CN109332234A - A kind of photovoltaic module automatic sweeping system and its control method - Google Patents
A kind of photovoltaic module automatic sweeping system and its control method Download PDFInfo
- Publication number
- CN109332234A CN109332234A CN201811466889.7A CN201811466889A CN109332234A CN 109332234 A CN109332234 A CN 109332234A CN 201811466889 A CN201811466889 A CN 201811466889A CN 109332234 A CN109332234 A CN 109332234A
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- module
- walking
- pipe
- sweep
- cleaning
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- 238000010408 sweeping Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000004140 cleaning Methods 0.000 claims abstract description 48
- 239000000428 dust Substances 0.000 claims abstract description 35
- 230000002745 absorbent Effects 0.000 claims abstract description 4
- 239000002250 absorbent Substances 0.000 claims abstract description 4
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 25
- 230000005611 electricity Effects 0.000 claims description 17
- 230000006698 induction Effects 0.000 claims description 14
- 230000006978 adaptation Effects 0.000 claims description 12
- 238000005286 illumination Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- RSMUVYRMZCOLBH-UHFFFAOYSA-N metsulfuron methyl Chemical compound COC(=O)C1=CC=CC=C1S(=O)(=O)NC(=O)NC1=NC(C)=NC(OC)=N1 RSMUVYRMZCOLBH-UHFFFAOYSA-N 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
Present invention discloses a kind of photovoltaic module automatic sweeping system, system includes cleaning module, walking module, dust extractor, control module；The cleaning module: cleaning assemblies surface attachments are used for；The walking module: being embedded in component both sides, laterally slides on component for robot system；The dust extractor: it is used for absorbent module surface bulky grain attachment；The control module: for controlling walking module and dust extractor work.The cleaning method of photovoltaic module automatic sweeping system of the present invention uses automatic adjusument mode, cleaning structure caused by reducing because of external factor and assembly surface pressure unevenness problem；The system structure is simple, easy to use, easy to maintain, stability is high, long service life, intelligence degree are high, can carry out automatic cleaning according to weather conditions, have both remote monitoring function.
Description
Technical field
The present invention relates to photovoltaic art more particularly to photovoltaic module cleaning technology fields.
Background technique
It is influenced by many factors such as weather and environment, solar-energy photo-voltaic cell piece surface is often because of foreign matters such as dust, fallen leaves
Covering, causes photovoltaic cell incident photon-to-electron conversion efficiency to decline to some extent, influences the generating efficiency of photovoltaic plant.
Photovoltaic plant mainly uses artificial cleaning, the cleaning of automatic spray cleaning systems, professional cleaning equipment both at home and abroad at present
(such as: cleaning vehicle) cleaning mode carries out.The main deficiency of manual type is that water consumption is big, cleaning effect is unstable, cost of labor
The high, working time is limited.That there is also water consumptions is big, equipment cost is excessively high for cleaning vehicle cleaning, needs artificial the disadvantages of participating in.
The photovoltaic clean robot shown both at home and abroad at present, the suspension type for being mainly based upon photovoltaic module guiding and support are moved
Dynamic clean robot.It is inconvenient in the presence of manipulation, not across discontinuous photovoltaic module, cleaning efficiency is not high enough, water-proof function is weak, scarce
The deficiencies of cleaning mode self-adapting intelligent controls under the conditions of few multi-robot Cooperation and long-range monitoring, different weather.
Summary of the invention
The technical problem to be solved by the present invention is to realize a kind of cleaning efficiency it is high, can wireless remote control, automatically across non-company
Continue photovoltaic module, based on photovoltaic cell self generating and the photovoltaic cleaning robot system that can remotely monitor, realizes that photovoltaic is clear
The man-machine collaboration and robot of clean robot are integrated with power station operation management.
To achieve the goals above, the technical solution adopted by the present invention are as follows: a kind of photovoltaic module automatic sweeping system, system
Including cleaning module, walking module, dust extractor, control module；
The cleaning module: cleaning assemblies surface attachments are used for；
The walking module: being embedded in component both sides, laterally slides on component for robot system；
The dust extractor: it is used for absorbent module surface bulky grain attachment；
The control module: for controlling walking module and dust extractor work.
