CN110022122B - A photovoltaic board dirt clean-up system for photovoltaic power plant fortune dimension - Google Patents
A photovoltaic board dirt clean-up system for photovoltaic power plant fortune dimension Download PDFInfo
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- CN110022122B CN110022122B CN201910126949.9A CN201910126949A CN110022122B CN 110022122 B CN110022122 B CN 110022122B CN 201910126949 A CN201910126949 A CN 201910126949A CN 110022122 B CN110022122 B CN 110022122B
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- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 40
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 37
- 239000001569 carbon dioxide Substances 0.000 claims description 37
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- 230000008569 process Effects 0.000 claims description 30
- 238000012544 monitoring process Methods 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 19
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- 230000002159 abnormal effect Effects 0.000 claims 1
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- 238000007667 floating Methods 0.000 description 6
- 238000010248 power generation Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
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- 230000007547 defect Effects 0.000 description 2
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0021—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by liquid gases or supercritical fluids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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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
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Abstract
A photovoltaic plate dirt removing system for operation and maintenance of a photovoltaic power station comprises an unmanned aerial vehicle (1) and is characterized by further comprising a plurality of temporary stopping platforms (5) arranged in the photovoltaic power station, wherein the temporary stopping platforms (5) are arranged near a photovoltaic plate (4) or on a support (401) of the photovoltaic plate and used for improving the cruising ability of the unmanned aerial vehicle (1) to execute cleaning operation; the unmanned aerial vehicle (1) at least comprises a control module, a positioning module, an image acquisition module, an image processing module and a cleaning module; the cleaning module is a dry ice cleaning device (3) and is used for thoroughly cleaning scales on the surface of the photovoltaic panel at a fixed point.
Description
Technical Field
The invention relates to a cleaning system, in particular to a cleaning system for thoroughly removing dirt on the surface of a photovoltaic panel in a photovoltaic power station at a fixed point by using an unmanned aerial vehicle and a dry ice cleaning device, and belongs to the technical field of operation and maintenance of the photovoltaic power station.
Background
In photovoltaic power generation applications, a photovoltaic panel is a source of electric energy generation, and dust on the photovoltaic panel can reduce the photoelectric conversion efficiency of photovoltaic power generation. Dust is mainly classified into two types:
1. floating dust: the particles are small and are easy to attach to the photovoltaic panel, and the attachment process is a physical process; the floating dust has high generation frequency, but is easier to remove;
2. fouling: the rainwater wets or absorbs the moisture in the air, so that the viscosity between dust particles and the photovoltaic panel becomes strong after the dust particles are wetted, and the dust particles can absorb impurities floating in the air and adhere to the photovoltaic panel; the final shape is changed into points, sheets and strips which are hard; the scale deposit has low occurrence probability, but is not easy to find in time and is difficult to remove;
the influence of dust on photovoltaic power generation is mainly reflected in three aspects:
1. shielding light: the dust can shield light rays irradiated on the photovoltaic panel, and the area of the photovoltaic panel for receiving solar radiation can be reduced; the transmittance of the glass can be reduced, so that the photovoltaic power generation efficiency is influenced;
2. hot spot effect: when the partial area of the photovoltaic panel is shielded by dust for a long time, the photovoltaic panel cannot work normally; under the continuous irradiation of sunlight, the temperature rise of the covered part is far greater than that of the uncovered part, so that the covered part has overhigh temperature and generates burnt dark spots, and the solar cell is damaged in a large area in serious cases;
3. acid and alkali corrosion: when dust with acid-base characteristics is deposited on the surface of the photovoltaic panel, the dust gradually erodes the surface of the photovoltaic panel, permanent damage is caused to the surface of the photovoltaic panel, and the efficiency is reduced.
