CN107876469B - Photovoltaic cleaning equipment and its control method - Google Patents
Photovoltaic cleaning equipment and its control method Download PDFInfo
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- CN107876469B CN107876469B CN201711106225.5A CN201711106225A CN107876469B CN 107876469 B CN107876469 B CN 107876469B CN 201711106225 A CN201711106225 A CN 201711106225A CN 107876469 B CN107876469 B CN 107876469B
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- round brush
- traveling
- module
- photovoltaic
- control module
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- 238000004140 cleaning Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000001939 inductive effect Effects 0.000 claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims description 87
- 238000009434 installation Methods 0.000 claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 230000006698 induction Effects 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000009191 jumping Effects 0.000 claims description 4
- 239000000428 dust Substances 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000000465 moulding Methods 0.000 description 2
- 238000013517 stratification Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000010408 sweeping Methods 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
- B08B1/30—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
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- 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
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Cleaning In General (AREA)
- Photovoltaic Devices (AREA)
Abstract
The present invention proposes a kind of photovoltaic cleaning equipment and its control method, photovoltaic clearing apparatus including photovoltaic module and for being cleaned to the photovoltaic module, the photovoltaic clearing apparatus includes frame, round brush, travelling wheel and automatic control system, the frame both ends further respectively have traveling master end component and round brush master end component, the automatic control system includes control unit and two range sensors, the photovoltaic module both ends are provided with sensor block, described two range sensors are wirelessly connected with the sensor block issue inductive signal to sense the sensor block respectively.Photovoltaic cleaning equipment of the present invention and its control method can effectively reduce photovoltaic clearing apparatus to the impact force of photovoltaic module when targetedly can clean and shut down according to dust how many situation of photovoltaic module.
Description
Technical field
The present invention relates to clearing apparatus technical field more particularly to a kind of photovoltaic cleaning equipment and its control methods.
Background technique
In well known technical field, solar panel easily generates dust stratification due to being placed in outdoor, surface for a long time.Dust stratification
The received light radiation of photovoltaic module is not only reduced, system effectiveness is influenced, reduces generated energy, photovoltaic panel can also be made to generate hot spot
Effect causes generated energy to lose, and influences the service life of component, while causing security risk.Currently, photovoltaic sweeping robot uses list
Motor mechanism, at work, walking wheel speed and round brush revolving speed are fixed value for the robot of the structure, cannot be according to operating condition voluntarily
Setting.This is allowed in the case where photovoltaic panel surface dirt is mostly few with dust, and the time for cleaning a needs is identical, to dust
How many cleaning situations do not have specific aim；And current photovoltaic clearing apparatus, sensor usually is installed in its two sides, works as sensor
When sensing signal, stop motor rotation, but robot is during sense signal to shutdown, it can be because inertia walk out one
Section distance, this will be such that the sensor of robot bumps against on the sensor block at photovoltaic module both ends, cause centainly to rush to photovoltaic module
It hits.
In consideration of it, it is necessary to provide can effectively reduce the impact force to photovoltaic module and can be according to light when a kind of shutdown
The photovoltaic cleaning equipment and its control method dust how many situation of volt component targetedly clean.
Summary of the invention
To photovoltaic module impact force when in view of the deficiencies of the prior art, the present invention intends to provide a kind of shutdown
Lesser photovoltaic cleaning equipment and its control method.
The technical scheme adopted by the invention is that:
A kind of photovoltaic cleaning equipment, the photovoltaic including photovoltaic module and for being cleaned to the photovoltaic module clean dress
It sets, the photovoltaic clearing apparatus includes frame, round brush, travelling wheel and automatic control system, and the frame both ends further respectively have
It drives the traveling master end component of the travelling wheel rotation and drives the round brush master end component of the round brush rotation；It is described automatic
Control system includes control unit and range sensor, and the range sensor includes that first distance sensor and second distance pass
Sensor, the photovoltaic module include the photovoltaic module head end and photovoltaic module tail end being oppositely arranged, photovoltaic clearing apparatus position
Between the photovoltaic module head end and photovoltaic module tail end, the photovoltaic module head end and the photovoltaic module tail end are respectively provided with
There is sensor block, the first distance sensor and the second distance sensor can sense the sensor block and issue induction letter
Number, described control unit includes:
Timing module: the timing module is used to calculate the cleaning time of photovoltaic clearing apparatus；
Walking direction module: the walking direction module is electrically connected with the range sensor, is used for walking direction module
The inductive signal of the first distance sensor sending is received to judge that the travelling wheel should be towards the photovoltaic module head end
The round brush is rotated away from photovoltaic module head end direction simultaneously for direction rotation；Walking direction module receive described second away from
Inductive signal from sensor sending is to judge that it is described simultaneously that the travelling wheel should be rotated towards photovoltaic module tail end direction
Round brush is rotated away from photovoltaic module tail end direction；
Rate control module: the rate control module and traveling master end component and round brush master end component
It is electrically connected to control the velocity of rotation of the travelling wheel and the round brush respectively；
Course changing control module: the course changing control module and traveling master end component and round brush master end component
It is electrically connected to control the rotation direction of the travelling wheel and the round brush respectively；
Central control module: the central control module respectively with the timing module, the walking direction module, described
Rate control module and course changing control module electrical connection, to receive the timing module and walking direction module hair
Information out controls the timing module timing simultaneously, and the central control module is according to parameter preset and the information received point
It is other that control instruction is sent to the rate control module and the course changing control module to control the travelling wheel and institute respectively
State the velocity of rotation and rotation direction of round brush.