System further includes identification module, data acquisition and transmission module；
The position coordinates of the identification module every row's each column component in power station for identification, and it is uploaded to data acquisition and transmission
Module；
The data acquisition and transmission module: being used for acquisition component electricity generation situation, intensity of illumination, weather condition information, and
With control module and power station operation management Platform communication, realizes and automatically control and remotely monitor.
System further includes adaptation module: for automatic adjusument cleaning structure at a distance from assembly surface and pressure, being protected
Cleaning effect is held, the damage to assembly surface is reduced.
The walking module is fixed on the track at component both ends, fixed positioner in orbit, the positioner
For the interior driving positioner that is equipped with along the idler wheel of track travel, each positioner is equipped with the motor of driving idler wheel rotation,
The fixed cabinet being suspended from above component on two positioners.
The dust extractor includes being fixed on the intracorporal main body of dust collector of case, and be fixed on the sweep-up pipe below cabinet,
The sweep-up pipe is extended to the other end of cabinet by cabinet one end, and the lower surface of the sweep-up pipe is uniformly provided with air suction opening, described
Sweep-up pipe one end connects the suction inlet of body of dust collector by pipe, and the cleaning module is clear to fix along sweep-up pipe lower surface
Brush.
The adaptation module includes the screw lift structure being fixed in the middle part of cabinet, and the sweep-up pipe is fixed on the silk
On bar elevating mechanism, the screw lift structure adjusts the distance between sweep-up pipe and component, and the tank ends are equipped with two
The both ends fixation of the guide rod parallel with the screw lift structure direction of motion, the sweep-up pipe is connected to guide sleeve, the guide sleeve
In guide rod.
The adaptation module further includes being attached to sweep-up pipe upper stress sensing chip, and the stress induction piece obtains sweep-up pipe
Curvature signal to data acquire and transmission module.
The identification module includes the induction patch along every siding track spaced set, and is mounted on the sense of cabinet two sides
Patch identifier is answered, two induction patch identifiers output signal to data acquisition and transmission module.
Battery is fixed in the cabinet, the battery is the intracorporal component power supply of case, and the cabinet is fixed on
For the photovoltaic panel of battery charging, the control module, data acquisition are fixed in cabinet with transmission module, and the control module is defeated
Out driving signal to body of dust collector, screw lift structure, walking module motor.
Control method based on photovoltaic module automatic sweeping system:
Data acquisition and transmission module and power station operation management platform real time communication, securing component electricity generation situation, illumination are strong
Information is spent, and is delivered to control module, control module generates electricity current component electricity generation situation and current light intensity standard volume ratio
Compared with, if below standard, drive walking module complete once along the reciprocal walking motion of track, while walking module work when start
Body of dust collector；
If walking module is completed once after the reciprocal walking motion of track, current component electricity generation situation and current light are strong
Degree power generation standard volume compare it is still below standard, then data acquisition and transmission module to power station operation management platform issue alarm signal；
When walking module works, adaptation module obtains the current location of two idler wheels of running module in real time, if one
Idler wheel walking is fastly with another idler wheel, then current to stop idler wheel identical until another idler wheel is run to for the fast idler wheel that stops walking
Position, whole strokes of track if two idler wheels have been walked for the first time drive idler wheel to rotate backward, until two idler wheels the
Whole drivings of secondary track of having walked, are calculated as away module and complete once along the reciprocal walking motion of track；
When walking module works, screw lift structure, which drops to stress induction piece and senses that the curvature of sweep-up pipe reaches, to be set
Determine in value range, when walk module complete once along the reciprocal walking motion of track after, screw lift structure rises to sweep-up pipe
Its stroke extreme higher position.