It follows that maintaining the photovoltaic panel clean is an effective way to increase the power generation capacity. The existing cleaning methods include the following:
1. cleaning by traditional manual water washing: low efficiency, high labor cost, general cleaning effect and serious water resource waste;
2. photovoltaic board cleans machine people: also called as an on-chip robot, has higher automation degree, can effectively remove floating dust and has the defect of common cleaning effect on accumulated scale;
3. vehicle-mounted mobile cleaning machine: the efficiency is high, the water consumption is small, and floating dust and scale can be effectively removed; the disadvantages are that the incrustation scale can not be accurately treated, the energy consumption is high, and the manpower and operation and maintenance management are required.
Chinese patent CN106995054A discloses an "unmanned aerial vehicle for cleaning stains on photovoltaic panel roof", which adopts a mechanical cleaning mechanism to clean the stains at fixed points, and has the disadvantages that the mechanical cleaning mode cannot completely clean various types of stains, and the stains usually cause the problem of overheating in local areas and cannot be solved in time.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and the unmanned aerial vehicle and the dry ice cleaning technology are combined to thoroughly clean various types of scales on the photovoltaic panel at fixed points.
The invention is realized by the following technical scheme:
the photovoltaic panel dirt removing system for operation and maintenance of the photovoltaic power station comprises an unmanned aerial vehicle and is characterized by further comprising a plurality of temporary stopping platforms arranged in the photovoltaic power station, wherein the temporary stopping platforms are arranged near the photovoltaic panel or on a support of the photovoltaic panel and used for improving the cruising ability of the unmanned aerial vehicle to execute cleaning operation;
the unmanned aerial vehicle at least comprises a control module, a positioning module, an image acquisition module, an image processing module and a cleaning module; wherein:
a control module: the system is used for controlling the flight process of the unmanned aerial vehicle and communicating with a photovoltaic power station monitoring system;
a positioning module: the system is used for determining the specific position of the unmanned aerial vehicle in the photovoltaic power station; positioning is realized by combining a satellite navigation positioning device with an electronic map of a photovoltaic power station; or a plurality of ground guide devices are arranged in the photovoltaic power station, and a guide information interaction device is arranged in the unmanned aerial vehicle, and the guide information interaction device and the ground guide devices are communicated with each other in a near field communication mode to realize distance measurement and positioning;
an image acquisition module: the device at least comprises an airborne camera which is used for shooting the image of the photovoltaic panel and monitoring the process of removing the fouling and observing the treatment effect;
an image processing module: analyzing the image of the photovoltaic panel through image processing software/hardware, and determining whether scale exists on the photovoltaic panel and the specific position of the scale; or sending image data shot by the airborne camera to remote monitoring personnel through the control module, and judging whether scale deposits exist and the specific positions of the scale deposits through manual auxiliary identification; then sending the artificial identification result to the unmanned aerial vehicle;
it should be noted that the image of the fouling area is obviously different from the image of the normal photovoltaic panel, and firstly, in the visible light image, the color of the fouling area is greatly different from the color of the normal photovoltaic panel, and the fouling surface is rough and can embody the characteristics of unevenness; secondly, in infrared light images, the temperature of the fouling area will usually be significantly higher than that of a normal photovoltaic panel; therefore, the specific position of the fouling can be basically determined after the comprehensive analysis of the visible light image and the infrared light image is combined; of course, a remote monitoring person can also make more accurate judgment according to the image of the photovoltaic panel;
a cleaning module: the cleaning module is a dry ice cleaning device and is used for removing scales on a determined position on the photovoltaic panel at a fixed point; specifically, the dry ice cleaning device comprises a liquid carbon dioxide storage tank, a control valve I, an air compression mechanism, a control valve II, a dry ice generating pipe, a compressed air pipe, a nozzle pipe and a nozzle; wherein:
a first inlet of the dry ice generating pipe is connected with a first control valve and a liquid carbon dioxide storage tank;
