WO2024007641A1 - Robot de nettoyage, système de suivi photovoltaïque et procédé de coopération interactive - Google Patents

Robot de nettoyage, système de suivi photovoltaïque et procédé de coopération interactive Download PDF

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Publication number
WO2024007641A1
WO2024007641A1 PCT/CN2023/086251 CN2023086251W WO2024007641A1 WO 2024007641 A1 WO2024007641 A1 WO 2024007641A1 CN 2023086251 W CN2023086251 W CN 2023086251W WO 2024007641 A1 WO2024007641 A1 WO 2024007641A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
tracking system
photovoltaic tracking
cleaning robot
photovoltaic
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PCT/CN2023/086251
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English (en)
Chinese (zh)
Inventor
于涛
孙欣
白亮亮
Original Assignee
湖州丽天智能科技有限公司
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Publication of WO2024007641A1 publication Critical patent/WO2024007641A1/fr

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Classifications

    • 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
    • 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
    • H02S20/00—Supporting structures for PV modules
    • H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
    • H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
    • 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

  • This application relates to the field of photovoltaic power generation technology, and in particular to a cleaning robot, a photovoltaic tracking system and an interactive collaboration method.
  • Existing large-scale photovoltaic power stations generally install tracking control systems for photovoltaic supports to increase power generation.
  • the tracking control system can rotate the photovoltaic panels so that they remain vertically facing the sun at all times, that is, the photovoltaic panels are at different inclinations at different times. angle.
  • the constantly rotating photovoltaic panels will make it difficult for the cleaning robot to clean the photovoltaic panels, because if the tilt angle of two adjacent photovoltaic panels is too different, the connecting bridge may be twisted, or the cleaning robot cannot smoothly cross the gap or Through the bridge; in addition, if the inclination angle of the photovoltaic panel is too large, or the inclination angle between adjacent photovoltaic panels is too different, and the cleaning robot does not know this situation and still cleans it, the cleaning robot may run to the point of interruption. The opening may lead to falling or getting stuck, or the tilt angle of the cleaning robot is too large, causing the cleaning robot to be unable to clean smoothly or even falling from the photovoltaic bracket, thereby damaging the robot. It is also possible that the photovoltaic modules may be damaged due to the above situation. and the bracket is damaged.
  • the purpose of this application is to provide a cleaning robot that can determine whether the inclination angle of the photovoltaic panel on the cleaning path meets the cleaning conditions, thereby preventing the situation of being unable to clean or damaging the equipment. , as well as the photovoltaic tracking system and the interactive collaboration method between the cleaning robot and the photovoltaic tracking system.
  • a cleaning robot for automatically cleaning photovoltaic panels on multiple photovoltaic tracking systems including: a cleaning device for cleaning the photovoltaic panels; a walking device for walking along a set cleaning path; a first communication device, Used to communicate with the photovoltaic tracking system and obtain the inclination angle of at least part of the photovoltaic tracking system on the cleaning path; a control device used to determine whether the inclination angle of the photovoltaic tracking system meets the cleaning conditions, and when the inclination angle of the photovoltaic tracking system meets the cleaning conditions Under cleaning conditions, the traveling device and the cleaning device are controlled to perform cleaning operations.
  • an inclination angle measuring device is further included for measuring the inclination angle of the cleaning robot; the control device also determines whether cleaning conditions are met based on the inclination angle of the cleaning robot.
  • the tilt angle measurement device includes an inertial acceleration sensor, and/or a gyroscope.
  • a positioning device is further included for determining the real-time position of the cleaning robot on the cleaning path.
  • the positioning device includes a walking distance sensor, a GPS sensor, a Wi-Fi positioning system, an ultrasonic sensor, and an RFID identifier matching the RFID tag (RFID refers to radio frequency identification technology) provided on the photovoltaic panel.
  • RFID refers to radio frequency identification technology
  • the positioning device includes a walking distance sensor, a GPS sensor, a Wi-Fi positioning system, an ultrasonic sensor, and an RFID identifier matching the RFID tag (RFID refers to radio frequency identification technology) provided on the photovoltaic panel.
  • RFID refers to radio frequency identification technology
  • control device obtains or checks the real-time position of the cleaning robot on the cleaning path by comparing the tilt angle of the cleaning robot with the tilt angles of multiple photovoltaic tracking systems.
