于应用在光伏板4上，要求表面压强小，对镜面磨损小，因此选用履带底盘，并且，通过差速控制可实现底盘转弯、掉头功能。
清洗检测元件2-3是安装在底盘上负责收集移动底盘2-2自身和周边环境的信息，清洗检测元件2-3由传感器组组成，清洗检测元件2-3是移动底盘2-2自主移动功能的重要组成部分。清洗检测元件2-3可以由超声、激光、接近开关、相机、3D激光、里程计、速度计等其中一种或几种组成。导航路径识别和车体状态确认主要依赖清洗检测元件2-3完成。
控制元件是清洗机2的上层控制部分，主要有具有运算能力、编译能力、驱动能力的控制器和驱动器组成，能接收清洗检测元件2-3反馈的环境信息和底盘自身的状态信息。根据编译好的软件流程，针对不同的反馈输出相应的指令给清洗机2的执行元件，比如清洗执行元件2-1的开关、加减速、正反转等，移动底盘2-2的加减速、转弯、调头等。
具体的，控制系统负责整套清洗机器人的信息处理和决策，负责接收清洗、搬运、移动三大系统各自的检测元件反馈的信息，根据控制器内置的软件程序对各系统输入的信息进行处理，按照设定好的策略输出对清洗、搬运、移动三大系统独立操作或者配合操作的控制指令，控制系统包括主控制器和各系统的控制器、驱动器以及各系统的检测元件综合组成。
搬运系统3包括抓取部件和多自由度调节部件，抓取部件用于抓取清洗机2，多自由度调节部件用于带动抓取部件移动。
该搬运系统3的作用是提供了一种能够自主识别被搬运对象的空间位置，配合控制系统计算搬运和放置路径，柔性放置被搬运物体的方法。从光伏清洗的应用背景来说：该系统的发明目的是，实现清洗机2或设备的自动转移。
搬运系统3的功能分为两部分：收放清洗机2的抓取部件和类机械臂的多自由度调节部件，通过上述一个部分的共同作用能对清洗机2实现空间位置转移、调整、并柔性取放。
具体的，搬运系统3包括抓取部件及辅件3-1-2，与抓取部件及辅件3-1-2连接的伸缩部件3-1-1，用于带动抓取部件及辅件3-1-2转动的回转自由度关节3-2-1以及带动抓取部件及辅件3-1-2摆动的第一转动关节3-2-2、第二转动关节3-2-3和第三转动关节3-2-4；抓取部件及辅件3-1-2、伸缩部件3-1-1、回转自由度关节3-2-1以及第一转动关节3-2-2、第二转动关节3-2-3和第三转动关节3-2-4上均设有控制检测对应角度和/或位移信息的传感器。
由图5可知，搬运系统3中，多自由度调节部件具有多个自由度，每个自由度都可以在相应驱动元件的驱动下实现角度或者位移的变化，而安装在对应位置的传感器能反馈角度或位移的变化值。具体的，伸缩部件3-1-1的作用是对末端抓具进行微调的，包括角度和位移量，可以是单个自由度的调整也可以一个自由度同时调整，视实际需要；抓具末端的辅件主要指被抓取物体，即清洗机2，的位置检测元件，通过该位置检测元件对目标的位置信息的收集，反馈给控制系统，经过计算以及运动学的解算，输出各关节-包括多自由度调节部件-的运动量，该运动量包括角度和位移的变化量，完成相应控制后实现伸缩部件3-1-1末端的抓具与清洗机2相 应位置对应。具体的，提到多自由度调节部件的各个关节以及伸缩部件3-1-1的相应位置都安装有位置传感器，能反馈关节自由度的变化量，位置传感器收集了关节执行了“控制系统”的命令之后位置信息，反馈给“控制系统”进行对比，确认该自动调整的操作是否到位，由此同样形成了一个闭环控制。当然，多自由度调节部件也可以为吊臂结构，如图6所示。
抓取部件及辅件3-1-2的主要作用是将清洗机2固定在搬运系统3上，随搬运系统3和运输设备1进行空间转移，最终实现清洗机2更换工作区域；而当抵达工作区域后，抓取部件的需要释放清洗机2。在这个“取”与“放”的一个动作中，抓取部件还具备基础取放功能之外的能力：
1、伸缩部件3-1-1能够补偿多自由度调节部件末端的执行误差；