The cleaning method of photovoltaic module automatic sweeping system of the present invention use automatic adjusument mode, reduce because it is external because
Cleaning structure caused by element and assembly surface pressure unevenness problem；The system structure is simple, easy to use, easy to maintain, stable
Property height, long service life, intelligence degree it is high, automatic cleaning can be carried out according to weather conditions, have both remote monitoring function.
Detailed description of the invention
Below to width attached drawing every in description of the invention expression content and figure in label be briefly described:
Fig. 1 is photovoltaic module automatic sweeping system block diagram；
Fig. 2 is photovoltaic module automatic sweeping system structural schematic diagram；
Label in above-mentioned Fig. 2 is equal are as follows: 1, photovoltaic panel；2, cleaning brush；3, cabinet；4, control panel；5, positioner.
Specific embodiment
As shown in Figure 1, photovoltaic module automatic sweeping system, system includes cleaning module, walking module, dust extractor, control
Molding block, identification module, data acquisition and transmission module, adaptation module.
Cleaning module: cleaning assemblies surface attachments are used for；
Walking module: being embedded in component both sides, laterally slides on component for robot system；
Dust extractor: it is used for absorbent module surface bulky grain attachment；
Control module: for controlling walking module and dust extractor work.
The position coordinates of the identification module every row's each column component in power station for identification, and it is uploaded to data acquisition and transmission mould
Block；
Data acquisition and transmission module: be used for acquisition component electricity generation situation, intensity of illumination, weather condition information, and with control
Molding block and power station operation management Platform communication are realized and automatically control and remotely monitor.
Adaptation module: for automatic adjusument cleaning structure at a distance from assembly surface and pressure, keeping cleaning effect,
Reduce the damage to assembly surface.
Walking module is fixed on the track at component both ends, and fixed positioner 4 in orbit, positioner 4 are
One section is the fixation device of C font, and card in orbit, is equipped with driving positioner 4 along track row in positioner 4
The idler wheel walked, each positioner 4 are equipped with the motor of driving idler wheel rotation, then constitute a track transmission mechanism, two cards
The fixed cabinet 3 being suspended from above component, photovoltaic module automatic sweeping system are each attached on cabinet 3 on the device 4 of position.
Dust extractor includes the main body of dust collector being fixed in cabinet 3, and is fixed on the sweep-up pipe of 3 lower section of cabinet, is inhaled
Dirt pipe is extended to the other end of cabinet 3 by 3 one end of cabinet, i.e., across two tracks, the lower surface of sweep-up pipe is uniformly provided with dust suction
Hole, sweep-up pipe are located at the top of component, and for siphoning away the dust on component, sweep-up pipe one end is connected by pipe (preferably hose)
The suction inlet of body of dust collector, that is, constitute common structure of dust collector, the sealing of the sweep-up pipe other end, and cleaning module is along dust suction
The fixed cleaning brush 2 in pipe lower surface facilitates sweep-up pipe and its body of dust collector to carry out dust suction for having cleaned the dust on component
Operation.
Adaptation module includes the screw lift structure for being fixed on 3 middle part of cabinet, and sweep-up pipe is fixed on the screw rod lifting
In mechanism, screw lift structure includes the screw rod vertical with assembly surface, and screw rod is fixed on the output shaft of lead screw motor,
Lead screw motor is fixed on 3 medium position of cabinet, i.e. position between two tracks, and screw rod is equipped with feed screw nut, the screw rod
Side, which is equipped with, is fixed on the gag lever post that cabinet 3 limits feed screw nut's rotation, and sweep-up pipe is fixed on feed screw nut, sweep-up pipe and component
Surface is parallel.Screw lift structure adjusts the distance between sweep-up pipe and component, controls cleaning brush 2 to the pressure of assembly surface,
3 both ends of cabinet are equipped with two guide rods parallel with the screw lift structure direction of motion, and the both ends fixation of sweep-up pipe is connected to guiding
Set, the guide sleeve are located in guide rod, for guaranteeing the synchronous up and down motion in sweep-up pipe both ends.
