CN105881555B - Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower - Google Patents
Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower Download PDFInfo
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- CN105881555B CN105881555B CN201610438730.9A CN201610438730A CN105881555B CN 105881555 B CN105881555 B CN 105881555B CN 201610438730 A CN201610438730 A CN 201610438730A CN 105881555 B CN105881555 B CN 105881555B
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- solar panels
- blower
- running gear
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- 238000010408 sweeping Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000000428 dust Substances 0.000 claims abstract description 60
- 238000005453 pelletization Methods 0.000 claims abstract description 21
- 238000010926 purge Methods 0.000 claims abstract description 18
- 238000004140 cleaning Methods 0.000 claims abstract description 15
- 239000003990 capacitor Substances 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 238000012876 topography Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/04—Cleaning by suction, with or without auxiliary action
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower.Sweeping robot includes power-supply system, running gear, purging system, dust pelletizing system and control system, power-supply system is connect with running gear, purging system, dust pelletizing system and control system respectively, and running gear, purging system and dust pelletizing system pass through sensor respectively and be connected to control system；Dust pelletizing system uses centrifugal fan.The operating path of robot are as follows: since the highest point of solar panels, walk along the height such as solar panels transverse direction rectilinear direction, turned to when reaching the edge of solar array, then walk and work along solar panels transverse direction straight line again.By output air duct, along solar panels, longitudinally discharge robot is external by dust for dust pelletizing system, and blows to one side of solar panels low-lying always.Sweeping robot of the invention is able to satisfy the needs that photovoltaic plant carries out rapidly and efficiently cleaning works to solar energy in large area plate.
Description
Technical field
The present invention relates to a kind of intelligent robots cleaned suitable for photovoltaic plant solar panels, more specifically, being related to
Dust in walking and cleaning process, is sucked repeatedly by blower, is arranged using centrifugal blower as main dust discharge component by one kind
Out, until blowing off the photovoltaic plant sweeping robot and its working method on ground.
Background technique
The more severe area of climatic environment is usually built in large-sized photovoltaic power station in, and the general dust storm in these areas is serious, arid
Water shortage.Prolonged dust and dust storm, can block photovoltaic panel assembly to the assimilation effect of solar energy, substantially reduce photovoltaic panel to too
The absorption efficiency of positive energy.Moreover, dust, dust storm and other fouling products can form prolonged yin in photovoltaic plate surface
Shadow, and then hot spot effect is generated, if cleaned not in time to photovoltaic module, it will the power generation of photovoltaic plant is greatly reduced
Amount, in the service life of economic benefit and photovoltaic module to power station, has a negative impact.
In current a variety of photovoltaic module automation cleaning equipments, various unidirectional or transverse and longitudinal twin fixed guide-vane formula cleaning equipments,
Since longitudinal length, the single machine weight of equipment, drive energy, the self maintained of arrangement mode, group string by photovoltaic panel etc. is more
The limitation of kind condition, drawback gradually appear.Monomer stand alone type is creeped sweeping robot, it has also become photovoltaic module cleans at present
The dominant direction of field research and development.
The sweeping efficiency of sweeping robot and dependence to maintenance personnel, are that two of the field consider core.And it is certain
It creeps sweeping robot (such as two-legged type), in most walking and in turnaround time, only realizes the movement of station, be not implemented
Cleaning function, efficiency are lower；There are also the capacity of some sweeping robots of creeping (such as Japan SINFONIA) dust-collecting box, limit it
Effective time, and produce the very big dependence to maintenance personnel.
Summary of the invention
For current photovoltaic plant automatic cleaning equipment in terms of sweeping efficiency and to maintenance personnel's dependence it is existing not
Foot, the present invention provides a kind of photovoltaic plant sweeping robot based on the direct dedusting of blower, and has done science to its working method
Planning.
Robot of the present invention the technical solution adopted is as follows:
Based on the photovoltaic plant sweeping robot of the direct dedusting of blower, including power-supply system, running gear, purging system,
Dust pelletizing system and control system, power-supply system are connect with running gear, purging system, dust pelletizing system and control system respectively, institute
It states running gear, purging system and dust pelletizing system and passes through sensor respectively and be connected to control system；The dust pelletizing system use from
The side of robot fuselage is arranged in core type blower, the output air duct of blower.