  • This application also provides a photovoltaic tracking system for adjusting the tilt angles of multiple photovoltaic tracking systems, including: a second communication device for communicating with a cleaning robot.
  • a second communication device for communicating with a cleaning robot.
  • the photovoltaic tracking system is located at the cleaning end of the cleaning robot
  • the second communication device sends the tilt angle to the cleaning robot for the cleaning robot to determine whether the cleaning conditions are met.
  • the second communication device is further configured to receive an angle adjustment request from the cleaning robot, and the photovoltaic tracking system adjusts the tilt angle of the photovoltaic tracking system according to the angle adjustment request.
  • the second communication device is also used to obtain the real-time position of the cleaning robot from the cleaning robot.
  • the photovoltaic tracking system also obtains the The real-time power generation of photovoltaic panels before and after cleaning is used to calculate the cleaning effect.
  • a cleaning robot sensing device is further included for obtaining or verifying the real-time position of the cleaning robot.
  • the photovoltaic tracking system also obtains the photovoltaic panel. The real-time power generation before and after cleaning is used to calculate the cleaning effect.
  • the application also provides a method for interactive cooperation between a cleaning robot and a photovoltaic tracking system, including the steps of: obtaining the tilt angle of the cleaning robot and its real-time position on the cleaning path; obtaining at least part of the photovoltaic tracking system on the cleaning path. Tilt angle; determine the next action of the cleaning robot based on the acquired tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system; repeat the above three steps at set time intervals until the cleaning robot completes all steps. The cleaning operation of the cleaning path or until the cleaning robot stops the cleaning operation.
  • the step of determining the next step of the cleaning robot based on the acquired tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system specifically includes: when any two of the cleaning paths are When the difference in inclination angles of adjacent photovoltaic tracking systems exceeds the second set value, the cleaning robot terminates the cleaning operation; when the difference in inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path The difference does not exceed the second set value, and when the tilt angle of the cleaning robot is greater than the third set value, the cleaning robot suspends the cleaning operation and sends the angle to the photovoltaic tracking system where the cleaning robot is currently located.
  • the photovoltaic tracking system adjusts the tilt angle after receiving the angle adjustment request; when the tilt angle of the next photovoltaic tracking system on the cleaning path and the photovoltaic tracking where the cleaning robot is currently located When the difference in the tilt angle of the system is not greater than the first set value, the cleaning robot performs the cleaning operation; when the tilt angle of the next photovoltaic tracking system on the cleaning path and the current location of the cleaning robot When the difference in the tilt angle of the photovoltaic tracking system is greater than the first set value but does not exceed the second set value, the cleaning robot suspends the cleaning operation and moves to the next light.
  • the photovoltaic tracking system sends an angle adjustment request, and the next photovoltaic tracking system adjusts the tilt angle after receiving the angle adjustment request.
  • the cleaning robot obtains its real-time position on the cleaning path through a positioning device; and/or the cleaning robot obtains the real-time position by comparing its own inclination angle with that of the photovoltaic tracking system. The real-time position of the cleaning robot on the cleaning path.
  • the real-time power generation of the photovoltaic tracking system before and after cleaning is also obtained for calculating the cleaning effect.
  • This application also provides another cleaning robot for automatically cleaning photovoltaic panels on multiple photovoltaic tracking systems, including: a cleaning device for cleaning the photovoltaic panels; a walking device for walking along a set cleaning path ;
  • the first communication device is used to communicate with the photovoltaic tracking system of the photovoltaic panel, and sends the cleaning path to the photovoltaic tracking system for the photovoltaic tracking system to determine the inclination of the photovoltaic tracking system on the cleaning path. Whether the angle meets the cleaning conditions of the cleaning robot.
  • the first communication device requests the photovoltaic tracking system to temporarily adjust the tilt angle to meet the cleaning conditions.
  • Control device for controlling the walking device and the cleaning device to perform cleaning operations.
  • a positioning device is further included for determining the real-time position of the cleaning robot on the cleaning path; the first communication device is also used for sending the real-time position to the photovoltaic tracking system, It provides the photovoltaic tracking system that is about to be cleaned with priority to adjust the tilt angle, and allows the photovoltaic tracking system to calculate the cleaning effect based on the real-time power generation of its photovoltaic panel before and after cleaning.
