CN109746226A - Photovoltaic panel intelligence purging system for photovoltaic plant O&M - Google Patents
Photovoltaic panel intelligence purging system for photovoltaic plant O&M Download PDFInfo
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- 238000010408 sweeping Methods 0.000 claims abstract description 155
- 238000004140 cleaning Methods 0.000 claims abstract description 124
- 238000012544 monitoring process Methods 0.000 claims abstract description 93
- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 238000000034 method Methods 0.000 claims abstract description 27
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- 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
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Abstract
Photovoltaic panel intelligence purging system for photovoltaic plant O&M, which is characterized in that including photovoltaic plant O&M big data cloud platform (4) and photovoltaic panel sweeping robot (1)；Photovoltaic plant O&M big data cloud platform (4) is managed collectively several photovoltaic panel sweeping robots (1), it receives the operation data of photovoltaic panel sweeping robot (1), carry out Macro or mass analysis, and the cleaning process of photovoltaic panel sweeping robot (1) is optimized；Photovoltaic panel sweeping robot (1) includes suspension guiding mechanism, walking mechanism, cleaning agency, control module and monitoring module, completes cleaning function and monitoring function.
Description
Technical field
The present invention relates to a kind of purging system more particularly to a kind of cleaning photovoltaic panel surface dirts with monitoring function
Photovoltaic panel sweeping robot and intelligent purging system, belong to the technical field of photovoltaic plant operation and maintenance.
Background technique
In photovoltaic power generation application, photovoltaic panel is the root of electric energy production, and the dust in photovoltaic panel can reduce photovoltaic power generation
Photoelectric conversion efficiency.Dust is broadly divided into two classes:
1, floating dust: particle is smaller, is liable to stick in photovoltaic panel, and the process of attachment is a physical process；Floating dust occurrence frequency
Height, but be easier to remove；
2, incrustation: the moisture in air, gluing between photovoltaic panel after dust granule dampness are soaked or absorbed by rainwater
Property become strong, the impurity that can also absorb float is adhered in photovoltaic panel together；Final form becomes point, piece, strip, harder
Firmly；Incrustation probability of happening is low, but is not easy to find in time while being also difficult to remove；
Influence of the dust to photovoltaic power generation is mainly reflected in three aspects:
1, shut out the light: dust can block the light being radiated in photovoltaic panel, and the area that solar radiation is received in photovoltaic panel will
Reduce；And the transmittance of glass can be reduced, to influence photovoltaic efficiency；
2, it hot spot effect: when photovoltaic panel partial region is blocked by dust for a long time, can not work normally；In sunlight prolonged exposure
Under, the heating of covered part can be far longer than not covered part, cause covered portion temperature excessively high and burn out
Blackening, will lead to when serious solar battery large area damage；
3, soda acid corrodes: after the dust deposit with soda acid characteristic is to photovoltaic plate surface, dust will gradually corrode photovoltaic panel table
Face causes possible permanent damage to photovoltaic plate surface, reduces efficiency.
It can be seen that keeping the cleaning of photovoltaic panel is to promote the effective way of generating capacity.Existing clean method includes
It is several below:
1, traditional artificial washing cleaning: inefficiency, high labor cost, cleaning effect are general, water resource waste is serious；
2, photovoltaic panel sweeping robot: also known as on piece robot (as shown in Figure 1)；Such as Chinese patent CN103406292A is public
A kind of " photovoltaic module sweeping robot " is opened；The advantages of such robot is that the degree of automation is higher, can effectively remove floating dust,
The disadvantage is that the cleaning effect to incrustation is general；
By taking the photovoltaic panel sweeping robot of certain company as an example, main equipment parameters are as follows:
Robot size: 4000 millimeters long/360 millimeters 360 millimeters wide/high；Self weight: 60 kilograms；
The speed of travel: 5-15 ms/min；Single maximum travel distance: 800 meters；
3, vehicle-mounted mobile cleaning machine: high-efficient, water consumption is small, can effectively remove floating dust and incrustation；The disadvantage is that cannot to incrustation into
The accurate processing of row, energy consumption are higher, need certain manpower and operation management.
In addition, hot spot failure also has a great impact to photovoltaic power generation, the method for detecting hot spot in the prior art includes:
1, traditional artificial detection: inefficiency, time and effort consuming, detection inaccuracy；
2, unmanned plane circling measurment: although efficiency improves a lot, the disadvantage is that at high cost, image data precision is lower, continuation of the journey
Time is short, influences application effect.
Summary of the invention
Goal of the invention: present invention aims at parking difficulty is solved the problems, such as, providing one kind, solely it is an object of the invention to overcome
Above-mentioned deficiency in the prior art combines photovoltaic plant O&M big data cloud platform with photovoltaic panel sweeping robot, and with
Based on existing photovoltaic panel sweeping robot, monitoring module is incorporated wherein, utilizes the movement rail of photovoltaic panel sweeping robot
Mark carries out whole scanning to the state of photovoltaic panel, can not only realize the control accurate to cleaning process, additionally it is possible to discovery in time
Various operation problems, convenient for targetedly being safeguarded.