2、回转自由度关节3-2-1能够调整清洗机2相对于搬运系统3的位置关系，确保在放置清洗机2时的姿态是符合要求的。
末端抓具处的传感器能够感应清洗机2的位置，为抓取动作提供二次定位，其中，第一次定位是搬运系统3的多自由度调节部件的视觉伺服操作实现，末端抓具处的传感器在感应到目标位置之后可以通知爪具打开，对清洗机2进行抓取操作，抓取部件的末端爪具结构可以是其他实现形式的，能将清洗机2固定住即可，并不局限于本实施例所给出的结构。
本实施例所提供的光伏清洗机器人，其1对N的工作方法如下：
第一阶段：清洗机从母车背部被转移到光伏板4表面；
母车带着N台清洗机，在自身的导航元件和控制元件的主导下，按照程序设定，停留在阵列中的光伏板4行端，母车通过导航元件确认自己的位置到达设定位置之后，控制系统指示搬运系统3启动；搬运系统3中的位置检测元件首先检测母车背部平台上清洗机的位置，位置信息反馈给控制系统，控制系统通过计算，输出对多自由度调节部件，下文简称机械臂，的各个关节的动作指令，在该指令的控制下，机械臂的末端移动至清洗机附近，该位置由机械臂末端安装的抓取部件的结构和清洗机上与抓取部件配合的抓取位2-4形式决定；机械臂末端到位之后，抓取部件启动，伸缩部件3-1-1动作，驱动爪具向清洗机的抓取位2-4靠近，爪具上安装有位置检测传感器，当爪具位置与抓取位2-4的距离到达设定位置时，传感器被触发，抓取动作启动，爪具在抓取执行元件的驱动下张开，到一定位置 后，爪具上另一位置传感器被触发，抓取动作结束，清洗机被固定在抓取部件上；之后伸缩部件3-1-1动作，将清洗机搬离母车背部平台，伸缩部件3-1-1上同样有位置传感器，当爪具随着伸缩部件3-1-1动作到一定位置后，传感器触发，伸缩部件3-1-1的动作停止，到此，“取”的动作全部结束。
完成取清洗机的动作后，机械臂底部向光伏阵列所在方向旋转，如图3所示，转90°，清洗机位于光伏阵列行端的上方，当然，旋转角度视母车行走方向与光伏阵列的位置关系而定，一般情况下是90°。机械臂转动角度同样有传感器监控，转动角度到达设定位置之后，停止转动。此时机械臂上的检测系统对清洗机与光伏板4的位置关系进行检测，检测结果反馈给控制系统，后确认清洗机当前位置与目标位置的差距，经过控制系统计算，输出机械臂各关节的动作指令，这些动作的结果是将清洗机调整到距离光伏板4表面适当高度的位置。移动后的位置同样由机械臂上的检测部件来完成检测，结果传给控制系统进行对比确认，如果没有到位就继续调整，直到清洗机到达目标位置为止。该过程是一个闭环控制。清洗机到达目标位置后，伸缩部件3-1-1启动，将清洗机缓降，进一步靠近光伏板4表面，直到清洗机完全与光伏板4表面接触，此时清洗机底部的位置传感器被触发，通知控制系统清洗机放到位。此时爪具的抓取部件及辅件3-1-2启动，放开清洗机，伸缩部件3-1-1恢复到初始位置，机械臂末端恢复到设定位置，至此，“放”的动作全部结束。
如图7所示，为清洗机放板工作的流程示意图，清洗机脱离抓取部件之后，开始在光伏板4上移动，并且启动清洗执行元件2-1，清洗执行元件2-1是主动的，带电机驱动的辊刷，开始清洗工作。清洗路线的设计应当根据光伏板4的布置形式和清洗执行元件2-1的尺寸设定，在此不作进一步限定。
母车放置完清洗机，机械臂恢复到设定位置之后，母车启动，按照导航路线，向下一个目标位置移动，下一个目标位置也是光伏板4行的行端，到位后，重复前文的取清洗机、放清洗机。被放到光伏板4表面的清洗机也如前述，各自开始清洗光伏板的操作。以上操作当执行到在光伏阵列表面同时清洗的清洗机数量达到设定值，母车返回第一台开始清洗工作的清 洗机所在光伏阵列行的行端，准备将完成单行清洗工作的清洗机转移到另外一行未清洗的光伏板4表面，如图8所示，为清洗机换板工作的流程示意图，就是这种转移过程的实施例之一。