Adaptation module further includes being attached to sweep-up pipe upper stress sensing chip, and stress induction piece obtains the curvature of sweep-up pipe
Signal is acquired to data and transmission module.By incuding the curvature of sweep-up pipe, 2 pairs of groups of cleaning brush on sweep-up pipe can be got
The pressure condition on part surface.
Identification module includes the induction patch along every siding track spaced set, and is mounted on the induction of 3 two sides of cabinet
Patch identifier, two induction patch identifiers output signal to data acquisition and transmission module.Incude the spacing distance of patch
It is recommended that being 5-20cm, operating condition of two idler wheels on two guide rails can be got, accurately to guarantee the synchronization of idler wheel
Operation.
Battery is fixed in cabinet 3, battery is the component power supply in cabinet 3, can be to avoid the trouble of wiring, cabinet 3
It is fixed on the photovoltaic panel 1 for battery charging, and issues the control panel 4 of control instruction to control module, control module,
Data acquisition is fixed in cabinet 3 with transmission module, control module output drive signal to body of dust collector, screw lift
The motor of structure, walking module.
Control method based on above-mentioned photovoltaic module automatic sweeping system:
Data acquisition and transmission module and power station operation management platform real time communication, securing component electricity generation situation, illumination are strong
Information is spent, and is delivered to control module, control module generates electricity current component electricity generation situation and current light intensity standard volume ratio
Compared with if below standard, intensity of illumination generates electricity standard volume as preset value, can be set according to module condition, up to standard to send out for current component
It is complete then to drive walking module when below standard by X%, the X% 60-80% that electric situation reaches current light intensity power generation standard volume
Start body of dust collector at once along the reciprocal walking motion of track, while in walking module work；
If walking module is completed once after the reciprocal walking motion of track, current component electricity generation situation and current light are strong
Degree power generation standard volume compare it is still below standard, then data acquisition and transmission module to power station operation management platform issue alarm signal；
When walking module works, adaptation module obtains the current location of two idler wheels of running module in real time, if one
Idler wheel walking is fastly with another idler wheel, then current to stop idler wheel identical until another idler wheel is run to for the fast idler wheel that stops walking
Position, can guarantee the synchronization of two idler wheels, dislocation is avoided to overstep the limit, whole rows of track if two idler wheels have been walked for the first time
Journey then drives idler wheel to rotate backward, until two idler wheels have been walked for the second time, whole drivings of track, are calculated as away module and complete one
The secondary reciprocal walking motion along track；
When walking module works, screw lift structure, which drops to stress induction piece and senses that the curvature of sweep-up pipe reaches, to be set
Determine in value range, when walk module complete once along the reciprocal walking motion of track after, screw lift structure rises to sweep-up pipe
Its stroke extreme higher position, can protect and not stress under cleaning brush off working state.
In addition, data acquisition also obtains weather condition with transmission module, it is directly static when special weathers such as rainy day, snowy days
Photovoltaic module automatic sweeping system carries out cleaning works.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (10)
1. a kind of photovoltaic module automatic sweeping system, it is characterised in that: system include cleaning module, walking module, dust extractor,
Control module；
The cleaning module: cleaning assemblies surface attachments are used for；
The walking module: being embedded in component both sides, laterally slides on component for robot system；
The dust extractor: it is used for absorbent module surface bulky grain attachment；
The control module: for controlling walking module and dust extractor work.
2. photovoltaic module automatic sweeping system according to claim 1, it is characterised in that: system further include identification module,
Data acquisition and transmission module；
The position coordinates of the identification module every row's each column component in power station for identification, and it is uploaded to data acquisition and transmission mould
Block；
Data acquisition and transmission module: being used for acquisition component electricity generation situation, intensity of illumination, weather condition information, and with control
Molding block and power station operation management Platform communication are realized and automatically control and remotely monitor.
3. photovoltaic module automatic sweeping system according to claim 2, it is characterised in that: system further includes adaptive mode
Block: it is reduced with pressure, holding cleaning effect to assembly surface at a distance from assembly surface for automatic adjusument cleaning structure
Damage.
