WO2021227936A1

WO2021227936A1 - Fault rescue method for photovoltaic cleaning robot in fishing-light complementary scenario

Info

Publication number: WO2021227936A1
Application number: PCT/CN2021/092012
Authority: WO
Inventors: 王进; 瞿畅; 李跃华; 谷玉之; 张天奇; 张�荣
Original assignee: 南通大学
Priority date: 2020-05-12
Filing date: 2021-05-07
Publication date: 2021-11-18
Also published as: CN111555706B; CN111555706A

Abstract

Disclosed in the present invention is a fault rescue method for a photovoltaic cleaning robot in a fishing-light complementary scenario. The method employs a cleaning robot, a photovoltaic module, a rescue robot, a shuttle vehicle, and a lane changing track, and comprises the following steps: S10: when a fault occurs in the cleaning robot, send fault position information to the shuttle vehicle; S20: the shuttle vehicle carries the rescue robot and starts from a stop position of the lane changing track and reaches, the photovoltaic module where the faulted cleaning robot is located according to the fault position information; S30: start the rescue robot to reach the faulted cleaning robot along the photovoltaic module, tow the faulted cleaning robot to return, and when the rescue robot returns to the shuttle vehicle, disconnect the rescue robot from the faulted cleaning robot, and at the moment, the faulted cleaning robot just reaches the edge of the photovoltaic module, thereby solving the problem of low efficiency and low safety of repairing faulted cleaning robots on site in photovoltaic modules by the operation and maintenance management personnel.

Description

A fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light

Technical field

The invention belongs to the technical field of photovoltaic power plants, and relates to the maintenance of a cleaning robot for a photovoltaic module with complementary fishing and light, and in particular to a fault rescue method for a photovoltaic cleaning robot in a scene of complementary with fishing and light.

Background technique

In modern photovoltaic power generation systems, the "fishing and light complementary" power generation mode is a new power generation mode that combines photovoltaic and fishery. This method can use idle land such as fish ponds, tidal flats, and reeds to develop and construct photovoltaic power generation systems. , To solve the scarcity problem of land resources for the construction of photovoltaic power plants. However, during the long-term operation of the power station, due to the deposition of dust in the air on the surface of the photovoltaic module, the dust will have a greater impact on the power generation efficiency and service life of the photovoltaic module. With the large-scale construction and application of photovoltaic power stations, in order to improve the power generation efficiency of the power station, it is necessary to clean and maintain the photovoltaic modules on a regular basis. However, due to the complicated installation environment of the components, the traditional manual cleaning method is costly, low in efficiency, and inconvenient to maintain the components.

In recent years, with the rapid development of automated cleaning technology, more and more automated cleaning robots have been invested in the operation and maintenance of photovoltaic power plants to achieve automatic cleaning of the surface dust of photovoltaic modules. This has greatly improved the maintenance of photovoltaic modules. efficient.

However, during the long-term use of the cleaning robot, mechanical failures such as structural wear or seizure will occur, causing the cleaning robot to stop unexpectedly during work and fail to work normally. At this time, the operation and maintenance management personnel need to perform maintenance and troubleshooting on the cleaning robot in time . At present, for the photovoltaic module cleaning robot that has failed, the operation and maintenance management personnel mainly use small boats or long ladders to wading to the location of the faulty cleaning robot, and perform fault inspection and maintenance on the cleaning robot on the spot. Since malfunctioning cleaning robots are often located at a certain height above the water surface and at a certain inclination with the water surface, there are problems of low efficiency and low safety when using small boats or long ladders to maintain malfunctioning cleaning robots. Therefore, there is an urgent need for a solution that can prevent malfunctions. The cleaning robot pulls to the edge of the photovoltaic module and then disassembles and maintains it.

technical problem

The purpose of the present invention is to provide a rescue method when a photovoltaic cleaning robot fails in the scene of complementary fishing and light, and use an efficient and safe rescue method to pull the faulty cleaning robot to the edge of the photovoltaic module to facilitate operation and maintenance management personnel to disassemble and maintain.

Technical solutions

The invention discloses a fault rescue method for a photovoltaic cleaning robot in a fishing and light complementary scene. The method includes a cleaning robot, a photovoltaic assembly, a rescue robot, a shuttle bus, and a line change track, and includes the following steps:

S10: When the cleaning robot fails, it sends fault location information to the shuttle bus;

S20: The shuttle bus equipped with the rescue robot starts from the stop position of the line change track, and arrives at the photovoltaic module where the faulty cleaning robot is located according to the fault information position;

S30: Start the rescue robot to reach the faulty cleaning robot along the photovoltaic module, pull the faulty cleaning robot back, and disconnect the faulty cleaning robot when the rescue robot returns to the shuttle bus. At this time, the faulty cleaning robot just arrives at the photovoltaic module. edge.

The fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light has a corresponding control system. The control system controls the information interaction between the cleaning robot, the shuttle bus and the rescue vehicle, and controls the shuttle bus equipped with the rescue robot. Park on the edge of the photovoltaic module corresponding to the faulty cleaning robot, and control the rescue robot to pull the faulty cleaning robot back and park it on the shuttle bus. At this time, the operation and maintenance management personnel can efficiently and safely disassemble and repair the faulty cleaning robot next to the photovoltaic module.

Beneficial effect

The beneficial effects of a fault rescue method for a photovoltaic cleaning robot in a complementary scene of fishing and light disclosed in the present invention are: 1. The faulty cleaning robot is used to actively inform the repair position and the shuttle bus is equipped with the rescue robot to autonomously reach the photovoltaic where the faulty cleaning robot is located. Modules, use rescue robots to autonomously discover and park at the location of the faulty cleaning robot, and at the same time tow the faulty cleaning robot to the edge of the photovoltaic module to facilitate the operation and maintenance management personnel to disassemble and maintain, and solves the problem of the operation and maintenance management personnel in the photovoltaic module site repair fault cleaning robot efficiency The problem of low and low safety; 2. Limit the tilt angle of the apron support to facilitate the rescue robot to leave and return to the apron, use the proximity switch I and the proximity switch baffle I to accurately identify the position of the faulty cleaning robot, and the manipulator can realize rescue The robot and the faulty cleaning robot are fixed, the traction rope, the traction motor, and the traction clutch realize the reverse traction of the rescue robot and the faulty cleaning robot. The proximity switch Ⅱ and the proximity switch baffle Ⅱ realize the rescue robot stopping on the shuttle bus; 3. Use radio frequency Identify sensors and radio frequency identification position tags, proximity switch Ⅲ and proximity switch baffle Ⅲ to identify the photovoltaic accessories where the faulty cleaning robot is located. At the same time, aim the rescue robot at the center line of the photovoltaic module so that the rescue robot balances and pulls the faulty cleaning robot to walk; 4. On the shuttle bus An electric locking device is installed on the board to avoid accidents caused by external forces on the displacement of the shuttle bus on the transfer track; 5. A pulley is installed on the support of the shuttle bus to reduce the frictional resistance of the traction rope and the side of the support, and increase the working time of the rescue robot; 6. After the rescue robot completes the rescue work, the shuttle bus returns to the stop position of the new line, which is convenient for the shuttle bus to carry the rescue robot to carry out the second rescue.

Description of the drawings

Fig. 1: A structural diagram of a device corresponding to a fault rescue method for a photovoltaic cleaning robot in a fishing-light complementary scenario in an embodiment of the present invention.

Fig. 2: A structural diagram of a shuttle bus corresponding to a fault rescue method of a photovoltaic cleaning robot in a fishing-light complementary scenario in an embodiment of the present invention.

Fig. 3: A structural diagram of a rescue robot and a faulty cleaning robot corresponding to a fault rescue method for a photovoltaic cleaning robot in a complementary scene of fishing and light in the embodiment of the present invention.

Fig. 4: A structural diagram of a control system corresponding to a fault rescue method for a photovoltaic cleaning robot in a fishing-light complementary scenario in an embodiment of the present invention.

Fig. 5: A flow chart of a fault rescue method for photovoltaic cleaning robots in a fishing-light complementary scenario in an embodiment of the present invention.