The present invention is achieved through the following technical solutions: clear including photovoltaic plant O&M big data cloud platform and photovoltaic panel
Sweep robot；
Photovoltaic plant O&M big data cloud platform is managed collectively several photovoltaic panel sweeping robots, and it is clear to receive photovoltaic panel
It sweeps the operation data of robot, carry out Macro or mass analysis, and the cleaning process of photovoltaic panel sweeping robot is optimized；
Photovoltaic panel sweeping robot includes suspension guiding mechanism, walking mechanism, cleaning agency, control module and monitoring module:
Suspension guiding mechanism: for photovoltaic panel sweeping robot to be affiliated in groups of photovoltaic panel and is used to limit photovoltaic panel
The direction of motion of sweeping robot；
Walking mechanism: mechanism works in coordination with suspension guiding, drives photovoltaic panel sweeping robot in groups of photovoltaic panel along the side Y
To movement；
Cleaning agency: while photovoltaic panel sweeping robot moves in groups of photovoltaic panel, start cleaning agency to photovoltaic
It is cleaned on the surface of plate；
Control module: the operating status of control photovoltaic panel sweeping robot, and communicated with photovoltaic plant O&M big data cloud platform,
Refer to the control that photovoltaic plant O&M big data cloud platform sends operation data and receives photovoltaic plant O&M big data cloud platform
It enables；
Monitoring module: including at least one or more groups of photographic devices, for acquiring the photovoltaic panel around photovoltaic panel sweeping robot
Image；The structure of monitoring module is indirect shooting formula structure, and specific structure is:
It further include elevating mechanism, removable cover, reflective mirror in monitoring module；Photographic device is fixedly mounted on photovoltaic panel sweeping machine
In the shell of people；Reflective mirror is mounted among removable cover, and removable cover is connected with elevating mechanism, and elevating mechanism can be shunk
Or stretching, extension；
When photovoltaic panel sweeping robot does not work, monitoring module is in closed state, protects photographic device therein from outer
The damage of boundary's environmental factor；At this point, removable cover and elevating mechanism shrink and are accommodated in the shell of photovoltaic panel sweeping robot；
When photovoltaic panel sweeping robot is in operating status and needs to start monitoring module, monitoring module is in the open state,
The acquisition of image data is carried out by photographic device；At this point, elevating mechanism stretches and removable cover is driven to be moved upwards up to photovoltaic panel
Top, photographic device upwardly through reflective mirror acquisition photovoltaic panel sweeping robot around photovoltaic panel image；
It should be noted that finding a view preferentially to use non-wide-angle lens in guarantee image quality, photographic device to reach enough
Its height is up to 1 meter or so when range, elevating mechanism stretching, extension；Therefore it is very important using shooting formula structure indirectly, this
Sample can mitigate the weight of removable cover, accordingly but also the weight of elevating mechanism is mitigated, thus strict control as far as possible
The total weight of photovoltaic panel sweeping robot and its position of centre of gravity；If the total weight of photovoltaic panel sweeping robot is excessive or center of gravity not
Surely, it is possible to can cause a devastating effect to photovoltaic panel；
Wherein, shaft and rotating mechanism are equipped on the reflective mirror along the x axis, reflective mirror is revolved along the x axis
Turn, the region of the image of photovoltaic panel that photographic device acquire by reflective mirror generates variation therewith so that monitoring module tool
There is flexible monitoring range；
It should be noted that the photovoltaic panel sweeping machine enumerated with background technique artificially refers to, then the width of reflective mirror is about 300
Millimeter, therefore photographic device is smaller by the region of the image of reflective mirror photovoltaic panel collected；When reflective mirror is arranged
The coverage of photographic device just has very big flexibility when for that can rotate by a certain angle；Although will cause image in this way to go out
Existing stretcher strain, but this deformation with the angle that reflective mirror rotates be it is corresponding, regular, later image can be passed through completely
Processing means are modified；The specific setting parameter detailed in Example 2 of reflective mirror；
Wherein, the photographic device is visible light camera, or/and, thermal camera:
Visible light camera is used to shoot the visible images of photovoltaic panel, including the image before cleaning and the image after cleaning, leads to
It crosses image processing software/hardware and image analysis is carried out to the effect of cleaning, provide decision support to cleaning process or to cleaning
Actual effect judge；And it can search and lock the physical location for the incrustation that do not removed in photovoltaic panel；
Thermal camera: for shooting the infrared light image of photovoltaic panel, by image processing software/hardware to infrared light image into
Row image analysis detects local anomaly fever phenomenon and hot spot failure in photovoltaic panel；
The course of work of the photovoltaic panel intelligence purging system for photovoltaic plant O&M is:
S1, the plan of cleaning is formulated by photovoltaic plant O&M big data cloud platform, and issue to clean to photovoltaic panel sweeping robot and refer to
It enables, photovoltaic panel is cleaned by photovoltaic panel sweeping robot, the cleaning process of photovoltaic panel sweeping robot is:
S101, photovoltaic panel sweeping robot is affiliated in one group of photovoltaic panel by suspension guiding mechanism, then opens monitoring mould
Block shoots the image of the photovoltaic panel of adjacent domain in front of photovoltaic panel sweeping robot direction of travel by photographic device；Then lead to
Image processing software/hardware is crossed, which is provided from the photovoltaic panel image of several the different accumulation of mud degree pre-saved
Material compares and analyzes or extracts the characteristic parameter of the image and the light of several the different accumulation of mud degree pre-saved
The characteristic parameter of volt plate image compares and analyzes, so that it is determined that region to be cleaned in front of photovoltaic panel sweeping robot direction of travel
Accumulation of mud index parameter；
S102, starting walking mechanism, are worked in coordination by walking mechanism and suspension guiding mechanism, so that photovoltaic panel sweeping robot exists
Cleaning agency is constantly moved while started in photovoltaic panel, and photovoltaic panel sweeping robot is according to the dirt in front region to be cleaned
Corresponding cleaning modes are arranged in dirt accumulation index parameter；For the different accumulation of mud degree in region to be cleaned, photovoltaic panel is cleaned
Robot has several cleaning modes, includes at least following three kinds:
Rapid cleaning: walking mechanism uses rapid advance speed, and cleaning agency uses weaker cleaning dynamics；
Standard clean: walking mechanism uses normal travel speed, and cleaning agency cleans dynamics using normal；
Strength cleans: walking mechanism uses stronger cleaning dynamics using the speed that proceeds slowly, cleaning agency；
It should be noted that the accumulation of mud degree of each photovoltaic panel is not exactly the same, therefore formulates more be directed in real time
Property cleaning scheme be very important, can not only be promoted clean speed, the dynamics of cleaning can also be controlled rationally to reduce
Cleaning agency is worn caused by photovoltaic panel；
S103, during photovoltaic panel sweeping robot is constantly mobile, by monitoring module captured in real-time photovoltaic panel sweeping machine
The image of the photovoltaic panel in region to be cleaned in front of people direction of travel is analyzed and processed by image processing software/hardware again；When
When the accumulation of mud index parameter in front region to be cleaned changes, cleaning modes are adjusted in time；Meanwhile not by monitoring module
The disconnected shooting photovoltaic panel sweeping robot direction of travel rear image of the photovoltaic panel of purging zone, soft by image procossing again
Part/hardware is analyzed and processed, and is judged effect is cleaned；The rest may be inferred, and photovoltaic panel sweeping robot is in walking mechanism
Under driving, the surface Jing Guo photovoltaic panel to be cleaned and cleaning process is completed one by one；
It should be noted that photovoltaic panel sweeping robot continuously across each photovoltaic panel difference section accumulation of mud degree
It is not exactly the same, therefore in the traveling process of photovoltaic panel sweeping robot, according to the image data of monitoring module and divides
Analysis result adjusts cleaning modes in time to be very important；
S2, cleaning process is optimized by photovoltaic plant O&M big data cloud platform, specific: (as shown in Figure 10) is by light
Overhead utility O&M big data cloud platform is to several photovoltaic panel scavenging machines in several photovoltaic plants and each photovoltaic plant
Device people is managed collectively, monitoring data that each photovoltaic panel sweeping robot acquires respective monitoring module and corresponding clear
It sweeps operation data and photovoltaic plant O&M big data cloud platform is uploaded to by control module respectively；Photovoltaic plant O&M big data cloud
Platform compares and analyzes the operating status of each photovoltaic panel in each photovoltaic plant, by big data analysis thus right
Cleaning modes and cleaning plan optimize；
Including: image data after constantly accumulating image data before various real-time cleaning modes and its corresponding cleaning and cleaning
Basic data, using deep learning algorithm, to the decision logic for determining accumulation of mud index parameter by image analysis means
It optimizes；And based on initial cleaning modes, accordingly to the cleaning with different accumulation of mud index parameter states
Mode and cleaning movement are finely divided and optimize.
For example, hereinbefore referring to three kinds of cleaning modes, after segmenting and optimizing, can be formed more kinds of more accurate
Then cleaning modes are constantly adjusted and are optimized by the inspection of actual motion；
Also, it can be with speed that network analysis photovoltaic panel surface dirt is accumulated and clear by photovoltaic plant O&M big data cloud platform
The effect swept also can analyze the difference of the photovoltaic panel surface cleanness degree of different location in photovoltaic plant, can also analyze not
The difference of the photovoltaic panel surface cleanness degree of same photovoltaic plant.It can be not only used for planning the cleaning week of optimal personalization
Phase can also be used as the data basis optimized to the layout designs of photovoltaic plant.
Further, the cleaning agency is fur cleaning roller brush, by the roll shaft and light that change fur cleaning roller brush
Lie prostrate adjustment of the gap realization to the dynamics of cleaning between plate surface.
Further, when photovoltaic panel sweeping robot successively cleans photovoltaic panel, according to the movement of walking mechanism
Data calculate the running track of photovoltaic panel sweeping robot, and when photovoltaic panel sweeping robot is completed to clean, photographic device is also complete
The collecting work of pairs of image data of the photovoltaic panel sweeping robot by the photovoltaic panel in region；
Physics where the photovoltaic panel passed through in the corresponding acquisition cleaning process of the running track of photovoltaic panel sweeping robot
Regional location coordinate, then by image processing software/hardware arranges image data combination for complete photovoltaic panel image, and
Corresponding relationship is established with the physical region position coordinates where photovoltaic panel；
According to the comparative analysis of image after image before cleaning and cleaning, can find whether to have in photovoltaic panel in time dry by cleaning
Net region；The region of large area not cleaned up then starts photovoltaic panel sweeping robot and carries out cleaning work again if it exists
Industry；If it is determined that being the cleaning agency failure of photovoltaic panel sweeping robot, then targetedly repair in time；
For the incrustation for having confirmed that physical location that do not removed by photovoltaic panel sweeping robot in photovoltaic panel, then location information is issued
And the unmanned plane for notifying manual cleaning or starting to have cleaning incrustation sediment function carries out fixed point cleaning to incrustation position.
Further, since the frequency of use of cleaning function and monitoring function is not necessarily fully synchronized, photovoltaic panel is clear
It sweeps robot operating status and is divided into following three kinds:
First: closing the cleaning function of photovoltaic panel sweeping robot, only start the monitoring function of monitoring module, corresponding photovoltaic panel
The walking mechanism of sweeping robot uses rapid advance speed；
Second: closing the monitoring function of monitoring module, only start the cleaning function of photovoltaic panel sweeping robot；
Third: while starting the cleaning function of photovoltaic panel sweeping robot and the monitoring function of monitoring module.
It should be noted that the frequency cleaned under normal conditions using photovoltaic panel sweeping robot to each photovoltaic panel
About 5-30 days/time is differed, and when there are the special circumstances such as bad weather, is cleaned frequency and can be increased accordingly；But
The frequency that photovoltaic panel carries out operation monitoring can be set to completely it is higher, such as 1-3 days/time, and monitoring function is activated individually
Can when, walking mechanism is lifted using rapid advance speed and by cleaning agency so that do not contact between cleaning agency and photovoltaic panel,
To realize quickly scanning and accidental injury will not be caused to photovoltaic plate face.