本实施例所提供清洗机2，通过运输设备1、清洗机2、搬运系统3和控制系统的设置，其清洗机与母车可以分离，N台清洗机在其他部分的协助下可以实现在光伏阵列行间、串间等不能依靠清洗机直接移动达到的目标位置间转移，清洗机在光伏板4表面移动不依赖于板的结构形式，可以实现自主导航和清洗；运输设备1不局限于移动底盘2-2，可以是飞行器、轮船之类的海陆空移动工具；搬运部分可以是机械臂式的抓取结构，也可以是平台式的摆渡方案；清洗机2可与运输设备1分离后单独工作，避免了运输设备对清洗机2的影响，清洗效果可靠、均匀，适用性提高。
以上对本发明所提供的光伏清洗机器人的清洗方法进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。

Claims (10)

  1. 一种光伏清洗机器人的清洗方法，其特征在于，包括以下步骤：
    控制运输设备移动至待清洗光伏板的目标位置，所述运输设备上至少放置有一台清洗机；
    将所述运输设备上的清洗机依次放置到所述待清洗光伏板上，所述清洗机独立执行清洗。
  2. 根据权利要求1所述的光伏清洗机器人的清洗方法，其特征在于，所述步骤“将所述运输设备上的清洗机依次放置到所述待清洗光伏板上，所述清洗机独立执行清洗”之后，还包括：
    将完成清洗工作的清洗机取回至所述运输设备上；
    将所述运输设备上的清洗机放置到待清洗光伏板上，所述清洗机独立执行清洗。
  3. 根据权利要求2所述的光伏清洗机器人的清洗方法，其特征在于，还包括：
    监测所述清洗机的电量是否低于预设电量，如果是，则将缺电的清洗机取回至所述运输设备上进行充电；或者，将缺电的清洗机取回至所述运输设备上，并控制所述运输设备移动至充电处为所述缺电的清洗机进行充电；或者，控制缺电的清洗机移动至所述光伏板的边缘充电口处进行充电。
  4. 根据权利要求1所述的光伏清洗机器人的清洗方法，其特征在于，还包括：
    检测所述运输设备的电量是否低于预设电量，如果是，则控制缺电的运输设备移动至充电处进行充电。
  5. 根据权利要求1所述的光伏清洗机器人的清洗方法，其特征在于，还包括：
    检测所述清洗机是否完成清洗，如果是，则控制所述运输设备取回完成清洗工作的清洗机。
  6. 根据权利要求1所述的光伏清洗机器人的清洗方法，其特征在于，所述步骤“控制运输设备移动至待清洗光伏板的目标位置”具体为：
    控制所述运输设备向所述待清洗光伏板的行端移动，当所述运输设备的载机平台移动至所述清洗光伏板的行端的目标位置时，停止移动。
  7. 根据权利要求1所述的光伏清洗机器人的清洗方法，其特征在于，所述步骤“将所述运输设备上的清洗机依次放置到所述待清洗光伏板上”具体为：
    获取所述运输设备上的清洗机的位置信息，并根据所述光伏板的初始清洗位置，得到所述清洗机需要移动的调节位移和/或调整角度；
    控制位于所述运输设备上的搬运机构启动，并根据所述调节位移和/或调整角度将所述清洗机移动至所述光伏板的初始清洗位置。
  8. 根据权利要求1至7任意一项所述的光伏清洗机器人的清洗方法，其特征在于，所述步骤“将所述运输设备上的清洗机依次放置到所述待清洗光伏板上”具体为：
    将所述运输设备上的清洗机依次放置到相同或者不同的待清洗光伏阵列行上。
  9. 根据权利要求1至7任意一项所述的光伏清洗机器人的清洗方法，其特征在于，所述步骤“所述清洗机独立执行清洗”具体为：
    所述清洗机进入清洗状态，并按照预设清洗路径移动；当所述清洗机走完所述预设清洗路径后，返回至所述光伏板的初始清洗位置，以待所述运输设备取回所述清洗机。
  10. 根据权利要求9所述的光伏清洗机器人的清洗方法，其特征在于，所述预设清洗路径具体为：
    预先规划的预设清洗路径，或者，所述清洗机根据当前环境参数生成的预设清洗路径。
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