Preferably, traveling master end component further includes traveling installation base plate, set on the inside of the traveling installation base plate
It sets running motor, the running motor and the rate control module and the course changing control module is electrically connected to described in control
The velocity of rotation and rotation direction of running motor and then the velocity of rotation and rotation direction for controlling the travelling wheel, the traveling peace
It fills and traveling main synchronous pulley is set on the outside of substrate, the running motor is connect with the main synchronous pulley of the traveling, the traveling master
Synchronous pulley two sides are provided with the auxiliary synchronous pulley of traveling, are cased with outside the main synchronous pulley of traveling and the auxiliary synchronous pulley of the traveling
Traveling synchronous belt, so that the running motor drives the main synchronous pulley of traveling is synchronous with the auxiliary synchronous pulley of the traveling to turn
It is dynamic.
Preferably, traveling master end component further includes running motor transmission shaft, the running motor with it is described walk
Row motor drive axis connection, the running motor transmission shaft passes through the traveling installation base plate and the main synchronous pulley of the traveling connects
It connects.
Preferably, round brush master end component further includes round brush installation base plate, set on the inside of the round brush installation base plate
Round brush motor is set, the round brush motor is electrically connected to control with the rate control module and the course changing control module
The velocity of rotation and rotation direction of the round brush motor and then the velocity of rotation and rotation direction for controlling the round brush, the round brush
Round brush main synchronous pulley is set on the outside of installation base plate, and the round brush motor is connect with the main synchronous pulley of the round brush, the round brush
Main synchronous pulley side is provided with the auxiliary synchronous pulley of round brush, the main synchronous pulley of round brush and the auxiliary synchronous pulley housing of the round brush
There is round brush synchronous belt, so that the round brush motor drives the main synchronous pulley of round brush is synchronous with the auxiliary synchronous pulley of the round brush to turn
It is dynamic.
Preferably, round brush master end component further includes round brush motor transmission shaft, the round brush motor and the rolling
Brush motor is driven axis connection, and the round brush motor transmission shaft passes through the round brush installation base plate and the main synchronous pulley of the round brush connects
It connects.
Preferably, the first distance sensor and the second distance sensor are mounted on the round brush installation base plate
It bottom and sets gradually along the direction that the photovoltaic module head end is directed toward the photovoltaic module tail end so as to the walking direction mould
Block is sequentially received the first distance sensor and second distance sensing along the direction of motion of the photovoltaic clearing apparatus
The inductive signal that device issues.
Preferably, being equipped with traveling driving shaft on the inside of the component of the traveling master end, the traveling driving shaft passes through described
Traveling installation base plate connects the auxiliary synchronous pulley of traveling, and the traveling driving shaft is arranged the travelling wheel, and the round brush is actively
Be equipped with traveling driven shaft on the inside of side component, the traveling driven shaft is arranged the travelling wheel, the traveling driving shaft and it is described walk
Traveling transmission shaft is equipped between row driven shaft, so that the running motor drives the traveling driving shaft and the traveling driven shaft
On the travelling wheel synchronous walking.
Preferably, being equipped with round brush driving shaft on the inside of the component of the round brush master end, the round brush driving shaft passes through described
Round brush installation base plate connects the auxiliary synchronous pulley of round brush, and round brush driven shaft is equipped on the inside of the component of the traveling master end, described
Round brush is set between round brush driving shaft and round brush driven shaft and is fixedly connected with round brush driving shaft and round brush driven shaft, with toilet
The round brush that round brush motor drives the traveling master end to form between the composition of round brush master end is stated to rotate.
Preferably, the main synchronous pulley of the traveling and the auxiliary synchronous belt of the traveling on the outside of the traveling installation base plate
Tensioner component is installed, the main synchronous pulley of the round brush on the outside of the round brush installation base plate and the round brush are auxiliary same between wheel
Tensioner component is installed between step belt wheel, also to compress the traveling synchronous belt and the round brush synchronous belt.
Preferably, the tensioner component includes pedestal, sliding block and expansion tightening wheel, the pedestal is equipped with rectangular recess, described
Sliding block can be slided along rectangular recess, and the sliding block connects the expansion tightening wheel, to adjust the sliding block in the rectangular recess
Position so that adjust expansion tightening wheel position.
Preferably, the tensioner component further includes mounting plate and top tight pieces, the mounting plate and the pedestal, which are fixed, to be connected
It connects, described sliding block one end is placed in the rectangular recess of the pedestal, and the other end of the sliding block is equipped with expansion tightening wheel, described to hold out against
Part one end is connected on the mounting plate, and the top tight pieces other end withstands on the sliding block being placed in the pedestal rectangular recess
On one end, to fix the slide position.