Further, it should be pointed out that when photovoltaic panel sweeping robot is using fixed stop position, generally use past
Formula operation is returned, when forward motion runs cleaning function, and empty driving state is then likely to be at when reversed backhaul.This present invention is made
Improvement below, it may be assumed that
Photovoltaic panel sweeping robot is run using reciprocation type, forward motion and only operation cleaning function first；Then inverted running
And only run monitoring function.
In this way, reverse stroke can be made full use of, avoid fugitive dust, shake of cleaning process etc. influence image acquisition quality or
Monitoring module is caused to damage；And when only running monitoring function, the speed of reversed backhaul can be set to high-speed mobile.
Further, compressed air blowing cleaner is set near the stop position of photovoltaic panel sweeping robot, works as photovoltaic
When the operation of plate sweeping robot finishes and reaches stop position and starts monitoring module in the process of running, pass through compressed air
Blow device carries out purging cleaning to the monitoring module for being still within opening state, removes dust and foreign matter therein, then again
Monitoring module is closed, dust or foreign matter in use process is prevented to be deposited in monitoring module, it can be to avoid unnecessary damage.
The beneficial effects of the present invention are:
1, before the effect picture and cleaning after can intuitively being cleaned by the monitoring module in photovoltaic panel sweeping robot
Comparison diagram afterwards, in time the case where the trouble or failure of discovery photovoltaic panel sweeping robot；
2, the physical location that the incrustation being difficult to clean off can be accurately locked by the monitoring module in photovoltaic panel sweeping robot, from
And realize targetedly fixed point cleaning, avoid long-term incrustation from causing irreversible damage to photovoltaic panel；And it can accurately lock
The hot spot failure of photovoltaic panel, is conducive to operation and maintenance；
3, using the motion profile of photovoltaic panel sweeping robot, by monitoring module realize upper frequency it is accurate scan and with
Cleaning process organically combines, and provides a large amount of operation and maintenance basic datas for photovoltaic plant O&M big data cloud platform；
4, interacting by photovoltaic plant O&M big data cloud platform and photovoltaic panel sweeping robot realizes the reality to cleaning process
When adjust and be based on deep learning algorithm and continued to optimize, it is final to realize efficient targetedly personalized precisely cleaning.
Detailed description of the invention
Attached drawing 1: photovoltaic panel sweeping robot operation schematic diagram；
Attached drawing 2: photovoltaic panel sweeping robot and directly shooting formula monitoring module structure chart (top view) of the invention；
Attached drawing 3: photovoltaic panel sweeping robot and directly shooting formula monitoring module structure chart (side view) of the invention；
Attached drawing 4: photovoltaic panel sweeping robot and directly shooting formula monitoring module structure chart (sectional view along A-A) of the invention；
Attached drawing 5: monitoring module corresponding with attached drawing 4 is in the structure chart (sectional view along A-A) of closed state；
Attached drawing 6: photovoltaic panel sweeping robot and shooting formula monitoring module structure chart (top view) indirectly of the invention；
Attached drawing 7: photovoltaic panel sweeping robot and shooting formula monitoring module structure chart (side view) indirectly of the invention；
Attached drawing 8: photovoltaic panel sweeping robot and shooting formula monitoring module structure chart (sectional view along A-A) indirectly of the invention；
Attached drawing 9: monitoring module corresponding with attached drawing 8 is in the structure chart (sectional view along A-A) of closed state；
Attached drawing 10: the schematic diagram of photovoltaic plant O&M big data cloud platform of the invention；
Attached drawing 11: the work flow diagram of the photovoltaic panel intelligence purging system for photovoltaic plant O&M of the invention；
Wherein: hollow dotted arrow D represents the moving direction of photovoltaic panel sweeping robot；
Dotted arrow in attached drawing 3,4,7,8 represents shooting angle and the direction of photographic device；
The coverage of represented by dashed circles photographic device in attached drawing 2,6；
The mirror construction partial enlarged view for including in attached drawing 7, wherein dotted line mirror position is the postrotational position of reflective mirror
Signal；
It respectively include two regional area enlarged drawings of elevating mechanism in attached drawing 4,5,8,9.
Specific embodiment
Embodiment 1:
In the present embodiment, monitoring module using directly shooting formula structure (replacement indirectly shoot formula structure), monitoring module it is specific
Structure is as follows:
It further include elevating mechanism 202, removable cover 203 in monitoring module；Photographic device 201 is mounted among removable cover 203,
Removable cover 203 is connected with elevating mechanism 202, and elevating mechanism 202 can shrink or stretch；
When monitoring module is in closed state, removable cover 203 and elevating mechanism 202 shrink and are accommodated in photovoltaic panel scavenging machine
In the shell of device people 1；When monitoring module in the open state, elevating mechanism 202 stretches and drives removable cover 203 to moving up
The top of photovoltaic panel 3 is moved, the photographic device 201 in removable cover 203 acquires downwards the light around photovoltaic panel sweeping robot 1
Lie prostrate the image of plate 3；
Specifically, as shown in Figure 2-5, elevating mechanism 202 includes two groups of base slider 2a, two groups of top slide 2b, two groups of supports
Arm 2c；The both ends of support arm 2c pass through hinge 2d respectively and connect with base slider 2a and top slide 2b；Base slider 2b setting
It, can be under the action of the first driving mechanism along the first direction guide rail 2e (i.e. side X in the shell of photovoltaic panel sweeping robot 1
To) move back and forth；Top slide 2b is arranged in removable cover 203, can also be under the action of the second driving mechanism along second
The direction guide rail 2f (i.e. X-direction) moves back and forth；First driving mechanism and the second driving mechanism can be motor+silk
Bar/nut structure or other well known structures.