the second inlet of the dry ice generating pipe is connected with the outlet of the compressed air pipe;
the inlet of the compressed air pipe is connected with the second control valve and the air compression mechanism; the air compression mechanism is an air compressor or a compressed air storage tank;
the outlet of the dry ice generating pipe is connected with the inlet of the nozzle pipe; the outlet of the nozzle pipe is connected with the nozzle;
when the liquid carbon dioxide passes through the dry ice generating pipe, one part of the liquid carbon dioxide absorbs heat to be gasified, and simultaneously, the other part of the liquid carbon dioxide is condensed into solid dry ice particles, and a gaseous and solid mixed fluid is formed at the outlet of the dry ice generating pipe; then the mixture is sprayed out through a nozzle;
moreover, the unmanned aerial vehicle also comprises a local detachable component; when a temporary stopping platform is arranged near the position where the unmanned aerial vehicle performs cleaning operation, before the unmanned aerial vehicle cleans the photovoltaic panel, firstly stopping the unmanned aerial vehicle on the temporary stopping platform, then loosening the connection between the main body of the unmanned aerial vehicle and the local detachable component and placing the local detachable component on the temporary stopping platform; then the unmanned plane takes off and carries out cleaning operation; after cleaning is finished, the unmanned aerial vehicle stops on the temporary stopping platform again and clamps the local detachable part, and then the unmanned aerial vehicle carries the local detachable part to fly away from the temporary stopping platform;
the local detachable part is a detachable air compressor structure or/and a detachable wireless charging structure, and is specific:
the detachable air compressor has the following structure: the air compression mechanism adopts an air compressor, the air compressor is designed into a detachable structure, and the air compressor is installed at the bottom of the unmanned aerial vehicle; the air compressor is matched with the temporary stopping platform for use;
the wireless charging structure of removable branch is: the method comprises the steps that a wireless charging receiving device is arranged in the unmanned aerial vehicle, a wireless charging power supply is arranged in a temporary stopping platform, the wireless charging receiving device is designed into a detachable structure, and the wireless charging receiving device is installed at the bottom of the unmanned aerial vehicle; the wireless charging receiving device is matched with the temporary stopping platform and the wireless charging power supply for use;
the operation process of the photovoltaic plate dirt removing system for the operation and maintenance of the photovoltaic power station is as follows:
s1, obtaining physical coordinates of the photovoltaic panel with or suspected to have the scale by the photovoltaic power station monitoring system and sending the coordinates to the unmanned aerial vehicle, wherein the means for the photovoltaic power station monitoring system to monitor the scale is one or a combination of more than three of the following means:
firstly, the method comprises the following steps: manually patrolling, manually patrolling a field, searching for the photovoltaic panel with accumulated scale, and reporting the physical coordinates of the photovoltaic panel to a photovoltaic power station monitoring system;
secondly, the method comprises the following steps: the method comprises the following steps of (1) carrying out quick inspection, in particular carrying out inspection through an inspection unmanned aerial vehicle, quickly searching the position of a photovoltaic panel with or without incrustation, and reporting the physical coordinate of the photovoltaic panel to a photovoltaic power station monitoring system;
thirdly, the method comprises the following steps: monitoring operation, namely monitoring functional parameter abnormity occurring in the operation process of a specific photovoltaic panel in real time by a photovoltaic power station monitoring system, and marking the suspected existence of scale on the photovoltaic panel;
it should be noted that, because the unmanned aerial vehicle is limited by the cruising ability, the characteristic of good maneuverability of the unmanned aerial vehicle is fully exerted to carry out fixed-point removal on the scale deposit of the photovoltaic panel, and the work of early stage scale deposit removal is completed by the photovoltaic power station monitoring system;