  • This application also provides another method for interactive cooperation between a cleaning robot and a photovoltaic tracking system, including the steps of: obtaining the inclination angle of at least part of the photovoltaic tracking system on the cleaning path of the cleaning robot; determining the obtained inclination of the photovoltaic tracking system Whether the angle meets the cleaning conditions of the cleaning robot; adjust the tilt angle of the photovoltaic tracking system on the cleaning path as needed to meet the cleaning conditions.
  • the method further includes the steps of: obtaining the real-time position of the cleaning robot, allowing the photovoltaic tracking system to prioritize the photovoltaic tracking system that is about to be cleaned, and allowing the photovoltaic tracking system to perform cleaning operations according to the photovoltaic tracking system.
  • the cleaning condition includes: the difference in the inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path does not exceed a first set value.
  • the cleaning condition includes: the inclination angle of any one of the photovoltaic tracking systems on the cleaning path is not greater than a third set value.
  • the cleaning robot obtains its own inclination angle by setting up an inclination angle measuring device, and stops cleaning when the inclination angle is too large to prevent the cleaning robot from having insufficient climbing ability to complete the cleaning operation smoothly, and to prevent the cleaning robot from falling off the photovoltaic bracket. fall;
  • the cleaning robot obtains the real-time angle distribution of the photovoltaic tracking system on the cleaning path and detects the abnormal angle difference between adjacent photovoltaic tracking systems to prevent the cleaning robot from crossing the gap between adjacent photovoltaic tracking systems or passing through the phase.
  • the connecting bridge between adjacent photovoltaic tracking systems may become stuck or fall; at the same time, when the angle difference between adjacent photovoltaic tracking systems and the working conditions of the connecting bridge are abnormal, it can provide the photovoltaic tracking system or other upper-level systems with Alarm information;
  • the cleaning robot ensures the safety of the cleaning operation by confirming that the tilt angle of the photovoltaic tracking system on the cleaning path meets the cleaning conditions;
  • the cleaning robot accurately obtains its own real-time tilt angle through a high-precision tilt angle measurement device including an inertial sensor;
  • the photovoltaic tracking system ensures the safety of the cleaning robot's cleaning operation by sending the tilt angle of the photovoltaic tracking system on the cleaning path to the cleaning robot, and adjusting the tilt angle of some photovoltaic tracking systems according to the cleaning robot's request when necessary;
  • the cleaning effect can be accurately evaluated to help determine the appropriate cleaning frequency or cleaning strategy.
  • Figure 1 is a flow chart of an embodiment of an interactive collaboration method between a cleaning robot and a photovoltaic tracking system
  • Figure 2 is a flow chart for determining the next step of the cleaning robot based on the acquired tilt angle.
  • connection should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be an internal connection between two components.
  • connection should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or an integral connection
  • it can be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be an internal connection between two components.
  • photovoltaic panel cleaning robots generally lack the collection of information such as the quality of the connection bridges between photovoltaic panels on the cleaning path, the tilt angle of the photovoltaic tracking system, and the tilt angle difference between adjacent photovoltaic tracking systems. If you run it directly without referring to these factors, it is considered that these conditions have been met. Because the above factors are not taken into consideration, the difference in inclination angle between adjacent photovoltaic tracking systems is so large that the connecting bridge is broken or the inclination angle is too large for a specific type of cleaning robot to perform cleaning operations. The cleaning robot cannot know the situation in advance.
  • This application obtains the tilt angle of the cleaning robot and adds interactive collaboration to the photovoltaic tracking system, that is, adding in the consideration of parameters such as the tilt angle of multiple photovoltaic tracking systems, and judging the connection bridge or photovoltaic tracking system between the photovoltaic tracking systems in real time. Is the angle adjustment function normal?
  • the cleaning robot uses this information to determine whether to move forward or terminate the cleaning operation and return to the docking station to reduce the possibility of damage, and at the same time report to the backend maintenance personnel for fault detection.
  • This application can also combine the photovoltaic power generation power of the photovoltaic tracking system before and after cleaning to calculate the cleaning degree, providing data support for the background to determine the cleaning frequency or cleaning strategy.
  • the photovoltaic tracking system includes photovoltaic panels and a photovoltaic spindle that controls the rotation of the photovoltaic panels.
  • the inclination angle of the photovoltaic tracking system in this application refers to the inclination angle of its photovoltaic panel.
  • the photovoltaic tracking system controls the photovoltaic main axis to adjust the inclination angle, and is provided with a measuring device that senses the inclination angle.