Preferably, the tensioner component further includes compressing member, long strip through hole, the compressing member are equipped among the sliding block
It is connect across the long strip through hole with the pedestal, to fix position of the sliding block in the rectangular recess and then to fix
The position of the expansion tightening wheel.
Preferably, described control unit further includes the metering mould for calculating the cleaning number of the photovoltaic clearing apparatus
Block, the metering module and the central control module are electrically connected to central control module and receive metering information.
A kind of photovoltaic cleaning control method successively includes following step using such as claim photovoltaic cleaning equipment above-mentioned
It is rapid:
S1: Xiang Suoshu central control module inputs parameter preset, and the parameter preset includes setting time t, round brush speed
V1, the first traveling speed v1 ', the second traveling speed v2 ', wherein the first traveling speed v1 ' is greater than the second traveling speed v2 '；
S2: after the range sensor experiences sensor block and issues inductive signal, the walking direction module is according to sense
Induction signal judges the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent to central control module；
S3: central control module control timing module starts timing and to the rate control module and course changing control module
Send control instruction；
S4: the rate control module and the course changing control module according to control instruction control the round brush and it is described walk
Row wheel is rotated respectively with the round brush speed v1 and the first traveling speed v1 ' along specified rotation direction；
S5: after the range sensor experiences sensor block and issues inductive signal, the walking direction module is according to sense
Induction signal judges the rotation direction of the round brush and the travelling wheel, and direction of motion information is sent to central control module；
S6: the central control module judges whether the timing module timing time is less than setting time t, if so,
The information that the central control module issues this direction controlling module is not processed while going to step 4；If it is not,
Then follow the steps 7；
S7: the central control module sends control instruction to the rate control module and course changing control module and controls institute
It states round brush and the travelling wheel and is turned respectively with the round brush speed v1 and the second traveling speed v2 ' along specified rotation direction
It is dynamic；
S8: after the range sensor experiences sensor block and issues inductive signal, the walking direction module is according to sense
Induction signal judges the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent to central control module；
S9: the central control module sends control instruction to the rate control module and course changing control module and controls institute
It states round brush and the travelling wheel stops operating, the photovoltaic clearing apparatus completes a cleaning process；
Preferably, the parameter preset in the step S1 further includes that should clean frequency n, the photovoltaic cleans control method
Further include:
S10: the photovoltaic clearing apparatus 1 is completed after once cleaning, and the central control module 1220 controls the metering
Module metering number adds 1；
S11: the central control module, which judges whether the metering module metering number is less than, preset should clean number
N if so, the timing module timing is reset, while jumping to step 2；If it is not, then the photovoltaic clearing apparatus is shut down.
Compared with prior art, the beneficial effects of the present invention are:
1. photovoltaic cleaning equipment of the present invention and its control method pass through the induction that two range sensors will receive
Signal sends described control unit to, and described control unit receives the signal that described two range sensors issue and successively subtracts
Speed that is slow and stopping the travelling wheel is to prevent the photovoltaic clearing apparatus as caused by effect of inertia in higher speed state
It is hit after lower shutdown with the sensor block on the photovoltaic module, to reduce the photovoltaic clearing apparatus to the photovoltaic group
The impact of part bring.
2. before operation can revolving speed to the round brush, the traveling wheel revolving speed and clean number and can set respectively
It sets, increases when dust is more and clean number and reduce the speed of travel of the traveling wheel while improving the rotation speed of the round brush
Degree reduces when dust is less and cleans number and improve the speed of travel of the traveling wheel while reducing the rotation of the round brush
Speed is targetedly cleaned with the situation for realizing how many to dust.
Detailed description of the invention
Invention is described in detail with reference to the accompanying drawings and examples
Fig. 1 is a kind of working state schematic representation of photovoltaic cleaning equipment of the present invention
Fig. 2 is the structural schematic diagram of photovoltaic clearing apparatus in photovoltaic cleaning equipment of the present invention
Fig. 3 is the main view of photovoltaic clearing apparatus traveling master end of the present invention component
Fig. 4 is the top view of photovoltaic clearing apparatus traveling master end of the present invention component
Fig. 5 is the main view of photovoltaic clearing apparatus round brush master end of the present invention component
Fig. 6 is the top view of round brush master end of the present invention component
Fig. 7 is the structural schematic diagram of tensioner component of the invention
Fig. 8 is the method flow diagram of photovoltaic cleaning equipment of the present invention
Fig. 9 is the schematic diagram of photovoltaic cleaning equipment of the present invention
Wherein, 1, photovoltaic clearing apparatus；10, frame；11, round brush；12, automatic control system；120, charge photovoltaic panel；
122, control unit；1220, central control module；1221, timing module；1222, metering module；1223, walking direction module；
1224, rate control module；1225, course changing control module；124, battery；126, range sensor；1261, first distance
Sensor；1262, second distance sensor；13, travelling wheel；14, traveling master end component；140, traveling installation base plate；141,
Running motor；142, traveling transmission shaft；143, the main synchronous pulley of traveling；144, the auxiliary synchronous pulley of traveling；145, traveling synchronous belt；
146, traveling driving shaft；147, round brush driven shaft；15, transmission shaft 16, round brush master end component；160, round brush installation base plate；
161, round brush motor；162, round brush motor transmission shaft；163, the main synchronous pulley of round brush；164, the auxiliary synchronous pulley of round brush；165, it rolls
Brush synchronous belt；166, round brush driving shaft；167, traveling driven shaft；17, tensioner component；171, mounting plate；172, top tight pieces；173,
Pedestal；174, compressing member；175, sliding block；176 expansion tightening wheels；18, directive wheel；2, photovoltaic module；21, frame is shut down；22, sensor block；
23, photovoltaic array；24, photovoltaic module head end；25, photovoltaic module tail end.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, with reference to the accompanying drawing and specifically
Embodiment specifically states the present invention, it being understood, however, that in the case where not being further discussed below, a reality
Applying the element in mode, structure and features can also be advantageously incorporated into other embodiments.