As shown in figure 5, base slider 2a is located at photovoltaic panel sweeping robot 1 when monitoring module is in closed state
The both ends of shell；Top slide 2b is located at the middle part of removable cover 203；The direction of support arm 2c and the first guide rail side 2e at this time
In parallel to (i.e. X-direction), so that removable cover 203 is overlapped with the shell of photovoltaic panel sweeping robot 1；
As shown in figure 4, when monitoring module becomes opening state from closed state, the first driving mechanism drive base slider 2a from
It is slided to middle part at the both ends of the shell of photovoltaic panel sweeping robot 1；The second driving mechanism drives top slide 2b from work simultaneously
It is slided to both ends at the middle part of dynamic cover board 203；It is vertical to be gradually converted into the first direction guide rail 2e for the direction of support arm 2c as a result,
(i.e. Z-direction), support arm 2c forms removable cover 203 and supports simultaneously；So that removable cover 203 and photovoltaic panel sweeping robot
1 main body separates and is in the top of photovoltaic panel sweeping robot 1.
Photographic device 201 is located in removable cover 203, photographic device 201 from the top of photovoltaic panel sweeping robot 1, and
The image of photovoltaic panel 3 around acquisition photovoltaic panel sweeping robot 1 downwards.Since 3 length of photovoltaic panel is longer, as shown in figure 4, adopting
It is divided to the image of two sections of acquisition photovoltaic panels 3, later period to carry out image mosaic again with two groups of photographic devices 201, naturally it is also possible to using more
The photographic device 201 of multiple groups divides the image of multistage acquisition photovoltaic panel 3.The scan image splicing is in image scanning field
It is well known technology.
Elevating mechanism 202 described in the present embodiment can also realize elevating function using other well known mechanical structures.
Using formula structure is directly shot, advantage is can to shoot more visible image；The disadvantage is that removable cover than it is cumbersome,
The working environment of photographic device 201 is unstable, may result in unexpected damage.
Embodiment 2:
In the present embodiment, monitoring module is as follows using shooting formula structure, the specific structure of monitoring module indirectly:
It further include elevating mechanism 202, removable cover 203, reflective mirror 204 in monitoring module；Photographic device 201 is fixedly mounted on light
In the shell for lying prostrate plate sweeping robot 1；Reflective mirror 204 is mounted among removable cover 203, removable cover 203 and elevating mechanism
202 are connected, and elevating mechanism 202 can shrink or stretch；
When monitoring module is in closed state, removable cover 203 and elevating mechanism 202 shrink and are accommodated in photovoltaic panel scavenging machine
In the shell of device people 1；When monitoring module in the open state, elevating mechanism 202 stretches and drives removable cover 203 to moving up
The top of photovoltaic panel 3 is moved, photographic device 201 acquires the photovoltaic around photovoltaic panel sweeping robot 1 upwardly through reflective mirror 204
The image of plate 3.
Specifically, as Figure 6-9, elevating mechanism 202 includes two groups of base slider 2a, two groups of top slide 2b, two groups
Support arm 2c；The both ends of support arm 2c pass through hinge 2d respectively and connect with base slider 2a and top slide 2b；Base slider 2b
Be arranged in the shell of photovoltaic panel sweeping robot 1, can under the action of the first driving mechanism along the first direction guide rail 2e (i.e.
X-direction) it moves back and forth；Top slide 2b is arranged in removable cover 203, can also be under the action of the second driving mechanism along the
Two directions guide rail 2f (i.e. X-direction) move back and forth；First driving mechanism and the second driving mechanism can be motor+silk
Bar/nut structure or other well known structures.
As shown in figure 9, base slider 2a is located at photovoltaic panel sweeping robot 1 when monitoring module is in closed state
The both ends of shell；Top slide 2b is located at the middle part of removable cover 203；The direction of support arm 2c and the first guide rail side 2e at this time
In parallel to (i.e. X-direction), so that removable cover 203 is overlapped with the shell of photovoltaic panel sweeping robot 1；
As shown in figure 8, when monitoring module becomes opening state from closed state, the first driving mechanism drive base slider 2a from
It is slided to middle part at the both ends of the shell of photovoltaic panel sweeping robot 1；The second driving mechanism drives top slide 2b from work simultaneously
It is slided to both ends at the middle part of dynamic cover board 203；It is vertical to be gradually converted into the first direction guide rail 2e for the direction of support arm 2c as a result,
(i.e. Z-direction), support arm 2c forms removable cover 203 and supports simultaneously；So that removable cover 203 and photovoltaic panel sweeping robot
1 main body separates and is in the top of photovoltaic panel sweeping robot 1.
Reflective mirror 204 is located in removable cover 203, photographic device 201 be located at photovoltaic panel sweeping robot 1 shell it
In, photographic device 201 acquires the image of the photovoltaic panel 3 around photovoltaic panel sweeping robot 1 upwardly through reflective mirror 204.Due to
3 length of photovoltaic panel is longer, as shown in figure 8, using two groups of photographic devices 201 be divided to two sections of the acquisition images of photovoltaic panel 3, later periods again into
Row image mosaic, corresponding reflective mirror 204 are also classified into two；Multistage can certainly be divided using the photographic device 201 of more multiple groups
Acquire the image of photovoltaic panel 3.The scan image splicing is well known technology in image scanning field.
Elevating mechanism 202 described in the present embodiment can also realize elevating function using other well known mechanical structures.