  • the technologies for adjusting and sensing the tilt angle are all existing technologies and will not be described in detail in this application.
  • the cleaning of the photovoltaic tracking system described in this application also refers to the cleaning of the photovoltaic panels of the photovoltaic tracking system.
  • a connecting bridge is usually set up between two adjacent photovoltaic tracking systems to facilitate the passage of the cleaning robot.
  • the connecting bridge is not required.
  • the connecting bridge has a rotating mechanism or a certain degree of flexibility to accommodate the tilt angle difference between the photovoltaic tracking systems on both sides of it. Regardless of whether a connecting bridge is set up, the angle difference between two adjacent photovoltaic tracking systems cannot be Exceed the set limit so that the cleaning robot can cross it smoothly or ensure that the connecting bridge is not damaged.
  • Example 1 The cleaning robot provided by this application is used to automatically clean photovoltaic panels of multiple photovoltaic tracking systems.
  • This embodiment includes: a cleaning device for cleaning photovoltaic panels; a walking device for walking along a set cleaning path; and a tilt angle measuring device , used to measure the tilt angle of the cleaning robot; the first communication device is used to communicate with the photovoltaic tracking system and obtain the tilt angle of at least part of the photovoltaic tracking system on the cleaning path; the control device is used to determine the tilt angle of the cleaning robot and the above Whether the tilt angle of some photovoltaic tracking systems meets the cleaning conditions, and when the cleaning conditions are met, the traveling device and cleaning device are controlled to perform cleaning operations.
  • the specific structures of the cleaning device, walking device, tilt angle measuring device, first communication device and control device can adopt various existing settings in the prior art.
  • the first communication device can use a low-power local area network.
  • the wireless platform (LORA) and communication protocol communicate with the photovoltaic tracking system in accordance with the industry standard serial communication protocol Modbus; and the invention of this application lies in the specific application of the above-mentioned multiple devices and the cooperation between them, so the use of these devices
  • the specific structure and implementation will not be described in detail.
  • the cleaning path is preset by the control device, or set according to the cleaning strategy through other host computers that have communication connections with the cleaning robot.
  • the tilt angle of the cleaning robot and the tilt angle of the photovoltaic tracking system that is, the tilt angle of the photovoltaic panel
  • the cleaning path consists of multiple adjacent photovoltaic tracking systems.
  • Each photovoltaic tracking system includes at least one planar photovoltaic panel.
  • the photovoltaic panels of the same photovoltaic tracking system rotate at the same time, so the tilt of the photovoltaic panels of the same photovoltaic tracking system The angle is always the same.
  • the tilt angles of different photovoltaic tracking systems are not necessarily the same depending on the specific control strategy of the photovoltaic tracking system. Since there is no difference in the angle of sunlight, under normal circumstances, the difference in tilt angle between different photovoltaic tracking systems will not be too large, making it difficult for the cleaning robot to clean multiple photovoltaic tracking systems located in the same row. possible.
  • the same cleaning robot can also be used to clean multiple rows of photovoltaic tracking systems. All photovoltaic tracking systems that need to be cleaned by the same cleaning robot constitute the cleaning robot. Wash the path.
  • the cleaning robot can obtain the inclination angle of the current photovoltaic tracking system through its own inclination angle measurement device, and then obtain the inclination angle of the next photovoltaic tracking system on the cleaning path, and then calculate the inclination angle difference. And the cleaning robot's crossing ability is used to know whether it can safely cross from the current photovoltaic tracking system to the next photovoltaic tracking system.
  • the inclination angle measuring device of the cleaning robot may not be provided, for example, when a cleaning robot that can perform cleaning at any angle is used. At this time, the cleaning robot only needs to judge whether the cleaning conditions are met through the tilt angle of the photovoltaic tracking system on the cleaning path.
  • the tilt angle measurement device specifically includes an inertial acceleration sensor or a gyroscope or a combination thereof.
  • the inertial acceleration sensor usually consists of an inertial mass piece and an elastic element. When there is an inclination angle between the inertial acceleration sensor and the horizontal plane, the gravity of the inertial mass piece deforms the elastic element, and the above deformation is directly related to the inclination angle, so the inertial acceleration sensor Can be used to measure the tilt angle of the cleaning robot.
  • Inertial navigation sensors on the market usually include orthogonally arranged multi-axis acceleration sensors.