As shown in Fig. 1 and Fig. 9, the present invention proposes a kind of photovoltaic cleaning equipment, including photovoltaic module 2 and for the light
The photovoltaic clearing apparatus 1 that is cleaned of volt component 2, the photovoltaic clearing apparatus 1 include frame 10, round brush 11, travelling wheel 13 and
Automatic control system 12,10 both ends of frame further respectively have the traveling master end component 14 for driving the travelling wheel 13 to rotate
And the round brush master end component 16 for driving the round brush 11 to rotate；The automatic control system 12 include control unit 122 and away from
From sensor 126, the range sensor 126 includes first distance sensor 1261 and second distance sensor 1262, described
Photovoltaic module 2 includes the photovoltaic module head end 24 and photovoltaic module tail end 25 being oppositely arranged, and the photovoltaic clearing apparatus 1 is located at
Between the photovoltaic module head end 24 and photovoltaic module tail end 25, the photovoltaic module head end 24 and the photovoltaic module tail end 25
It is provided with sensor block 22, the first distance sensor 1261 and the second distance sensor 1262 can sense the sense
It answers block 22 and issues inductive signal, described control unit 122 includes:
Timing module 1221: the timing module 1221 is used to calculate the cleaning time of photovoltaic clearing apparatus 1；
Walking direction module 1223: the walking direction module 1223 is electrically connected with the range sensor 126, for side
The inductive signal of the sending of first distance sensor 1261 is received to judgment module 1223 to judge that the travelling wheel 13 is answered
Towards 24 direction of photovoltaic module head end rotation, the round brush 11 is square away from 24 direction of photovoltaic module head end rotation simultaneously
The inductive signal of the sending of second distance sensor 1262 is received to judgment module 1223 to judge that the travelling wheel 13 is answered
Towards 25 direction of photovoltaic module tail end rotation while the round brush 11 is rotated away from 25 direction of photovoltaic module tail end；
Rate control module 1224: the rate control module 1224 and traveling master end component 14 and the round brush
Master end component 16 is electrically connected to control the velocity of rotation of the travelling wheel 13 and the round brush 11 respectively；
Course changing control module 1225: the course changing control module 1225 and traveling master end component 14 and the round brush
Master end component 16 is electrically connected to control the rotation direction of the travelling wheel 13 and the round brush 11 respectively；
Central control module 1220: the central control module 1220 respectively with the timing module 1221, the direction
Judgment module 1223, the rate control module 1224 and the course changing control module 1225 electrical connection, to receive the meter
When the information that issues of module 1221 and the walking direction module 1223 control 1221 timing of timing module simultaneously, it is described in
Entreat control module 1220 according to parameter preset and the information received respectively to the rate control module 1224 and the steering
Control module 1225 sends control instruction to control the velocity of rotation and rotation of the travelling wheel 13 and the round brush 11 respectively
Direction.
Metering module 1222: the metering module 1222 is used to calculate the cleaning number of the photovoltaic clearing apparatus 1, described
Metering module 1222 and the central control module 1220 are electrically connected to central control module and receive metering information.
In conjunction with shown in Fig. 3 and Fig. 4, traveling master end component 14 includes traveling installation base plate 140, the traveling installation
Running motor 141 is set on the inside of substrate 140, and the running motor 141 is controlled with the rate control module 1224 and the steering
Molding block 1225 is electrically connected to control the velocity of rotation of the running motor 141 and rotation direction and then controls the travelling wheel
13 velocity of rotation and rotation direction, the running motor 141 include running motor output shaft (not shown go out), the traveling
Master end component 14 further includes running motor transmission shaft 142, and the running motor output shaft is placed in the running motor transmission shaft
In 142, the running motor output shaft and 142 key of running motor transmission shaft connect, and the running motor transmission shaft 142 passes through
The traveling installation base plate 140 is connected with the main synchronous pulley 143 of traveling, and main 143 two sides of synchronous pulley of traveling are provided with away
Traveling synchronous belt is cased with outside the auxiliary synchronous pulley 144 of row, the main synchronous pulley 143 of traveling and the auxiliary synchronous pulley 144 of the traveling
145, to be driven by the running motor transmission shaft 142 when described control unit 122 controls running motor 141 and rotates
The main synchronous pulley 143 of traveling is rotated synchronously with the auxiliary synchronous pulley 144 of the traveling.140 lower section of traveling installation base plate
It is provided with directive wheel 18.