s2, after receiving the physical coordinates of the photovoltaic panel with or suspected of having the scale, the unmanned aerial vehicle flies to the position near the corresponding photovoltaic panel according to the guidance of the positioning module; then, specific position information of scale on the photovoltaic panel is obtained through the image acquisition module and the image processing module; then the unmanned aerial vehicle is controlled by the control module to hover near the accumulated scale position, then the dry ice cleaning device is started to clean, the shooting view-finding area of the airborne camera is aligned to the accumulated scale position, the whole dry ice cleaning process is monitored, and the cleaning effect is timely checked; after the scale deposit at the current position is cleaned, if other scale deposits exist on the photovoltaic panel, the unmanned aerial vehicle is controlled by the control module to move to the position near the next scale deposit position, and cleaning is continued; wherein, the working process of the dry ice cleaning device is as follows:
s201, aiming a nozzle at the scale to be cleaned on the photovoltaic panel according to the scale position determined by the airborne camera;
s202, opening a second control valve to enable the air compression mechanism to output compressed air and spray the compressed air from a nozzle;
s203, opening the first control valve to output the liquid carbon dioxide in the liquid carbon dioxide storage tank, forming dry ice after the liquid carbon dioxide passes through a dry ice generating pipe, mixing the dry ice with compressed air and then spraying the mixture from a nozzle; and spraying dry ice on the scale deposit to decompose and break the scale deposit; meanwhile, the photovoltaic panel at the fouling part can be cooled, so that the photovoltaic panel is prevented from being damaged by local overheating of the fouling part;
s204, after the dry ice is sprayed for a short time, closing the first control valve and interrupting the output of the liquid carbon dioxide; at the moment, compressed air is continuously sprayed to the scale deposit, loose scale deposit is removed, and damage to the photovoltaic panel due to local supercooling caused by continuous dry ice spraying is prevented;
s205, observing whether the scale is thoroughly removed through an onboard camera, if not, repeating the third step and the fourth step, and spraying dry ice on the scale in a clearance manner until the scale is thoroughly removed;
s206, after the cleaning work is finished, closing the first control valve and interrupting the output of the liquid carbon dioxide; then closing the second control valve, interrupting the output of the compressed air and finishing the cleaning process;
it should be noted that, due to the particularity of the photovoltaic panel, the photovoltaic panel is not suitable for continuously spraying dry ice to a certain part for a long time, and the photovoltaic panel is easily damaged due to local supercooling; therefore, the cleaning process of intermittently spraying the dry ice is adopted, and real-time observation is carried out by combining an onboard camera, so that the accumulated scale can be thoroughly removed, the local overheating of the accumulated scale position can be relieved, and meanwhile, the supercooling of a local area cannot be caused;
s3, when a temporary stopping platform is arranged near the position where the unmanned aerial vehicle performs the cleaning operation, performing the following operations:
s301, be equipped with in the unmanned aerial vehicle the detachable air compressor structure during:
before cleaning the photovoltaic panel, firstly stopping the unmanned aerial vehicle on a temporary stop platform, then loosening the connection between the main body of the unmanned aerial vehicle and an air compressor and placing the air compressor on the temporary stop platform;
then the unmanned aerial vehicle takes off and carries out cleaning operation, at the moment, a compressed air pipe connected with an air compressor is a telescopic hose, one side of the compressed air pipe is connected with the air compressor, and the other side of the compressed air pipe is connected with a dry ice cleaning device on the unmanned aerial vehicle;
after cleaning is finished, the unmanned aerial vehicle stops on the temporary stopping platform again and clamps the air compressor, and then the unmanned aerial vehicle carries the air compressor to fly away from the temporary stopping platform;
s302, when the detachable wireless charging structure is arranged in the unmanned aerial vehicle:
before cleaning the photovoltaic panel, firstly stopping the unmanned aerial vehicle on a temporary stopping platform, then loosening the connection between the main body of the unmanned aerial vehicle and the wireless charging receiving device and placing the wireless charging receiving device on the temporary stopping platform; the wireless charging power supply is in butt joint with the wireless charging receiving device to charge the unmanned aerial vehicle;
then the unmanned aerial vehicle takes off and carries out cleaning operation, at the moment, the wireless charging receiving device is connected with the main body of the unmanned aerial vehicle through a telescopic cable, so that the charging or power supply state is kept;
after the cleaning is finished, the unmanned aerial vehicle stops on the temporary stopping platform again and clamps the wireless charging receiving device, and then the unmanned aerial vehicle carries the wireless charging receiving device to fly away from the temporary stopping platform.