4. photovoltaic module automatic sweeping system according to claim 3, it is characterised in that: the walking module is fixed on group
The track at part both ends, fixed positioner in orbit, the interior driving positioner that is equipped with of the positioner is along track travel
Idler wheel, each positioner is equipped with the motor of driving idler wheel rotation, and fixation is suspended from group on two positioners
Cabinet above part.
5. photovoltaic module automatic sweeping system according to claim 4, it is characterised in that: the dust extractor includes fixing
In the intracorporal main body of dust collector of case, and it is fixed on the sweep-up pipe below cabinet, the sweep-up pipe extends to case by cabinet one end
The other end of body, the lower surface of the sweep-up pipe are uniformly provided with air suction opening, and described sweep-up pipe one end connects dust catcher by pipe
The suction inlet of ontology, the cleaning module are the cleaning brush fixed along sweep-up pipe lower surface.
6. photovoltaic module automatic sweeping system according to claim 5, it is characterised in that: the adaptation module includes solid
The screw lift structure being scheduled in the middle part of cabinet, the sweep-up pipe are fixed on the screw lift structure, the screw lift
Structure adjusts the distance between sweep-up pipe and component, and the tank ends are parallel with the screw lift structure direction of motion equipped with two
The both ends fixation of guide rod, the sweep-up pipe is connected to guide sleeve, and the guide sleeve is located in guide rod.
7. photovoltaic module automatic sweeping system according to claim 6, it is characterised in that: the adaptation module further includes
It is attached to sweep-up pipe upper stress sensing chip, the curvature signal that the stress induction piece obtains sweep-up pipe is acquired and transmitted to data
Module.
8. photovoltaic module automatic sweeping system according to claim 7, it is characterised in that: the identification module includes along every
The induction patch of siding track spaced set, and it is mounted on the induction patch identifier of cabinet two sides, two induction patches
Piece identifier outputs signal to data acquisition and transmission module.
9. photovoltaic module automatic sweeping system according to claim 8, it is characterised in that: be fixed with electricity in the cabinet
Pond, the battery are the intracorporal component power supply of case, the photovoltaic panel that the cabinet is fixed on as battery charging, the control
Module, data acquisition are fixed in cabinet with transmission module, the control module output drive signal to body of dust collector, screw rod
The motor of elevating mechanism, walking module.
10. the control method based on photovoltaic module automatic sweeping system described in claim 9, it is characterised in that:
Data acquisition and transmission module and power station operation management platform real time communication, securing component electricity generation situation, intensity of illumination letter
Breath, and it is delivered to control module, compared with current component electricity generation situation is generated electricity standard volume with current light intensity by control module, if
It is below standard, then it drives walking module and completes once along the reciprocal walking motion of track, while starting dust suction in walking module work
Device ontology；
If walking module is completed once after the reciprocal walking motion of track, current component electricity generation situation and current light intensity are sent out
Electric standard amount compare it is still below standard, then data acquisition and transmission module to power station operation management platform issue alarm signal；
When walking module works, adaptation module obtains the current location of two idler wheels of running module in real time, if an idler wheel
Walking is fastly with another idler wheel, then the fast idler wheel that stops walking is until another idler wheel runs to the identical position of current stopping idler wheel
It sets, whole strokes of track if two idler wheels have been walked for the first time drive idler wheel to rotate backward, until two idler wheels are for the second time
The whole of track that walked drive a vehicle, and are calculated as away module and complete once along the reciprocal walking motion of track；
When walking module works, screw lift structure drops to stress induction piece and senses that the curvature of sweep-up pipe reaches setting model
Enclose in value, when walk module complete once along the reciprocal walking motion of track after, sweep-up pipe is risen to its row by screw lift structure
Journey extreme higher position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811466889.7A CN109332234A (en) | 2018-12-03 | 2018-12-03 | A kind of photovoltaic module automatic sweeping system and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811466889.7A CN109332234A (en) | 2018-12-03 | 2018-12-03 | A kind of photovoltaic module automatic sweeping system and its control method |
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Family
ID=65319339
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