In conjunction with Fig. 5 and Fig. 6, round brush master end component 16 includes round brush installation base plate 160, the round brush installation base plate
Round brush motor 161 is arranged in 160 insides, and the round brush motor 161 is controlled with the rate control module 1224 and the steering
Molding block 1225 is electrically connected to control the velocity of rotation of the round brush motor 161 and rotation direction and then controls the round brush 11
Velocity of rotation and rotation direction, the round brush motor 161 includes round brush motor output shaft (not shown go out), the round brush master
Dynamic side component 160 further includes round brush motor transmission shaft 162, and the round brush motor output shaft is placed in the round brush motor transmission shaft
In 162, the round brush motor output shaft and the round brush motor drive axle key connect 162, and the round brush motor transmission shaft 162 passes through
The round brush installation base plate 160 is connected with the main synchronous pulley 163 of round brush, and main 163 side of synchronous pulley of round brush is provided with rolling
Auxiliary synchronous pulley 164 is brushed, is cased with round brush synchronous belt outside the main synchronous pulley 163 of round brush and the auxiliary synchronous pulley 164 of the round brush
165, to be driven by the round brush motor transmission shaft 162 when described control unit 122 controls round brush motor 161 and rotates
The main synchronous pulley 163 of round brush is rotated synchronously with the auxiliary synchronous pulley 164 of the round brush.160 lower section of round brush installation base plate
It is provided with directive wheel 18.
In conjunction with Fig. 3 to Fig. 6, traveling driving shaft 146 is equipped on the inside of traveling master end component 140, the traveling is actively
Axis 146 passes through the traveling installation base plate 140 and connects the auxiliary synchronous pulley 144 of the traveling, and the traveling driving shaft 146 is arranged with
Travelling wheel 13, traveling driven shaft 167 is equipped on the inside of round brush master end component 160, and the traveling driven shaft 167 is arranged with away
Row wheel 13, is equipped with transmission shaft 15, so as to the speed control between the traveling driving shaft 146 and the traveling driven shaft 147
Module 1224 and the course changing control module 1225 control the running motor 141 and drive the traveling driving shaft 146 and described
13 synchronous walking of the travelling wheel on traveling driven shaft 167.
With continued reference to Fig. 3 to Fig. 7, round brush driving shaft 166, the round brush are equipped on the inside of round brush master end component 160
Driving shaft 166 passes through the round brush installation base plate 160 and connects the auxiliary synchronous pulley 164 of the round brush, traveling master end component
140 insides are equipped with round brush driven shaft 147, and the round brush 11 is set to the round brush driving shaft 166 and the round brush driven shaft 147
Between and be fixedly connected with the round brush driving shaft 166 and the round brush driven shaft 147, so as to the rate control module 1224
The round brush motor 161, which is controlled, with the course changing control module 1225 drives traveling master end component 140 and round brush actively
Round brush rotation between side component 160.
As shown in Figure 5 and Figure 6, the first distance sensor 1261 and the second distance sensor 1262 are installed on
160 bottom of round brush installation base plate is successively set along the direction that the photovoltaic module head end 24 is directed toward the photovoltaic module tail end 25
It sets and along 160 central symmetry of round brush installation base plate, so that the walking direction module 1223 is along the photovoltaic clearing apparatus 1
The direction of motion be sequentially received the induction that the first distance sensor 1261 and the second distance sensor 1262 issue
Signal.
As shown in Figures 1 to 7, the automatic control system 12 further includes charging photovoltaic panel 120 and battery 124, described
In the setting of battery 124 and the frame 10 between traveling master end component 140 and round brush master end component 160, the charging light
The setting of battery plate 120 is lied prostrate at 10 top of frame；In the case where there is illumination, by charging, photovoltaic panel 120 charges, and by
The electric energy that 124 pairs of battery charging photovoltaic panels 120 issue stores, then supplies the intelligent photovoltaic cleaning equipment
Electricity.The automatic control system 12 is electrically connected with traveling master end component 140 and round brush master end component 160, with toilet
The automatic control unit 122 of automatic control system 12 is stated to traveling master end component 140 and round brush master end component
160 control respectively and then are controlled respectively the travelling wheel 13 and the round brush 11.
As shown in Figures 1 to 7, the main synchronous pulley 143 of the traveling in 140 outside of traveling installation base plate and institute
It states and tensioner component 17 is installed between the auxiliary synchronous pulley 144 of traveling；The round brush in 160 outside of round brush installation base plate
Tensioner component 17 is also installed between main synchronous pulley 163 and the auxiliary synchronous pulley 164 of the round brush, it is same to compress the traveling
Band 145 and the round brush synchronous belt 165 are walked, prevents the traveling synchronous belt 145 and the round brush synchronous belt 165 from skidding.
As shown in fig. 7, the tensioner component 17 includes mounting plate 171, top tight pieces 172, pedestal 173, compressing member 174, slides
Block 175 and expansion tightening wheel 176 are equipped with multiple tapped through holes after the pedestal 173, so as to traveling installation base plate 140 and the round brush
Installation base plate 160 is screwed connection with the tensioner component 17.