Preferably, the power-supply system includes solar panel, controller and supercapacitor connected to the controller
Component, the solar panel are arranged in the upper surface of robot fuselage, the super capacitor device assembly respectively with Running System
System, purging system, dust pelletizing system are connected with control system.
Further, the head and tail portion of the robot fuselage are symmetrical structure.
The output air duct of the blower is arranged in two sides of robot fuselage or is positioned only at robot fuselage
One side.
Further, it is provided at left and right sides of robot fuselage and patrols side sensor, fuselage rear and front end is provided with displacement
Sensor；Dust sensor is equipped at the suction inlet of blower；The end of robot fuselage be additionally provided with fall arrest infrared sensor and
Ultrasonic distance measurement obstacle avoidance sensor, fuselage interior are equipped with the current sensor of motor.
A kind of working method of the photovoltaic plant sweeping robot based on the direct dedusting of blower of the present invention, detailed process is such as
Under: the power-supply system of robot is that running gear, purging system, dust pelletizing system and control system power supply, running gear clean system
System and dust pelletizing system pass through sensor respectively and pass information to control system, and control system, will by analysis, comparison and feedback
The work drive motor being sent respectively in running gear, purging system and dust pelletizing system is ordered, then passes through the tune to each work drive motor
Speed, positive and negative rotation or the operation of shutdown, realize the closed-loop control to robot；Wherein, the operating path of robot are as follows: from solar energy
The highest point of plate starts, and walks along the height such as solar panels transverse direction rectilinear direction, in the edge for reaching solar array
When turn to, then walk and work along solar panels transverse direction straight line again；The dust pelletizing system using centrifugal fan from it is lower to
Upper dust suction, and with i.e. by dust by output air duct, along solar panels, longitudinally discharge robot is external, and blows to solar energy always
One side of plate low-lying；Robot repeatedly walks and cleans and dedusting on solar panels surface, when last time is along solar panels
When lowest part walks and works, dust all suckings in the minimum topography edge of solar panels will be blown off, finally blown off to ground
The cleaning works to photovoltaic plant solar panels is completed in face.
Further, the head and tail portion of the robot fuselage are symmetrical structure, and robot reaches solar panels battle array
When the edge of column, without turning around, direct head and tail portion exchange and realize steering.
Further, the power-supply system includes solar panel, controller and super capacitor connected to the controller
Device assembly passes through super capacitor device assembly fast charging and discharging after the solar panel obtains solar energy.
Further, it is equipped with dust sensor at the suction inlet of the blower, is responsible for the concentration that detection dust is raised, when dense
When degree is within threshold range, purging system is at the uniform velocity cleaned, and running gear is at the uniform velocity walked；When detecting dust concentration lower than threshold value
When range, purging system reduces speed now cleaning, and running gear accelerates walking, conversely, when detect that dust concentration is higher than threshold value model
When enclosing, purging system starts to accelerate to clean, and running gear, which is slowed down, walks.
Compared with prior art, the invention has the following advantages:
(1) sweeping robot of the invention is able to achieve cleaning, dedusting on solar panels surface during continuous walking
It is synchronous to carry out, it greatly improves work efficiency.
(2) dust-collecting box is not used in structure of the invention, after dust is sucked by robot, is discharged immediately, and dispelled,
Reduce Conventional robotic dust-collecting box fill after, maintenance personnel must stop the work of robot to carry out cleaning dust-collecting box
Extra time and workload reduce the dependence to photovoltaic plant operation maintenance personnel.
(3) robot head and the tail symmetric design, in the end of photovoltaic module array, robot can not have to turn around to turn to, and
It is to realize that tail becomes the fast steering mode of head, head change tail, even more substantially increases the sweeping efficiency of robot.
(4) robot of the invention is able to satisfy photovoltaic plant and carries out rapidly and efficiently cleaning works to solar energy in large area plate
It needs.
Detailed description of the invention
Fig. 1 is sweeping robot system construction drawing of the invention；
Fig. 2 is sweeping robot operating path planning chart of the invention.
In figure: 1 is power-supply system, is running gear, and 3 be dust pelletizing system, and 4 be purging system, and 5 be control system, and A is clear
The initial station of robot is swept, B is first trip straight line walking station, and C is that first trip turns to station, and D is the second row straight line walking station,
E is that the second row turns to station, and F is the third line straight line walking station.