Further, since reflective mirror 204 is restricted in installation place, imagery zone captured by photographic device 201
Can be limited, also, in different time points the observed object of upper monitoring module also can different from, this present embodiment is made
Improvement below (as shown in the mirror construction partial enlarged view in Fig. 7), it may be assumed that
Shaft 205 and rotating mechanism 206 are equipped on the reflective mirror 204 along the x axis, enables reflective mirror 204 along X-axis
Direction rotates, so that the region of the image for the photovoltaic panel 3 that photographic device 201 is acquired by reflective mirror 204 generates variation therewith；Its
The rotation angle a of middle reflective mirror 204 is set as being no more than ± 20 °；It is specific:
First: if desired pay close attention to simultaneously front region to be cleaned and rear purging zone the case where when, then can be reflective mirror
204 rotation angle a is adjusted to 0 °；
At this point, photographic device can shoot the front region and each about 300-600 of rear area of photovoltaic panel sweeping robot simultaneously
The width range of millimeter；
Second:, will be anti-if the case where being more concerned about direction of travel front region when photovoltaic panel sweeping robot 1 is positive mobile
The rotation angle a of light microscopic 204 is adjusted between positive 5 ° to 20 °；
At this point, photographic device can take photovoltaic panel sweeping robot direction of travel front region farthest about 1500-3000 milli
The position of rice；
Third:, will be anti-if the case where being more concerned about direction of travel front region when photovoltaic panel sweeping robot 1 moves backward
The rotation angle a of light microscopic 204 is adjusted between 5 ° to 20 ° of negative sense；
At this point, photographic device can take photovoltaic panel sweeping robot direction of travel rear area farthest about 1500-3000 milli
The position of rice；
4th:, will be anti-if the case where being more concerned about direction of travel rear area when photovoltaic panel sweeping robot 1 is positive mobile
The rotation angle a of light microscopic 204 is adjusted between 5 ° to 20 ° of negative sense；
At this point, photographic device can take photovoltaic panel sweeping robot direction of travel front region farthest about 1500-3000 milli
The position of rice；
5th:, will be anti-if the case where being more concerned about direction of travel rear area when photovoltaic panel sweeping robot 1 moves backward
The rotation angle a of light microscopic 204 is adjusted between positive 5 ° to 20 °；
At this point, photographic device can take photovoltaic panel sweeping robot direction of travel rear area farthest about 1500-3000 milli
The position of rice.
It should be pointed out that if the rotation angle a of reflective mirror 204 is set as being no more than ± 20 ° being because of rotation angle
Excessive, the distortion factor of image increases sharply, and also just loses practical significance.
Using indirect shooting formula structure, advantage is that removable cover 203 is light-weight, flexible movements, the work of photographic device 201
Ambient stable, the disadvantage is that the quality of image shot after the reflection of reflective mirror 204 may be declined slightly.
In the attached drawing of description above, photovoltaic panel is shown as horizontal positioned for the ease of expression structure feature.It is practical
The setting angle of photovoltaic panel can be at a certain angle with the actual conditions and horizontal plane shape of photovoltaic plant in, but this is not
Influence the implementation of above-described embodiment, it is only necessary to which phase is done according to setting angle of the photovoltaic panel setting angle to photovoltaic panel sweeping robot
The adjustment answered.
Certainly, the invention is not limited to above embodiment, and those skilled in the art are without prejudice to originally
Equivalent deformation or replacement can be also made under the premise of spirit, these equivalent variation or replacement are all contained in the application right
It is required that in limited range.
Claims (8)
1. being used for the photovoltaic panel intelligence purging system of photovoltaic plant O&M, which is characterized in that including photovoltaic plant O&M big data
Cloud platform (4) and photovoltaic panel sweeping robot (1)；
Photovoltaic plant O&M big data cloud platform (4) is managed collectively several photovoltaic panel sweeping robots (1), receives light
Lie prostrate plate sweeping robot (1) operation data, carry out Macro or mass analysis, and to the cleaning process of photovoltaic panel sweeping robot (1) into
Row optimization；
Photovoltaic panel sweeping robot (1) includes suspension guiding mechanism, walking mechanism, cleaning agency, control module and monitoring module:
Suspension guiding mechanism: for being affiliated to photovoltaic panel sweeping robot (1) in groups of photovoltaic panel (3) and for limiting
The direction of motion of photovoltaic panel sweeping robot (1)；
Walking mechanism: mechanism works in coordination with suspension guiding, drives photovoltaic panel sweeping robot (1) in groups of photovoltaic panel (3)
On moved along Y-direction；
Cleaning agency: while photovoltaic panel sweeping robot (1) moves on groups of photovoltaic panel (3), start cleaning agency
The surface of photovoltaic panel (3) is cleaned；
Control module: control photovoltaic panel sweeping robot (1) operating status, and with photovoltaic plant O&M big data cloud platform
(4) it communicates, sends operation data to photovoltaic plant O&M big data cloud platform (4) and receive photovoltaic plant O&M big data cloud and put down
The control instruction of platform (4)；
Monitoring module: one or more groups of photographic devices (201) are included at least, for acquiring around photovoltaic panel sweeping robot (1)
Photovoltaic panel (3) image；The structure of monitoring module is indirect shooting formula structure, and specific structure is:
It further include elevating mechanism (202), removable cover (203), reflective mirror (204) in monitoring module；Photographic device (201) is fixed
It is mounted in the shell of photovoltaic panel sweeping robot (1)；Reflective mirror (204) is mounted among removable cover (203), removable cover
(203) it is connected with elevating mechanism (202), elevating mechanism (202) can shrink or stretch；