With continued reference to Fig. 7, the mounting plate 171 is threadedly coupled fixation with the pedestal 173, and the pedestal 173 is equipped with square
Connected in star, described 175 one end of sliding block are placed in the rectangular recess, and the other end is equipped with expansion tightening wheel 176, the top tight pieces
172 threaded one ends are connected on the mounting plate 171, and the other end withstands on the sliding block being placed in the pedestal rectangular recess
175 one end so as to adjust position of the sliding block 175 in the rectangular recess so that adjust expansion tightening wheel 176 position；It is described
Long strip through hole is equipped among sliding block 175, the compressing member 174 passes through the long strip through hole and is threadedly coupled with the pedestal 173, with
Just the position of position of the sliding block 175 in the rectangular recess and then the fixed expansion tightening wheel 176 is fixed.
As shown in figure 8, be photovoltaic cleaning equipment of the present invention control method, successively the following steps are included:
S1: Xiang Suoshu central control module 1220 inputs parameter preset, and the parameter preset includes setting time t, Ying Qing
Sweep frequency n, round brush speed v1, the first traveling speed v1 ', the second traveling speed v2 ', wherein the first traveling speed v1 ' is greater than the
Two traveling speed v2 '；
S2: after the range sensor 126 experiences sensor block 22 and issues inductive signal, the walking direction module
1223 judge the rotation direction of the round brush 11 and the travelling wheel 13 according to inductive signal, and rotation direction information is sent to
Central control module 1220；
S3: central control module 1220 controls timing module 1221 and starts timing and to 1224 He of rate control module
Course changing control module 1225 sends control instruction；
S4: the rate control module 1224 controls the round brush according to control instruction with the course changing control module 1225
11 and the travelling wheel 13 along specified rotation direction respectively with the round brush speed v1 and the first traveling speed v1 ' turn
It is dynamic；
S5: after the range sensor 126 experiences sensor block 22 and issues inductive signal, the walking direction module
1223 judge the rotation direction of the round brush 11 and the travelling wheel 13 according to inductive signal, and direction of motion information is sent to
Central control module 1220；
S6: the central control module 1220 judges whether 1221 timing time of timing module is less than setting time t,
If so, the information that the central control module 1220 issues this direction controlling module 1223 is not processed while jumping
Go to step 4；If it is not, thening follow the steps 7；
S7: the central control module 1220 is sent to the rate control module 1224 and course changing control module 1225
Control instruction controls the round brush 11 and the travelling wheel 13 along specified rotation direction respectively with the round brush speed v1 and institute
State the second traveling speed v2 ' rotation；
S8: after the range sensor 126 experiences sensor block 22 and issues inductive signal, the walking direction module
1223 judge the rotation direction of the round brush 11 and the travelling wheel 13 according to inductive signal, and rotation direction information is sent to
Central control module 1220；
S9: the central control module 1220 is sent to the rate control module 1224 and course changing control module 1225
Control instruction controls the round brush 11 and the travelling wheel 13 stops operating, and the photovoltaic clearing apparatus 1 is completed primary swept
Journey；
S10: the photovoltaic clearing apparatus 1 is completed after once cleaning, and the central control module 1220 controls the metering
Module metering number adds 1；
S11: the central control module 1220 judges whether the 1222 metering number of metering module is less than preset answer
Frequency n is cleaned, if so, 1221 timing of the timing module is reset, while jumping to step 2；If it is not, then the photovoltaic cleans
Device 1 is shut down.
From above scheme as can be seen that present embodiments providing a kind of photovoltaic cleaning equipment and its control method, pass through two
A range sensor 126 sends the inductive signal sensed to described control unit 122, described control unit
122 receive the inductive signal that described two range sensors 126 issue and successively slow down and stop the travelling wheel 13
Speed with after preventing the photovoltaic clearing apparatus 1 as caused by effect of inertia from shutting down under higher speed state with the photovoltaic
The sensor block 22 on component 2 is hit, to reduce the photovoltaic clearing apparatus 1 to 2 bring of photovoltaic module
Impact.Simultaneously before operation can revolving speed to the round brush 11, the traveling wheel 13 revolving speed and clean number can respectively into
Row setting, the traveling speed for increasing cleaning number and the reduction travelling wheel 13 when dust is more improve the round brush simultaneously
11 rotation speed reduces when dust is less and cleans number and improve the traveling speed of the travelling wheel 13 while reducing institute
The rotation speed of round brush 11 is stated, is targetedly cleaned with the situation for realizing how many to dust.