Specific embodiment
The structure of the present embodiment robot as shown in Figure 1, power-supply system 1 include solar panel, controller and with control
The super capacitor device assembly etc. of device connection processed.Running gear 2 includes crawler travel component, movable motor etc., passes through fuselage or so
Each motor of two sides, respectively drive both sides Athey wheel, make unilateral crawler belt solar panels surface advance, retreat, it is static,
Walking and the turning function of robot are realized in speedup, deceleration etc..Dust pelletizing system 3 includes centrifugal blower, motor, output air hose etc..
Purging system 4 includes disc brush component, driving gear component and driving motor etc., and driving motor drive disk brush assemblies make disc brush exist
Solar panels surface is at the uniform velocity or speed-changing rotation.Control system 5 includes MCU mainboard, various sensor interfaces and its integrated circuit etc..
In power-supply system 1, the solar panel of robot upper surface obtains solar energy, passes through super capacitor device assembly
Fast charging and discharging realizes the electricity needs of the other each systems of sweeping robot.
What is be arranged at left and right sides of robot fuselage patrols side sensor, controls the left or right side of robot body edge always
Solar panels metal upper edge or lower edge straight line walking, and robot front and back end setting displacement sensor, control machine
Device human body adjusts a pose, guarantees that its walking path is always straight line when crossing over one piece of solar panels every time；It is mounted on
The dust sensor of blower suction inlet is responsible for detecting the concentration that dust is raised, and when concentration is within some threshold range, cleans
Motor uniform rotation, driving disc brush at the uniform velocity clean, and movable motor also drives crawler belt at the uniform velocity to walk；When detecting that dust concentration exceeds
It except some threshold range, cleans motor and starts speedup or deceleration, if dust concentration is lower, crawler belt accelerates walking, and disc brush is slowed down
Rotation, conversely, crawler belt, which slows down, walks, and disc brush accelerates rotation if dust concentration is higher, to improve working efficiency and realize to difference
The cleaning of cleannes solar panels.In addition to this, the fall arrest infrared sensor of robot body end, ultrasonic distance measurement avoidance
The current sensor of the driving motors such as sensor and blower, disc brush, the Athey wheel of inside, is transmitted to MCU mainboard for respective signal,
Again by the analysis of control system, comparison and fusion, each motor and moving component, then the tune for passing through motor are sent a command to
The closed-loop control of robot is realized in speed, positive and negative rotation, shutdown etc..
In dust pelletizing system 3, by the high speed rotation of centrifugal fan blade, by the dust of sucking along output air hose, discharge
In vitro.Output air hose can be set in the two sides of robot fuselage, can also be positioned only on a side.If fuselage two sides
There is output air hose, in machine man-hour, when reaching solar array edge, can turn around or directly end to end
It exchanges and turns to, but need to close one of air hose, to guarantee that dust all blows to one side of solar panels low-lying always.
Although there is part dust, photovoltaic solar plate surface is still fallen back to, robot, can be by this part when next line walks work
Dust is sucked again, is discharged, until last line, blows off ground for dust.Further, even if there is the dust being scattered to continue to lose
Solar panels surface is stayed in, first is that floating ash, outdoor gentle breeze can be blown away, second is that solar panels surface uniform dust on a small quantity,
The efficiency of solar energy is absorbed to it, hardly constituting influences.So centrifugal blower timely dust suction and dust discharge, to solar panels
The raising of surface sweeping efficiency has and greatly pushes effect.
As shown in Fig. 2, the present embodiment is only equipped with output air hose in fuselage side, and air hose is exported always towards solar energy
One side of plate low-lying.The present embodiment sweeping robot operating path planning are as follows: it is after A station first, along too
Positive energy plate transverse direction straight line walks and works, as shown in station B；When close to solar array edge, turn right 90 degree one
Set a distance stops, 90 degree of minor radius retrogressings, and without turning around, direct tail portion becomes head, and head becomes tail portion, as shown in station C；
Then straight line walks and works again, as shown in station D；When close to another edge of solar array, left-hand rotation 90
Certain distance is spent, is stopped, 90 degree of minor radius retrogressings, tail becomes head again, and head becomes tail, as shown in station E；Then linear rows again
It walks and works, as shown in station F.Planning path according to this, iterative cycles are completed until solar energy in large area plate array is cleaned.