  • Some high-precision products also include single-axis or multi-axis gyroscopes, single-axis or multi-axis magnetometers and other sensing units. By filtering the measurement data of these sensing units and performing fusion calculations on multiple measurement values, more accurate tilt angle measurements can be obtained.
  • the above-mentioned specific sensing units and filter fusion algorithms are all existing technologies, so they will not be described in detail.
  • the cleaning robot of this embodiment further includes a positioning device for determining the real-time position of the cleaning robot on the cleaning path.
  • the positioning device can specifically use a walking distance sensor, a GPS sensor, a Wi-Fi positioning system, an ultrasonic sensor, an RFID identifier that matches the RFID tag set on the photovoltaic panel, and an RFID tag set on the photovoltaic panel.
  • QR code recognizers configured for QR code matching are used to determine the real-time position of the cleaning robot on the cleaning path.
  • the low-power local area network wireless platform (LORA) mentioned above is a type of Wi-Fi system that can roughly position the cleaning robot. Since photovoltaic tracking systems usually have large dimensions in the length direction, cleaning robots do not have high requirements for positioning accuracy. Positioning requirements can usually be met by any one or a combination of two of the above technical means.
  • the positioning device can be arranged on the walking device or other positions of the cleaning robot. Of course, it can also be done through photovoltaic and A cleaning robot sensing device, such as various proximity switches, is installed on the tracking system or photovoltaic panel to obtain the real-time position of the cleaning robot, and then the cleaning robot obtains it from the photovoltaic tracking system through the first communication device.
  • the real-time position of the cleaning robot refers to which photovoltaic tracking system the cleaning robot is currently located in, or between which two photovoltaic tracking systems it is located, that is, it is completing the bridge crossing action, etc.
  • the control device of the cleaning robot in this embodiment obtains or checks the real-time position of the cleaning robot on the cleaning path by comparing the inclination angle of the cleaning robot with the inclination angles of multiple photovoltaic tracking systems on the cleaning path. Location. As mentioned above, there will be certain differences in the tilt angles between different photovoltaic tracking systems. When using a tilt angle measurement device including a high-precision inertial navigation unit, the angle measurement accuracy of the cleaning robot is sufficient to determine the position of the cleaning robot.
  • the tilt angle measurement device includes a high-precision gyroscope
  • the tilt angle measurement accuracy can reach 0.1° level
  • the tilt angle difference between different photovoltaic tracking systems can usually reach 1 to 2° or even greater, so cleaning robots Based on its own tilt angle, the tilt angles of all photovoltaic tracking systems on the cleaning path, completed cleaning path data and other information, it can determine its current position on the cleaning path.
  • the above technical means can also be used in conjunction with the positioning device of the cleaning robot to assist in obtaining the current position or verifying the measurement results of the positioning device.
  • Embodiment 7 The cleaning robot of this embodiment is used to automatically clean multiple photovoltaic tracking systems, including: a cleaning device for cleaning photovoltaic panels of the photovoltaic tracking system; a walking device for walking along a set cleaning path; a first communication device for It communicates with the photovoltaic tracking system and sends the cleaning path to the photovoltaic tracking system, so that the photovoltaic tracking system on the cleaning path can determine whether its tilt angle meets the cleaning conditions of the cleaning robot, and adjust its tilt angle as needed to meet the cleaning conditions; control device , used to control the traveling device and cleaning device to perform cleaning operations.
  • the cleaning robot can also simultaneously send its cleaning conditions to the photovoltaic tracking system through the first communication device, or send its model to the photovoltaic tracking system for it to query the cleaning conditions from the database.
  • the cleaning robot of this embodiment further includes a positioning device for determining the real-time position of the cleaning robot on the cleaning path; the first communication device is also used to send the real-time position to the photovoltaic tracking system for The photovoltaic tracking system that is about to be cleaned on the cleaning path promptly determines whether its tilt angle meets the cleaning conditions, and adjusts its tilt angle in a timely manner when necessary. And for the photovoltaic tracking system to calculate the cleaning effect based on the real-time power generation of the photovoltaic panel before and after cleaning.
  • Example 9 This embodiment is an embodiment of the photovoltaic tracking system provided by this application and is used to adjust the tilt angles of multiple photovoltaic tracking systems.
  • This embodiment includes a second communication device for communicating with the cleaning robot.