Embodiments of the present invention

Please refer to Figure 1. The rescue device corresponding to the present invention includes a cleaning robot 2, a photovoltaic module 1, a rescue robot 3, a shuttle bus 4, and a line change rail 5. Please refer to Figures 2 and 3, the faulty cleaning robot 2 is slidably connected to the photovoltaic On the upper and lower sides of component 1, the faulty cleaning robot 2 is provided with a traction ring 22 and a proximity switch baffle Ⅰ23 on the side close to the line change track 5, and the rescue robot 3 is provided with a driving device Ⅰ21, a manipulator 24, a traction rope 20, a proximity switch Ⅰ18 and a proximity switch Ⅱ19 The manipulator 24 and the proximity switch I18 are located on one side of the rescue robot and are opposite to the traction ring 22 and the proximity switch baffle I23. The traction rope 20 and the proximity switch Ⅱ19 are located on the other side of the rescue robot 3. The proximity switch I18 is used to identify the proximity switch baffle I23 to realize that the rescue robot 3 stops at the faulty cleaning robot 2, the manipulator 24 is used to buckle the traction ring 22 to realize the connection of the rescue robot 3 and the faulty cleaning robot 2; the shuttle 4 is set The driving device II 16, the traction motor 7, the traction clutch 8, the traction winch 17 and the support. The other end of the traction rope 20 is fixedly connected to the traction winch 17, and the traction motor 7 is connected through the traction clutch 8 and the traction winch 17, so The traction motor 7 drives the traction winch 17 to rotate to realize the traction rope 20 to pull the rescue robot 3 and the fault cleaning robot 2 to return; the support is used to park the rescue robot 3, and the tilt angle and the angle error of the photovoltaic module 1 are 2 to 3 degrees In between, the side of the support away from the photovoltaic module 1 has a proximity switch baffle Ⅱ9, and the proximity switch Ⅱ19 is used to identify the proximity switch baffle Ⅱ9 for realizing that the rescue robot 3 is parked on the shuttle bus 4, and the manipulator 24 Disconnect from the traction ring 22.

Please refer to Fig. 2, a radio frequency identification sensor 15 and a proximity switch Ⅲ 13 are also arranged on one side of the shuttle bus 4, and a radio frequency identification position tag 14 and a proximity switch baffle Ⅲ 12 are arranged on one side of the line change rail 5. The position label 14 is used to mark the position of each row of photovoltaic modules 1, and the proximity switch baffle III 12 is used to align the rescue robot 3 with the center line position of the photovoltaic module 1. A plurality of locking electric push rods 10 with opposite positions are arranged in the middle of the shuttle bus 4, and locking fixing plates 11 are arranged on both sides of the line change rail 5, and the locking electric push rods 10 are inserted into the locking fixing plate 11 for Fix the shuttle bus 4 on the line feed rail 5. It effectively solves the problem of accidental displacement of the shuttle bus on the new track due to external forces. The support of the ferry 4 is provided with a pulley 6 in an intermediate position on the side away from the circular track, and the traction rope 20 is connected to the traction winch 17 through the pulley 6. The pulley can reduce the frictional resistance between the traction rope and one side of the support, and increase the working time of the rescue robot.

Please refer to Figure 4, the control system involved in the present invention includes: a controller, a wireless communication module I, a wireless communication module II, a driving device I 21 and a driving device II 16, a proximity switch I 18, a proximity switch II 19, a proximity switch III 13, and a radio frequency identification sensor 15. Traction motor 7, traction clutch 8, manipulator 24, and locking electric push rod 10. The controller communicates with drive device Ⅱ 16, radio frequency identification sensor 15, proximity switch Ⅲ 13, traction motor 7, traction clutch 8 and lock via CAN bus Tighten the electric push rod 10 for communication, and the controller can realize the control of the shuttle bus 4. The driving device I21, the proximity switch I18, the manipulator 24, and the proximity switch II19 are connected through the CAN bus through the wireless communication module I and the wireless communication module II. Communication, the controller realizes the control of the rescue robot 3 by the controller through the wireless communication module II. The specific control process is as follows:

The controller controls the rescue robot 3 to walk on the photovoltaic module 1 through the drive device I21. When the proximity switch I18 recognizes the proximity switch baffle I23, the controller controls the rescue robot 3 to stop walking through the drive device I21, and the rescue robot 3 reaches the fault cleaning. The position of the robot 2; the controller controls the manipulator 24 of the rescue robot 3 to buckle the traction ring 22 of the faulty cleaning robot 2; the controller drives the rescue robot 3 to walk on the photovoltaic module 1 through the driving device Ⅰ21 reversely, closes the traction clutch 8 and starts the traction The motor 7 drives the reverse rotation of the traction winch 17 to realize that the rescue robot 3 pulls the faulty cleaning robot 2 back along the photovoltaic module 1; when the proximity switch Ⅱ19 recognizes the proximity switch baffle Ⅱ9, the controller controls the rescue robot 3 to stop moving through the drive device Ⅰ21. And control the manipulator 24 to release the traction ring 22. At this time, the rescue robot 3 just stops on the shuttle bus 4 and the faulty cleaning robot 2 is located on the edge of the photovoltaic module 1.