Claims (5)
1. the working method of the photovoltaic plant sweeping robot based on the direct dedusting of blower, which is characterized in that detailed process is as follows:
The power-supply system of robot is running gear, purging system, dust pelletizing system and control system power supply, running gear, purging system
Pass through sensor respectively with dust pelletizing system and pass information to control system, control system will be ordered by analysis, comparison and feedback
Enable the work drive motor that is sent respectively in running gear, purging system and dust pelletizing system, then by speed regulation to each work drive motor,
The closed-loop control to robot is realized in the operation of positive and negative rotation or shutdown；Wherein, the operating path of robot are as follows: from solar panels
Highest point start, along solar panels transverse direction rectilinear direction etc. height walk, reach solar array edge when
It turns to, then walks and work along solar panels transverse direction straight line again；The dust pelletizing system is bottom-up using centrifugal fan
Dust suction, and with i.e. by dust by output air duct, along solar panels, longitudinally discharge robot is external, and blows to solar panels always
One side of low-lying；Robot repeatedly walks and cleans and dedusting on solar panels surface, when last time along solar panels most
When lower walks and works, dust all suckings in the minimum topography edge of solar panels will be blown off, finally blows and fall to the ground,
Complete the cleaning works to photovoltaic plant solar panels.
2. the working method of the photovoltaic plant sweeping robot according to claim 1 based on the direct dedusting of blower, special
Sign is that the head and tail portion of the robot fuselage are symmetrical structure, and robot is in the edge for reaching solar array
When, without turning around, direct head and tail portion exchange and realize steering.
3. the working method of the photovoltaic plant sweeping robot according to claim 1 or 2 based on the direct dedusting of blower,
It is characterized in that, the power-supply system includes solar panel, controller and super capacitor device assembly connected to the controller, institute
After stating solar panel acquisition solar energy, pass through super capacitor device assembly fast charging and discharging.
4. the working method of the photovoltaic plant sweeping robot according to claim 1 or 2 based on the direct dedusting of blower,
It is characterized in that, being provided at left and right sides of robot fuselage and patrolling side sensor, fuselage rear and front end is provided with displacement sensor；?
Dust sensor is equipped at the suction inlet of blower；The end of robot fuselage is additionally provided with fall arrest infrared sensor and ultrasonic distance measurement
Obstacle avoidance sensor, fuselage interior are equipped with the current sensor of motor.
5. the working method of the photovoltaic plant sweeping robot according to claim 4 based on the direct dedusting of blower, special
Sign is, dust sensor is equipped at the suction inlet of the blower, is responsible for the concentration that detection dust is raised, when concentration is in threshold value model
When within enclosing, purging system is at the uniform velocity cleaned, and running gear is at the uniform velocity walked；When detecting dust concentration lower than threshold range, clearly
The system of sweeping reduces speed now cleaning, and running gear accelerates walking, conversely, cleaning when detecting that dust concentration is higher than threshold range
System starts to accelerate to clean, and running gear, which is slowed down, walks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610438730.9A CN105881555B (en) | 2016-06-17 | 2016-06-17 | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610438730.9A CN105881555B (en) | 2016-06-17 | 2016-06-17 | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower |
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| Publication Number | Publication Date |
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| CN105881555A CN105881555A (en) | 2016-08-24 |
| CN105881555B true CN105881555B (en) | 2019-03-19 |
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| CN201610438730.9A Active CN105881555B (en) | 2016-06-17 | 2016-06-17 | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower |
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| CN106248083B (en) * | 2016-09-21 | 2019-06-25 | 苏州瑞得恩光能科技有限公司 | A kind of method for path navigation that robot travels in rectangular slope |
| CN106182015A (en) * | 2016-09-21 | 2016-12-07 | 苏州瑞得恩自动化设备科技有限公司 | Solar panel sweeping robot control system |
| CN106584454B (en) * | 2016-09-21 | 2019-03-08 | 苏州瑞得恩光能科技有限公司 | A kind of path navigation control method that robot travels in rectangular slope |
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