What need explain is that unmanned aerial vehicle has the not enough problem of duration usually, especially after adding dry ice belt cleaning device in unmanned aerial vehicle, unmanned aerial vehicle's load increases by a wide margin, and the contradiction that the duration is not enough is more outstanding, consequently must take effectual measure to guarantee that unmanned aerial vehicle has better duration, and with the local detachable part in the unmanned aerial vehicle and the platform cooperation of stopping temporarily use then this difficult problem of solution that can be better.
The invention has the beneficial effects that:
1. dry ice cleaning is an efficient cleaning method, and the cleaning process comprises the following steps: low-temperature freezing, impact blowing and micro-explosion stripping:
low-temperature freezing: when dry ice particles at the temperature of minus 78.5 ℃ act on the surface of an object to be cleaned, firstly, the dirt is frozen and embrittled, the dirt is cracked on the surface to be cleaned, the brittleness is increased, the viscosity is reduced, the adsorption force on the surface is reduced, the surface area is increased, and part of the dirt can be automatically peeled;
purging impact: under the environment that compressed air is used as power, shearing force is generated on embrittled dirt to cause mechanical breakage, and because the difference between the low-temperature shrinkage ratio of the dirt and the surface of a cleaned object is large, a stress concentration phenomenon is generated at a contact surface, and the dirt is peeled off under the action of the shearing force; dry ice particles impact the soiled surface at high speed, typically with a speed in excess of the speed of sound, have a low hardness (2 on the mohs scale) at high speed, and do not damage the surface;
micro-explosion stripping: when the high-speed dry ice particles collide with the enlarged dirt surface, the kinetic energy is transferred to the dirt, the reduced adhesive force is overcome, and therefore the generated shearing force enables the dirt to be rolled away along with the airflow, and the purpose of removing the dirt is achieved; the dry ice particles sublime when in contact with the surface to be cleaned, i.e. the dry ice will change from a solid to a gaseous state, the volume of the dry ice particles increasing 800 times, forming a microexplosion. This explosive effect does not damage the surface being cleaned, but the dirt is removed by being exploded away; the dry ice particles take away the pollutants and enable the pollutants to fall off from the surface of the object without damaging the surface, no water is generated in the whole process, and no chemicals are needed;
2. the invention can not only remove the accumulated dirt, but also relieve the local overheating condition of the photovoltaic panel caused by the accumulated dirt;
3. the dry ice cleaning device is compact in structure and convenient for carrying and working of the unmanned aerial vehicle;
4. because the probability of scale deposit is low, the flexible and maneuvering characteristics of the unmanned aerial vehicle can be fully exerted by adopting a fixed-point cleaning mode, the efficiency is high, and the energy consumption is low; the general floating dust with higher occurrence probability can be treated by other conventional cleaning means;
5. through introducing the platform of stopping temporarily, effectual unmanned aerial vehicle that has promoted lasts the ability of carrying out the cleaning operation, promotes work efficiency.
Drawings
FIG. 1: the invention discloses a photovoltaic plate dirt removing system for operation and maintenance of a photovoltaic power station;
FIG. 2 is a drawing: the working state of the photovoltaic panel dirt removing system is schematically shown as a first working state (a common mode);
FIG. 3: the working state of the photovoltaic panel dirt removing system is schematically shown in a second mode (a detachable air compressor mode);
FIG. 4 is a drawing: the working state of the photovoltaic panel dirt removing system is schematically shown as a third (wireless charging mode);
FIG. 5: the invention relates to a work flow chart of a photovoltaic panel dirt removing system;
wherein: the dotted arrow a represents the nozzle spray direction; the dashed arrow b represents the adjustment direction of the nozzle adjustment bracket 308 a; the broken-line arrow c represents the shooting direction of the onboard camera 2.
Detailed Description
Example 1:
the structure of the dry ice cleaning device and the unmanned aerial vehicle cleaning operation process are described below with reference to fig. 1.