  • the photovoltaic tracking system obtains the cleaning path of the cleaning robot from the host computer, or obtains the cleaning path from the cleaning robot through the second communication device.
  • the tilt angle is sent to the cleaning robot through the second communication device, so that the cleaning robot can determine whether its cleaning conditions are met based on its own tilt angle.
  • the second communication device can be configured to match and communicate with the first communication device of the cleaning robot.
  • the cleaning path of the cleaning robot can be obtained from the cleaning robot or from other host computers. When the cleaning robot is suitable for cleaning at any tilt angle, the cleaning robot only needs to determine whether the cleaning conditions are met based on the tilt angle information obtained from the photovoltaic tracking system.
  • the second communication device of this embodiment is also used to receive an angle adjustment request of the cleaning robot, and adjust its own tilt angle according to the angle adjustment request.
  • the cleaning robot it can be known based on the inclination angle of the photovoltaic tracking system, the inclination angle of the cleaning robot itself, and the inclination angle difference between adjacent photovoltaic tracking systems, whether the current state of the cleaning path is There are faults or abnormalities that require alarm and request for intervention, whether normal cleaning operations can be performed, or normal cleaning operations cannot be performed but no faults or abnormalities requiring intervention have occurred.
  • the cleaning robot can pause the cleaning operation and send an angle adjustment request to the photovoltaic tracking system, requesting to fine-tune the tilt angle of part of the photovoltaic tracking system to meet the requirements of normal cleaning operations.
  • the cleaning robot can resume cleaning operations. Since cleaning operations are infrequent, the current photovoltaic tracking system can resume normal operation after the cleaning robot moves to the next photovoltaic tracking system. Therefore, the above temporary angle adjustment will not significantly affect the normal power generation operation of the photovoltaic tracking system.
  • Example 11 Based on the ninth or tenth embodiment, the second communication device of this embodiment is also used to obtain the real-time position of the cleaning robot from the cleaning robot, and when the cleaning robot performs the cleaning operation During the process, the photovoltaic tracking system also obtains the real-time power generation of the photovoltaic panels before and after cleaning, which is used to calculate the cleaning effect.
  • the photovoltaic tracking system of this embodiment also includes a cleaning robot sensing device for obtaining or checking the real-time position of the cleaning robot.
  • the photovoltaic The tracking system is also used to calculate the cleaning effect by obtaining the real-time power generation of photovoltaic panels before and after cleaning. That is to say, the photovoltaic tracking system can either obtain its real-time position from the cleaning robot through the second communication device, or it can detect and obtain the real-time position of the cleaning robot by setting up a sensing device such as a proximity switch, and detect and obtain the real-time position of the cleaning robot according to the position of the cleaning robot during the cleaning operation.
  • a sensing device such as a proximity switch
  • the real-time location information knows whether a specific photovoltaic panel has not been cleaned or whether it has been cleaned, and accordingly the real-time power generation power of the photovoltaic panel before and after cleaning is obtained to calculate the cleaning effect.
  • the real-time power generation before and after cleaning will change significantly. Based on these data, the most economical and effective cleaning strategy can be determined.
  • Embodiment 13 As shown in Figure 1, this embodiment is an embodiment of the interactive cooperation method between the cleaning robot and the photovoltaic tracking system provided by the present application. This embodiment can be implemented by the cleaning robot or the controller of each photovoltaic tracking system, or a certain part of the photovoltaic power station. Control system implementation. This embodiment includes steps:
  • the cleaning robot obtains its own tilt angle
  • this method can obtain the inclination angles of all photovoltaic tracking systems on the cleaning path of the cleaning robot at once, or can only obtain the inclination angles of the part of the photovoltaic tracking systems closest to the cleaning robot on the cleaning path, that is, the ones that are about to be cleaned.
  • the tilt angle of part of the photovoltaic tracking system, and the tilt angle of the remaining photovoltaic tracking system is gradually obtained during the subsequent cleaning process.
  • step S100 can be omitted, and in step S100 In S300, the next action of the cleaning robot is determined only based on the tilt angle of the photovoltaic tracking system on the cleaning path.
  • step S300 of this embodiment specifically includes the following steps:
  • the cleaning robot When the tilt angle of the cleaning robot is greater than the third set value K, the cleaning robot cannot safely perform the cleaning operation due to its own capabilities.