Claims (15)
1. a kind of photovoltaic cleaning equipment, the photovoltaic including photovoltaic module and for being cleaned to the photovoltaic module cleans dress
It sets, the photovoltaic clearing apparatus includes frame, round brush, travelling wheel and automatic control system, it is characterised in that: the frame both ends
It further respectively has the traveling master end component for driving the travelling wheel rotation and drives the round brush master end group of the round brush rotation
Part；The automatic control system includes control unit and range sensor, and the range sensor includes first distance sensor
And second distance sensor, the photovoltaic module include the photovoltaic module head end and photovoltaic module tail end being oppositely arranged, the light
Clearing apparatus is lied prostrate between the photovoltaic module head end and photovoltaic module tail end, the photovoltaic module head end and the photovoltaic group
Part tail end is provided with sensor block, and the first distance sensor and the second distance sensor can sense the sensor block
And inductive signal is issued, described control unit includes:
Timing module: the timing module is used to calculate the cleaning time of photovoltaic clearing apparatus；
Walking direction module: the walking direction module is electrically connected with the range sensor, is received for walking direction module
The inductive signal issued to the first distance sensor is to judge that the travelling wheel should be towards photovoltaic module head end direction
The round brush is rotated away from photovoltaic module head end direction simultaneously for rotation；Walking direction module receives the second distance and passes
The inductive signal that sensor issues is to judge that the travelling wheel should rotate the round brush simultaneously towards photovoltaic module tail end direction
It is rotated away from photovoltaic module tail end direction；
Rate control module: the rate control module is electrically connected with traveling master end component and round brush master end component
It connects to control the velocity of rotation of the travelling wheel and the round brush respectively；
Course changing control module: the course changing control module is electrically connected with traveling master end component and round brush master end component
It connects to control the rotation direction of the travelling wheel and the round brush respectively；
Central control module: the central control module respectively with the timing module, the walking direction module, the speed
Control module and course changing control module electrical connection are issued receiving the timing module and the walking direction module
Information controls the timing module timing simultaneously, and the central control module is right respectively according to parameter preset and the information received
The rate control module and the course changing control module send control instruction to control the travelling wheel and the rolling respectively
The velocity of rotation and rotation direction of brush.
2. photovoltaic cleaning equipment according to claim 1, it is characterised in that: traveling master end component further includes traveling
Running motor, the running motor and the rate control module and institute is arranged in installation base plate, the traveling installation base plate inside
Course changing control module is stated to be electrically connected to control the velocity of rotation of the running motor and rotation direction and then control the traveling
The velocity of rotation and rotation direction of wheel, are arranged the main synchronous pulley of traveling on the outside of the traveling installation base plate, the running motor with
The main synchronous pulley connection of traveling, the main synchronous pulley two sides of traveling are provided with the auxiliary synchronous pulley of traveling, the traveling master
It is cased with traveling synchronous belt outside synchronous pulley and the auxiliary synchronous pulley of the traveling, so that the running motor drives the traveling master same
It walks belt wheel and the auxiliary synchronous pulley of the traveling rotates synchronously.
3. photovoltaic cleaning equipment according to claim 2, it is characterised in that: traveling master end component further includes traveling
Motor transmission shaft, the running motor and the running motor are driven axis connection, and the running motor transmission shaft is walked described in
Row installation base plate is connect with the main synchronous pulley of the traveling.
4. photovoltaic cleaning equipment according to claim 2, it is characterised in that: round brush master end component further includes round brush
Round brush motor, the round brush motor and the rate control module and institute is arranged in installation base plate, the round brush installation base plate inside
Course changing control module is stated to be electrically connected to control the velocity of rotation of the round brush motor and rotation direction and then control the round brush
Velocity of rotation and rotation direction, the main synchronous pulley of round brush, the round brush motor and institute are set on the outside of the round brush installation base plate
The main synchronous pulley connection of round brush is stated, the main synchronous pulley side of round brush is provided with the auxiliary synchronous pulley of round brush, and the round brush master is same
It is cased with round brush synchronous belt outside step belt wheel and the auxiliary synchronous pulley of the round brush, so that the round brush motor drives the main synchronization of round brush
Belt wheel and the auxiliary synchronous pulley of the round brush rotate synchronously.
5. photovoltaic cleaning equipment according to claim 4, it is characterised in that: round brush master end component further includes round brush
Motor transmission shaft, the round brush motor and the round brush motor drive axis connection, the round brush motor transmission shaft pass through the rolling
Brush installation base plate is connect with the main synchronous pulley of the round brush.
6. photovoltaic cleaning equipment according to claim 4, it is characterised in that: the first distance sensor and described second
Range sensor is mounted on round brush installation base plate bottom and is directed toward the photovoltaic module tail end along the photovoltaic module head end
Direction set gradually so as to the walking direction module be sequentially received along the direction of motion of the photovoltaic clearing apparatus it is described
The inductive signal that first distance sensor and the second distance sensor issue.
7. the photovoltaic cleaning equipment according to claim 2, it is characterised in that: be equipped with away on the inside of the component of the traveling master end
Row driving shaft, the traveling driving shaft pass through the traveling installation base plate and connect the auxiliary synchronous pulley of traveling, the traveling master
Moving axis is arranged the travelling wheel, is equipped with traveling driven shaft on the inside of the component of the round brush master end, the traveling driven shaft is arranged institute
Travelling wheel is stated, traveling transmission shaft is equipped between the traveling driving shaft and the traveling driven shaft, so as to the running motor band
Move the travelling wheel synchronous walking on the traveling driving shaft and the traveling driven shaft.
8. photovoltaic cleaning equipment according to claim 4, it is characterised in that: be equipped with rolling on the inside of the component of the round brush master end
Brush driving shaft, the round brush driving shaft pass through the round brush installation base plate and connect the auxiliary synchronous pulley of round brush, the traveling master
Be equipped with round brush driven shaft on the inside of dynamic side component, the round brush be set between round brush driving shaft and round brush driven shaft and with round brush master
Moving axis is fixedly connected with round brush driven shaft, so that the round brush motor drives traveling master end component and round brush master end group
Round brush rotation between part.