Specifically, the dry ice cleaning device 3 includes a liquid carbon dioxide storage tank 301, a first control valve 302, an air compression mechanism 303, a second control valve 304, a dry ice generating pipe 305, a compressed air pipe 306, a nozzle pipe 307, and a nozzle 308; wherein:
a first inlet of the dry ice generating pipe 305 is connected with a first control valve 302 and a liquid carbon dioxide storage tank 301;
a second inlet of the dry ice generating tube 305 is connected to an outlet of a compressed air tube 306;
the inlet of the compressed air pipe 306 is connected with the second control valve 304 and the air compression mechanism 303; the air compression mechanism 303 is an air compressor or a compressed air storage tank;
the outlet of the dry ice generating tube 305 is connected to the inlet of the nozzle tube 307; the outlet of the nozzle pipe 307 is connected to a nozzle 308;
when the liquid carbon dioxide passes through the dry ice generating tube 305, a part of the liquid carbon dioxide absorbs heat and is gasified, and simultaneously, another part of the liquid carbon dioxide is condensed into solid dry ice particles, and a gaseous and solid mixed fluid is formed at the outlet of the dry ice generating tube 305; and then ejected through nozzle 308;
due to the particularity of the photovoltaic panel 4, the device is not suitable for continuously spraying dry ice to a certain part for a long time, and the photovoltaic panel 4 is easily damaged due to local supercooling;
therefore, as shown in fig. 2, the operation of the dry ice cleaning device 3 is:
firstly, aligning a nozzle 308 to the scale to be cleaned on the photovoltaic panel 4 according to the scale position determined by the airborne camera 2;
step two, opening a second control valve 304 to enable the air compression mechanism 303 to output compressed air and spray the compressed air from the nozzle 308;
step three, opening a first control valve 302 to output the liquid carbon dioxide in the liquid carbon dioxide storage tank, forming dry ice after passing through a dry ice generating pipe 305, mixing the dry ice with compressed air and then spraying the mixture out of a nozzle 308; and spraying dry ice on the scale deposit to decompose and break the scale deposit; meanwhile, the photovoltaic panel 4 at the fouling part can be cooled, so that the photovoltaic panel 4 is prevented from being damaged by local overheating of the fouling part;
step four, after the dry ice is sprayed for a short time, closing the first control valve 302 and interrupting the output of the liquid carbon dioxide; at the moment, compressed air is continuously sprayed to the scale deposit to remove the loose scale deposit;
observing whether the scale is thoroughly removed through the airborne camera 2, repeating the third step and the fourth step if the scale is not thoroughly removed, and spraying dry ice on the scale in a clearance manner until the scale is thoroughly removed;
step six, after the cleaning work is finished, closing the first control valve 302 and interrupting the output of the liquid carbon dioxide; then closing the second control valve 304, interrupting the output of the compressed air and ending the cleaning process;
in the dry ice cleaning process, the onboard camera 2 aims a shooting view area at a scale deposit position, monitors the whole dry ice cleaning process and timely checks the cleaning effect. As shown in fig. 2, a dotted arrow c represents the shooting direction of the onboard camera 2.
Further, the dry ice cleaning device 3 includes a nozzle adjustment bracket 308a for adjusting the spraying angle of the nozzle 308, and the spraying angle of the nozzle 308 is finely adjusted by the nozzle adjustment bracket 308a, so as to achieve the optimal cleaning effect. Especially when the scale is large in size or long in strip shape, the whole scale can be gradually and differentially removed by changing the spraying angle of the nozzle 308. As shown in fig. 1, a dotted arrow b represents an adjustment direction of the nozzle adjustment bracket 308a, and the nozzle adjustment bracket 308a has a known structure, such as a steering hinge structure.
Further, in order to accurately prevent the photovoltaic panel 4 from being locally too cold in the dry ice cleaning process, the onboard camera 2 includes an infrared camera or a temperature measuring instrument is installed in the unmanned aerial vehicle 1 and used for monitoring the temperature change of a scale deposit area in the dry ice cleaning process, and if the temperature of the scale deposit area is too low, the cleaning process is immediately interrupted.