  • the cleaning robot suspends the cleaning operation and sends an angle adjustment request to the current photovoltaic tracking system.
  • the photovoltaic tracking system Adjust its tilt angle after receiving an angle adjustment request;
  • the cleaning robot communicates with the photovoltaic tracking system on the cleaning path, obtains the tilt angle of some or all photovoltaic tracking systems on the cleaning path every 1 second, and collects it into a data table.
  • the tilt angle of photovoltaic tracking system No. 1 is z 1
  • the tilt angle of photovoltaic tracking system No. 2 is z 2
  • the tilt angle of photovoltaic tracking system No. 3 is z 3
  • photovoltaic tracking system No. n The tilt angle of the system is z n .
  • Adjacent PV tracking systems are connected using connecting bridges.
  • step S310 if the inclination angles of adjacent photovoltaic tracking systems, such as z n and z n-1, are too different, the connecting bridge may be damaged, or the cleaning robot may fall or get stuck when crossing over. .
  • s 2
  • , the angle difference between n-1 and n photovoltaic tracking systems s n-1
  • the acceptable torsion angle of the connecting bridge combined with the maximum tilt angle difference that the cleaning robot can successfully span, determine the first setting value I; or in other words, the tilt angle difference between adjacent photovoltaic tracking systems does not exceed the first setting Only when the value is I can the normal function of the connecting bridge be ensured and the cleaning robot can cross it smoothly.
  • the second set value J based on the torsion angle at which the connecting bridge may break, combined with the inclination angle difference at which the cleaning robot may fall or get stuck when crossing, determine the second set value J; or, in other words, the inclination angle difference between adjacent photovoltaic tracking systems.
  • the connecting bridge may be deformed and broken, or the cleaning robot may fall and get stuck.
  • the data of the difference table T [s 1 , s 2 , s 3 ,..., sn-1 ] at time T 1 is compared with the second set value J.
  • step S320 is used to determine whether the inclination angle r of the cleaning robot itself is greater than the third set value K.
  • the third set value K is the maximum inclination angle of the cleaning robot suitable for cleaning.
  • the third setting value K is related to the specific structure and performance parameters of the cleaning robot. If the tilt angle r of the cleaning robot is greater than the third set value K, the cleaning task will not be performed. If it is running, it will stop running and return to the docking station, or the cleaning task will be suspended and the current photovoltaic tracking system will be requested to adjust its tilt angle. Because when the inclination angle of the cleaning robot itself is too large, it will cause the walking device to get stuck or the climbing ability to decrease, causing malfunction.
  • the third set value K is related to the performance of the cleaning robot.
  • the design parameters of the cleaning robot allow it to perform cleaning operations at a large tilt angle, or when the cleaning robot is suitable for performing cleaning operations at any cleaning tilt angle, that is, the third set value K is greater than or equal to what may occur in the photovoltaic tracking system.
  • the tilt angle is the maximum, there is no need to perform the judgment in step S320.
  • step S330 the difference table T[s 1 , s 2 , s 3 ,..., s n at time T 1 is generated -1 ] data Compare with the first set value I.
  • the cleaning robot obtains the real-time position on the cleaning path through the positioning device; or the cleaning robot can also track all the photovoltaics on the cleaning path through its own tilt angle and
  • the real-time tilt angle comparison of the system can obtain the real-time position of the cleaning robot on the cleaning path; the above two methods can also be combined to determine the real-time position of the cleaning robot through mutual verification.
  • the real-time position of the cleaning robot refers to which photovoltaic tracking system the cleaning robot is on, or when the cleaning robot crosses the gap or connecting bridge between two photovoltaic tracking systems, the real-time position refers to which photovoltaic tracking system the cleaning robot is between.
  • Example 16 Based on the thirteenth, fourteenth or fifteenth embodiment, in this embodiment, when the cleaning robot performs the cleaning operation, the cleaning robot or the photovoltaic tracking system also obtains the real-time power generation of the photovoltaic panel before and after cleaning, using To calculate the cleaning effect. It can be acquired one or more times before cleaning and one or more times after cleaning. When multiple data are acquired, the cleaning effect can be calculated more accurately by averaging or curve fitting. By calculating the cleaning effect, the degree of dust accumulation and power generation reduction of photovoltaic panels under a specific cleaning frequency can be collected. The calculation results can be used to determine and adjust the cleaning frequency or cleaning strategy. For example, in dusty seasons or areas, increase the amount appropriately based on the calculation results. Cleaning frequency.