9. photovoltaic cleaning equipment according to claim 4, it is characterised in that: described on the outside of the traveling installation base plate
Tensioner component is installed between the main synchronous pulley of traveling and the auxiliary synchronous pulley of the traveling, on the outside of the round brush installation base plate
Tensioner component is also installed between the main synchronous pulley of round brush and the auxiliary synchronous pulley of the round brush, it is same to compress the traveling
Step band and the round brush synchronous belt.
10. photovoltaic cleaning equipment according to claim 9, it is characterised in that: the tensioner component include pedestal, sliding block and
Expansion tightening wheel, the pedestal are equipped with rectangular recess, and the sliding block can be slided along rectangular recess, and the sliding block connects the expansion tightening wheel,
To adjust the position of position of the sliding block in the rectangular recess and then adjustment expansion tightening wheel.
11. photovoltaic cleaning equipment according to claim 10, it is characterised in that: the tensioner component further include mounting plate and
Top tight pieces, the mounting plate are fixedly connected with the pedestal, and described sliding block one end is placed in the rectangular recess of the pedestal, described
The other end of sliding block is equipped with expansion tightening wheel, and described top tight pieces one end is connected on the mounting plate, top tight pieces other end top
On being placed in described sliding block one end in the pedestal rectangular recess, to fix the slide position.
12. photovoltaic cleaning equipment according to claim 11, it is characterised in that: the tensioner component further includes compressing member,
Long strip through hole is equipped among the sliding block, the compressing member passes through the long strip through hole and connect with the pedestal, to fix
State the position of position of the sliding block in the rectangular recess and then the fixed expansion tightening wheel.
13. photovoltaic cleaning equipment according to claim 1, it is characterised in that: described control unit further includes for calculating
The metering module of the cleaning number of the photovoltaic clearing apparatus, the metering module are electrically connected to the central control module
Central control module receives metering information.
14. a kind of photovoltaic cleans control method, using the described in any item photovoltaic cleaning equipments of such as claim 1-13, feature
Be: successively the following steps are included:
S1: Xiang Suoshu central control module inputs parameter preset, and the parameter preset includes setting time t, round brush speed v1, the
One traveling speed v1 ', the second traveling speed v2 ', wherein the first traveling speed v1 ' is greater than the second traveling speed v2 '；
S2: the range sensor experiences sensor block after issuing inductive signal, and the walking direction module is believed according to induction
Number judge the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent to central control module；
S3: central control module control timing module starts timing and sends to the rate control module and course changing control module
Control instruction；
S4: the rate control module and the course changing control module are according to the control instruction control round brush and the travelling wheel
It is rotated respectively with the round brush speed v1 and the first traveling speed v1 ' along specified rotation direction；
S5: the range sensor experiences sensor block after issuing inductive signal, and the walking direction module is believed according to induction
Number judge the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent to central control module；
S6: the central control module judges whether the timing module timing time is less than setting time t, if so, described
The information that central control module issues this direction controlling module is not processed while going to step 4；If it is not, then holding
Row step 7；
S7: the central control module sends control instruction to the rate control module and course changing control module and controls the rolling
Brush and the travelling wheel are rotated respectively with the round brush speed v1 and the second traveling speed v2 ' along specified rotation direction；
S8: the range sensor experiences sensor block after issuing inductive signal, and the walking direction module is believed according to induction
Number judge the rotation direction of the round brush and the travelling wheel, and rotation direction information is sent to central control module；
S9: the central control module sends control instruction to the rate control module and course changing control module and controls the rolling
Brush and the travelling wheel stop operating, and the photovoltaic clearing apparatus completes a cleaning process.
15. photovoltaic according to claim 14 cleans control method, the control of the photovoltaic cleaning equipment of use
Unit further includes the metering module for calculating the cleaning number of the photovoltaic clearing apparatus, the metering module and the center
Control module electrical connection, it is characterised in that: the parameter preset in the step S1 further includes that should clean frequency n, and the photovoltaic is clear
Sweep control method further include:
S10: after the photovoltaic clearing apparatus completes primary clean, the central control module controls the metering module metering time
Number plus 1；
S11: the central control module judge the metering module metering number whether be less than it is preset should clean frequency n, if
It is that then the timing module timing is reset, while jumping to step 2；If it is not, then the photovoltaic clearing apparatus is shut down.
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| CN201711106225.5A CN107876469B (en) | 2017-11-10 | 2017-11-10 | Photovoltaic cleaning equipment and its control method |
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| CN201711106225.5A CN107876469B (en) | 2017-11-10 | 2017-11-10 | Photovoltaic cleaning equipment and its control method |
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| CN110560404B (en) * | 2019-09-30 | 2020-12-22 | 北京中电博顺智能设备技术有限公司 | Photovoltaic panel cleaning robot and control method thereof |
| CN113289929A (en) * | 2021-05-10 | 2021-08-24 | 安徽中科光电色选机械有限公司 | Flexible feeding and rapid ash removal method for color selector |
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