The controller controls the apron car 4 to start from the stop position of the line change track 5 through the driving device Ⅱ16. When the radio frequency identification sensor 15 recognizes the RFID position tag 14, the controller controls the apron car 4 to decelerate through the driving device Ⅱ16. When the proximity switch Ⅲ13 recognizes When approaching the switch baffle Ⅲ12, the controller controls the shuttle bus 4 to stop moving through the drive device Ⅱ16 and at the same time controls the locking electric push rod 10 to insert into the locking fixing plate. At this time, the rescue robot 3 is exactly aligned with the center line of the photovoltaic module 1 to facilitate the rescue robot 3 Balance pulling the faulty cleaning robot 2, the controller disconnects the traction clutch 8 to facilitate the rescue robot 3 can pull the traction rope 20 to walk along the photovoltaic module 1, the controller controls the locking electric push rod 10 to insert the locking fixing plate 11 to realize the shuttle bus Fixed in the wrap track.

Please refer to Figure 5, the steps of the rescue method of the present invention are as follows:

S10: When the cleaning robot 2 fails, it sends fault location information to the shuttle bus 4;

S21: The apron car 4 is equipped with a rescue robot 3 to start from the stop position of the line change track 5. When the radio frequency identification sensor 15 of the apron car 4 recognizes the RFID position tag 14, the driving device Ⅱ16 decelerates the apron car 4;

S22: When the proximity switch Ⅲ 13 of the shuttle bus 4 recognizes the proximity switch baffle Ⅲ 12, the movement stops, and the traction clutch 8 is disconnected at the same time.

S23: Insert the locking electric push rod 10 of the shuttle bus 4 into the locking fixing plate 11 of the line change rail 5.

S31: Start the rescue robot 3 to walk along the center line of the photovoltaic module 1, and when the proximity switch I18 of the rescue robot 3 recognizes the proximity switch baffle I23 of the faulty cleaning robot 2, the rescue robot 3 stops moving;

S32: The rescue robot 3 starts the manipulator 24 to buckle the traction ring 22 of the faulty cleaning robot 2, and the rescue robot 3 moves in reverse; the shuttle traction clutch 8 is closed, and the traction motor 7 is started to drive the traction winch 17 to rotate and the rescue robot 3 is rotated through the traction rope 20 And the faulty cleaning robot 2 reversely pulls;

S33: When the proximity switch 19Ⅱ of the rescue robot 3 recognizes the proximity switch baffle Ⅱ9 of the apron support, the rescue robot 3 stops moving and starts the manipulator 24 to disconnect from the traction ring 22 of the cleaning robot. At this time, the cleaning robot 2 is faulty. Just reach the edge of the photovoltaic module 1.

S40: The apron car 4 is equipped with the rescue robot 3 to return to the stop position, which is convenient for the apron car 4 to carry the rescue robot 3 to perform a second rescue.

The rescue robot is used to pull the faulty cleaning robot to the edge of the photovoltaic module to facilitate the operation and maintenance management personnel to disassemble and maintain, which solves the problem of low efficiency and low safety of the operation and maintenance management personnel in repairing the faulty cleaning robot on the photovoltaic module site; restricting the shuttle bus support The tilt angle is convenient for the rescue robot to leave and return to the shuttle. The proximity switch Ⅰ and the proximity switch baffle Ⅰ are used to accurately identify the position of the faulty cleaning robot, the manipulator realizes the fixation of the rescue robot and the faulty cleaning robot, and the traction rope, traction motor, and traction clutch are realized. Reverse traction of rescue robot and fault cleaning robot, proximity switch Ⅱ and proximity switch baffle Ⅱ realize rescue robot parking on the shuttle bus; use RFID sensor and RFID position tag, proximity switch Ⅲ and proximity switch baffle Ⅲ to identify the fault The photovoltaic attachment where the cleaning robot is located at the same time align the rescue robot at the midline position of the photovoltaic module so that the rescue robot balances and pulls the faulty cleaning robot to walk; an electric locking device is installed on the ferry to avoid accidental displacement of the ferry on the transfer track caused by external forces; in the ferry A pulley is set on the support to reduce the frictional resistance between the traction rope and one side of the support, and increase the working time of the rescue robot; after the rescue robot completes the rescue work, the shuttle bus returns to the stop position of the change track, which is convenient for the shuttle bus to carry the rescue robot to carry out the second time. Rescue.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand The technical solution of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solution of the present invention.