  • Example 17 The interactive cooperation method between a cleaning robot and a photovoltaic tracking system in this embodiment includes the steps of: obtaining the tilt angle of at least part of the photovoltaic tracking system on the cleaning path of the cleaning robot; and determining whether the obtained tilt angle of the photovoltaic tracking system meets the cleaning conditions of the cleaning robot. ; Adjust the tilt angle of the photovoltaic tracking system on the cleaning path as needed to meet the cleaning conditions.
  • the cleaning robot does not need to determine whether the cleaning path meets the cleaning conditions.
  • the photovoltaic tracking system on the cleaning path monitors its inclination angle in real time during the cleaning process, and detects when the inclination angle does not meet the cleaning requirements.
  • the robot's cleaning conditions are automatically adjusted in advance. When the cleaning conditions are not met, the photovoltaic tracking system can notify the cleaning robot to suspend the cleaning operation and resume the cleaning operation after the adjustment is completed.
  • Example 18 On the basis of Embodiment 17, this embodiment also includes the steps of: obtaining the real-time position of the cleaning robot, so that the photovoltaic tracking system to be cleaned can determine whether their tilt angle meets the cleaning conditions, and adjust it in time as needed; and The photovoltaic tracking system calculates the cleaning effect based on the real-time power generation of photovoltaic panels before and after cleaning.
  • the calculation method of this embodiment is similar to that of Embodiment 11.
  • the cleaning conditions of this embodiment specifically include: the difference in the inclination angles of any two adjacent photovoltaic tracking systems on the cleaning path does not exceed the first set value I.
  • the cleaning conditions can also reduce the requirements, that is, at least meet: the difference in tilt angle between the photovoltaic tracking system to be cleaned on the cleaning path and the photovoltaic tracking system where the cleaning robot is currently located does not exceed
  • the cleaning robot can continue to perform cleaning operations. If there are photovoltaic tracking systems on the cleaning path that do not meet the above conditions, the cleaning angles of these photovoltaic tracking systems can be adjusted simultaneously during the cleaning operation so that they meet the cleaning conditions before the cleaning robot arrives.
  • the cleaning conditions of this embodiment also include: the inclination angle of any photovoltaic tracking system on the cleaning path is not greater than the third set value K.
  • the specific setting method of the third setting value K please refer to Embodiment 14.
  • the above cleaning conditions can also reduce the requirements, that is, as long as the tilt angle of the photovoltaic tracking system to be cleaned meets the requirements, the cleaning operation can be continued.

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  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Photovoltaic Devices (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

La présente demande concerne un robot de nettoyage, un système de suivi photovoltaïque et un procédé de coopération interactive. Le robot de nettoyage comprend : un appareil de nettoyage, un appareil de marche, un appareil de mesure d'angle d'inclinaison, un premier appareil de communication et un appareil de commande, le premier appareil de communication communiquant avec un système de suivi photovoltaïque d'un panneau photovoltaïque et acquérant un angle d'inclinaison d'au moins une partie du système de suivi photovoltaïque sur un trajet de nettoyage ; et l'appareil de commande déterminant si un angle d'inclinaison du robot de nettoyage et l'angle d'inclinaison du système de suivi photovoltaïque satisfont à une condition de nettoyage, et commandant l'appareil de marche et l'appareil de nettoyage pour exécuter une opération de nettoyage. Le système de suivi photovoltaïque est utilisé pour ajuster un angle d'inclinaison du panneau photovoltaïque, et un second appareil de communication correspondant envoie l'angle d'inclinaison au robot de nettoyage. Dans le procédé de coopération interactive pour un robot de nettoyage et un système de suivi photovoltaïque, par acquisition d'angles d'inclinaison d'un robot de nettoyage et d'un système de suivi photovoltaïque sur un trajet de nettoyage, une action de nettoyage du robot de nettoyage est déterminée ou l'angle d'inclinaison du système de suivi photovoltaïque est ajusté.
PCT/CN2023/086251 2022-07-07 2023-04-04 Robot de nettoyage, système de suivi photovoltaïque et procédé de coopération interactive WO2024007641A1 (fr)

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CN114866018B (zh) * 2022-07-07 2022-09-20 苏州立天智能科技有限公司 一种清洗机器人、光伏跟踪系统及交互协作方法

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