When photovoltaic panel sweeping robot (1) does not work, monitoring module is in closed state, protects photographic device therein
(201) from the damage of outside environmental elements；At this point, removable cover (203) and elevating mechanism (202) shrink and are accommodated in photovoltaic
In the shell of plate sweeping robot (1)；
When photovoltaic panel sweeping robot (1) is in operating status and needs to start monitoring module, monitoring module is in open shape
State is carried out the acquisition of image data by photographic device (201)；At this point, elevating mechanism (202) stretches and drives removable cover
(203) it is moved upwards up to the top of photovoltaic panel (3), photographic device (201) is cleaned upwardly through reflective mirror (204) acquisition photovoltaic panel
The image of photovoltaic panel (3) around robot (1)；
Wherein, shaft (205) and rotating mechanism (206) are equipped on the reflective mirror (204) along the x axis, so that reflective mirror
(204) it can rotate along the x axis, photographic device (201) is made to pass through the image of the photovoltaic panel (3) of reflective mirror (204) acquisition
Region generate variation therewith so that monitoring module have flexible monitoring range；
Wherein, the photographic device (201) is visible light camera, or/and, thermal camera:
Visible light camera is used to shoot the visible images of photovoltaic panel (3), including the image before cleaning and the image after cleaning,
Image analysis is carried out by effect of the image processing software/hardware to cleaning, provides decision support to cleaning process or to clear
The actual effect swept judges；And it can search and lock the physical location for the incrustation that do not removed on photovoltaic panel (3)；
Thermal camera: for shooting the infrared light image of photovoltaic panel (3), by image processing software/hardware to infrared light figure
Local anomaly fever phenomenon and hot spot failure as carrying out image analysis, in detection photovoltaic panel (3)；
The course of work of the photovoltaic panel intelligence purging system for photovoltaic plant O&M is:
S1, the plan of cleaning is formulated by photovoltaic plant O&M big data cloud platform (4), and issue to photovoltaic panel sweeping robot (1)
Clean instruction, photovoltaic panel (3) is cleaned by photovoltaic panel sweeping robot (1), photovoltaic panel sweeping robot (1) it is swept
Cheng Shi:
S101, photovoltaic panel sweeping robot (1) is affiliated on one group of photovoltaic panel (3) by suspension guiding mechanism, is then opened
Monitoring module shoots the photovoltaic panel of adjacent domain in front of photovoltaic panel sweeping robot (1) direction of travel by photographic device (201)
(3) image；Then by image processing software/hardware, by the image and several different accumulation of mud journeys for pre-saving
The photovoltaic panel image document of degree compare and analyze or extract the characteristic parameter of the image from pre-save several are different
The characteristic parameter of the photovoltaic panel image of accumulation of mud degree compares and analyzes, so that it is determined that photovoltaic panel sweeping robot (1) row
Into the accumulation of mud index parameter in direction front region to be cleaned；
S102, starting walking mechanism, are worked in coordination by walking mechanism and suspension guiding mechanism, so that photovoltaic panel sweeping robot
(1) constantly move while starting cleaning agency on photovoltaic panel (3), and photovoltaic panel sweeping robot (1) according to front to clear
Corresponding cleaning modes are arranged in the accumulation of mud index parameter for sweeping region；For the different accumulation of mud degree in region to be cleaned,
Photovoltaic panel sweeping robot (1) has several cleaning modes, includes at least following three kinds:
Rapid cleaning: walking mechanism uses rapid advance speed, and cleaning agency uses weaker cleaning dynamics；
Standard clean: walking mechanism uses normal travel speed, and cleaning agency cleans dynamics using normal；
Strength cleans: walking mechanism uses stronger cleaning dynamics using the speed that proceeds slowly, cleaning agency；
S103, during photovoltaic panel sweeping robot (1) is constantly mobile, by monitoring module captured in real-time photovoltaic panel scavenging machine
The image of the photovoltaic panel (3) in region to be cleaned in front of device people (1) direction of travel is divided by image processing software/hardware again
Analysis processing；When the accumulation of mud index parameter in front region to be cleaned changes, cleaning modes are adjusted in time；Meanwhile by
Monitoring module constantly shoots photovoltaic panel sweeping robot (1) direction of travel rear image of the photovoltaic panel (3) of purging zone, again
It is analyzed and processed by image processing software/hardware, is judged effect is cleaned；The rest may be inferred, photovoltaic panel sweeping machine
People (1) surface Jing Guo photovoltaic panel (3) to be cleaned and completes cleaning process one by one under the driving of walking mechanism；
S2, cleaning process is optimized by photovoltaic plant O&M big data cloud platform (4), it is specific: to be transported by photovoltaic plant
Big data cloud platform (4) are tieed up to clean several photovoltaic panels in several photovoltaic plants (5) and each photovoltaic plant (5)
Robot (1) is managed collectively, the monitoring data that each photovoltaic panel sweeping robot (1) acquires respective monitoring module and
Corresponding cleaning operation data uploads to photovoltaic plant O&M big data cloud platform (4) by control module respectively；Photovoltaic plant
O&M big data cloud platform (4) is by big data analysis, to the operation shape of each photovoltaic panel (3) in each photovoltaic plant (5)
State compares and analyzes, to optimize to cleaning modes and cleaning plan；
Including: image data after constantly accumulating image data before various real-time cleaning modes and its corresponding cleaning and cleaning
Basic data, using deep learning algorithm, to the decision logic for determining accumulation of mud index parameter by image analysis means
It optimizes；And based on initial cleaning modes, accordingly to the cleaning with different accumulation of mud index parameter states
Mode and cleaning movement are finely divided and optimize.