Claims

A fault rescue method for a photovoltaic cleaning robot in a complementary scene of fishing and light, including a cleaning robot, a photovoltaic module, a rescue robot, a shuttle bus, and a line-changing track, and is characterized in that it includes the following steps:

S10: When the cleaning robot fails, it sends fault location information to the shuttle bus;

S20: The shuttle bus equipped with the rescue robot starts from the stop position of the line change track, and arrives at the photovoltaic module where the faulty cleaning robot is located according to the fault information position;

S30: Start the rescue robot to reach the faulty cleaning robot along the photovoltaic module, pull the faulty cleaning robot back, and disconnect the faulty cleaning robot when the rescue robot returns to the shuttle bus. At this time, the faulty cleaning robot just arrives at the photovoltaic module. edge;

The faulty cleaning robot is slidably connected to the upper and lower sides of the photovoltaic module. The faulty cleaning robot is provided with a traction ring and a proximity switch baffle I on the side close to the line change track. The rescue robot is provided with a driving device I, a manipulator, a traction rope, a proximity switch I and approaching Switch II, the manipulator and the proximity switch I are located on one side of the rescue robot, the traction rope and the proximity switch II are located on the other side of the rescue robot, and the proximity switch I is used to identify the proximity switch baffle I to realize the stop of the rescue robot. At the fault cleaning robot, the manipulator is used to buckle the traction ring to realize the connection between the rescue robot and the fault cleaning robot; the ferry is provided with a driving device II, a traction motor, a traction clutch, a traction winch and a support, the traction rope The other end of the traction winch is fixedly connected to the traction winch, the traction motor is connected through the traction clutch and the traction winch, and the traction motor drives the traction winch to rotate to realize the return of the traction rope traction rescue robot and the fault cleaning robot; the support is used to park the rescue robot And the angle error between the tilt angle and the photovoltaic module is between 2 and 3 degrees. The side of the support away from the photovoltaic module is provided with a proximity switch baffle II. The proximity switch II is used to identify the proximity switch baffle II. Realize that the rescue robot is parked on the shuttle bus, and the manipulator is disconnected from the traction ring at the same time.
The fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light according to claim 1, wherein said S30 comprises the following steps:

S31: Start the rescue robot to walk along the photovoltaic module, and when the proximity switch I of the rescue robot recognizes the proximity switch baffle I of the faulty cleaning robot, the rescue robot stops moving;

S32: The rescue robot starts the manipulator to buckle the traction ring of the faulty cleaning robot, and the rescue robot moves in the reverse direction; the ferry traction clutch is closed, and the traction motor is started to drive the traction winch to rotate, and the rescue robot and the faulty cleaning robot are pulled backward through the traction rope;

S33: When the proximity switch Ⅱ of the rescue robot recognizes the proximity switch baffle Ⅱ of the apron support, the rescue robot stops moving and starts the manipulator to disconnect from the traction ring of the cleaning robot. At this time, the faulty cleaning robot just reaches the photovoltaic module The edge position.
The fault rescue method for photovoltaic cleaning robots in the complementary scene of fishing and light according to claim 2, characterized in that a radio frequency identification sensor and a proximity switch III are arranged on one side of the shuttle bus, and one of the line feed rails A radio frequency identification position label and a proximity switch baffle III are arranged on the side, the radio frequency identification position label is used to mark the position of each row of photovoltaic modules, and the proximity switch baffle III is used to align the rescue robot to the centerline position of the photovoltaic module.
The fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light according to claim 3, characterized in that, said S20 comprises the following steps: S21: the shuttle bus equipped with the rescue robot is started from the stop position of the line-changing track, When the radio frequency identification sensor of the shuttle bus recognizes the radio frequency identification location tag, the driving device Ⅱ slows down the shuttle bus;

S22: When the proximity switch Ⅲ of the shuttle bus recognizes the proximity switch baffle Ⅲ, the movement will stop and the traction clutch will be disconnected at the same time.
The fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light according to claim 4, characterized in that a plurality of locking electric push rods with opposite positions are arranged in the middle of the shuttle bus, and the line change track Locking fixing plates are arranged on both sides, and the locking electric push rod is inserted into the locking fixing plate to fix the shuttle bus on the line change track.
The fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light according to claim 5, characterized in that, said S20 comprises the following steps: S23: insert the locking electric push rod of the shuttle bus into the line change track Lock the fixed plate.
The fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light according to claim 1, characterized in that a pulley is provided at an intermediate position on the side of the support away from the transfer track, and the traction rope is connected by the pulley For traction winch.
The fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light according to any one of claims 1-7, wherein the rescue robot is provided with a wireless communication module I, and the shuttle bus is provided with a control The cleaning robot is equipped with wireless communication module Ⅱ. The cleaning robot is equipped with wireless communication module Ⅲ.
The fault rescue method for photovoltaic cleaning robots in the scene of complementary fishing and light according to claim 1, characterized in that it comprises the following steps: S40: the shuttle bus is equipped with the rescue robot and returns to the stop position of changing the track.