2. the photovoltaic panel intelligence purging system according to claim 1 for photovoltaic plant O&M, it is characterised in that: described
Reflective mirror (204) rotation angle a be set as be no more than ± 20 °；It is specific:
First: if desired pay close attention to simultaneously front region to be cleaned and rear purging zone the case where when, then can be reflective mirror
(204) rotation angle a is adjusted to 0 °；
Second:, will if the case where being more concerned about direction of travel front region when photovoltaic panel sweeping robot (1) is positive mobile
The rotation angle a of reflective mirror (204) is adjusted between positive 5 ° to 20 °；
Third:, will if the case where being more concerned about direction of travel front region when photovoltaic panel sweeping robot (1) reverse movement
The rotation angle a of reflective mirror (204) is adjusted between 5 ° to 20 ° of negative sense；
4th:, will if the case where being more concerned about direction of travel rear area when photovoltaic panel sweeping robot (1) is positive mobile
The rotation angle a of reflective mirror (204) is adjusted between 5 ° to 20 ° of negative sense；
5th:, will if the case where being more concerned about direction of travel rear area when photovoltaic panel sweeping robot (1) reverse movement
The rotation angle a of reflective mirror (204) is adjusted between positive 5 ° to 20 °.
3. the photovoltaic panel intelligence purging system according to claim 1 for photovoltaic plant O&M, it is characterised in that: described
Cleaning agency be fur cleaning roller brush, pass through change fur cleaning roller brush roll shaft and photovoltaic panel (3) surface between gap
Realize the adjustment to the dynamics of cleaning.
4. the photovoltaic panel intelligence purging system according to claim 1 for photovoltaic plant O&M, it is characterised in that: work as light
When volt plate sweeping robot (1) successively cleans photovoltaic panel (3), it is clear that photovoltaic panel is calculated according to the exercise data of walking mechanism
The running track for sweeping robot (1), when photovoltaic panel sweeping robot (1) completes to clean, photographic device (201) is also completed to light
Lie prostrate the collecting work of the image data of plate sweeping robot (1) by the photovoltaic panel (3) in region；
Object where the photovoltaic panel passed through in the corresponding acquisition cleaning process of the running track of photovoltaic panel sweeping robot (1)
Regional location coordinate is managed, then by image processing software/hardware, image data combination is arranged as complete photovoltaic panel image,
And corresponding relationship is established with the physical region position coordinates where photovoltaic panel；
According to the comparative analysis of image after image before cleaning and cleaning, can find whether to have on photovoltaic panel (3) in time unclear
Sweep clean region；The region of large area not cleaned up then starts photovoltaic panel sweeping robot (1) and carries out again if it exists
Cleaning work；If it is determined that being the cleaning agency failure of photovoltaic panel sweeping robot (1), then targetedly repair in time；
For the incrustation for having confirmed that physical location that do not removed by photovoltaic panel sweeping robot (1) on photovoltaic panel (3), then it is fixed to issue
Position information simultaneously notifies manual cleaning or starting that there is the unmanned plane for cleaning incrustation sediment function to carry out fixed point cleaning to incrustation position.
5. the photovoltaic panel intelligence purging system according to claim 1 for photovoltaic plant O&M, it is characterised in that: due to
The frequency of use of cleaning function and monitoring function is not necessarily fully synchronized, therefore photovoltaic panel sweeping robot (1) operating status point
It is following three kinds:
First: closing the cleaning function of photovoltaic panel sweeping robot (1), only start the monitoring function of monitoring module, corresponding light
The walking mechanism for lying prostrate plate sweeping robot (1) uses rapid advance speed；
Second: closing the monitoring function of monitoring module, only start the cleaning function of photovoltaic panel sweeping robot (1)；
Third: while starting the cleaning function of photovoltaic panel sweeping robot (1) and the monitoring function of monitoring module.
6. the photovoltaic panel intelligence purging system according to claim 1 for photovoltaic plant O&M, it is characterised in that: photovoltaic
Plate sweeping robot (1) is run using reciprocation type, forward motion and only starting cleaning function first；Then it inverted running and only opens
Dynamic monitoring function.
7. the photovoltaic panel intelligence purging system according to claim 1 for photovoltaic plant O&M, it is characterised in that: in light
Nearby compressed air blowing cleaner is arranged in the stop position for lying prostrate plate sweeping robot (1), when photovoltaic panel sweeping robot (1) is run
When finishing and reach stop position and starting monitoring module in the process of running, by compressed air blowing cleaner to still locating
Purging cleaning is carried out in the monitoring module of opening state, removes dust and foreign matter therein, and then monitoring module is closed again, is prevented
Only dust or foreign matter are deposited in monitoring module in use process.
8. the photovoltaic panel intelligence purging system according to claim 1 for photovoltaic plant O&M, it is characterised in that: described
Monitoring module can also be using directly shooting formula structure, the specific structure of monitoring module is as follows:
It further include elevating mechanism (202), removable cover (203) in monitoring module；Photographic device (201) is mounted on removable cover
(203) among, removable cover (203) is connected with elevating mechanism (202), and elevating mechanism (202) can shrink or stretch；
When photovoltaic panel sweeping robot (1) does not work, monitoring module is in closed state, protects photographic device therein
(201) from the damage of outside environmental elements；At this point, removable cover (203) and elevating mechanism (202) shrink and are accommodated in photovoltaic
In the shell of plate sweeping robot (1)；
When photovoltaic panel sweeping robot (1) is in operating status and needs to start monitoring module, monitoring module is in open shape
State is carried out the acquisition of image data by photographic device (201)；At this point, elevating mechanism (202) stretches and drives removable cover
(203) it is moved upwards up to the top of photovoltaic panel (3), acquisition photovoltaic panel is clear downwards for the photographic device (201) in removable cover (203)
Sweep the image of the photovoltaic panel (3) around robot (1).
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