Further, the system also comprises a supply station, the dry ice cleaning device 3 is of a detachable structure, when the carbon dioxide in the carbon dioxide storage tank 302 in the dry ice cleaning device 3 is insufficient or exhausted, the unmanned aerial vehicle 1 flies back to the supply station, the onboard dry ice cleaning device 3 is detached integrally and replaced by the standby dry ice cleaning device 3, and the unmanned aerial vehicle 1 can be put into use again; the removed dry ice cleaning device 3 replenishes the carbon dioxide storage tank 302 therein with liquid carbon dioxide in the replenishment station and stands by.
Moreover, the replenishment process of the replenishment station can be completed through automatic pipelining operation without manual intervention.
Example 2:
the endurance of unmanned aerial vehicle 1 has always been a big problem, and after adding dry ice belt cleaning device 3 in unmanned aerial vehicle 1, unmanned aerial vehicle 1's load increases by a wide margin, consequently must take effectual measure to guarantee that unmanned aerial vehicle 1 has better endurance.
In the dry ice cleaning device 3, the air compression mechanism 303 is an air compressor or a compressed air storage tank.
The air compressor is heavy, the cruising ability of the unmanned aerial vehicle is influenced, and stable fixing measures are preferably adopted during working;
the compressed air storage tank is light in weight, but the amount of air stored therein is small, which affects the continuous operation capability of the dirt removing apparatus.
In general, the air compressor 303a is the preferred configuration of the air compression mechanism 303.
In order to improve the cruising ability of the unmanned aerial vehicle 1, a temporary shutdown platform 5 is arranged near the photovoltaic panel 4 or on a support 401 of the photovoltaic panel 4; the concrete structure and the working process are as follows:
first, as shown in fig. 3, the air compression mechanism 303 uses an air compressor 303a, and the air compressor 303a is used in cooperation with the temporary stop platform 5, specifically:
the air compressor 303a is designed to be detachable and mounted at the bottom of the unmanned aerial vehicle 1;
before cleaning the photovoltaic panel 4, firstly stopping the unmanned aerial vehicle 1 on a temporary stop platform 5, then loosening the connection between the main body of the unmanned aerial vehicle 1 and the air compressor 303a and placing the air compressor 303a on the temporary stop platform 5;
then the unmanned aerial vehicle 1 takes off and carries out cleaning operation, at the moment, a compressed air pipe 306 connected with the air compressor 303a is a telescopic hose, one side of the compressed air pipe 306 is connected with the air compressor 303a, and the other side of the compressed air pipe 306 is connected with a dry ice cleaning device 3 on the unmanned aerial vehicle 1;
after cleaning, the unmanned aerial vehicle stops on the temporary stopping platform 5 again and clamps the air compressor 303a, and then the unmanned aerial vehicle flies off the temporary stopping platform 5 with the air compressor 303 a;
secondly, as shown in fig. 4, set up wireless charging receiving arrangement 101 in unmanned aerial vehicle 1, set up wireless charging power supply 501 in the platform 5 of stopping temporarily, wireless charging receiving arrangement 101 uses with the cooperation of wireless charging power supply 501, and is specific:
the wireless charging receiving device 101 is designed to be a detachable structure, and the wireless charging receiving device 101 is installed at the bottom of the unmanned aerial vehicle 1;
before cleaning the photovoltaic panel 4, firstly stopping the unmanned aerial vehicle 1 on the temporary stopping platform 5, then loosening the connection between the main body of the unmanned aerial vehicle 1 and the wireless charging receiving device 101, and placing the wireless charging receiving device 101 on the temporary stopping platform 5; the wireless charging power supply 501 is in butt joint with the wireless charging receiving device 101 to charge the unmanned aerial vehicle;
then the unmanned aerial vehicle 1 takes off and carries out cleaning operation, at the moment, the wireless charging receiving device 101 is connected with the main body of the unmanned aerial vehicle 1 through the telescopic cable 102, so that the charging or power supply state is kept;
after cleaning is finished, the unmanned aerial vehicle stops on the temporary stopping platform 5 again and clamps the wireless charging receiving device 101, and then the unmanned aerial vehicle 1 with the wireless charging receiving device 101 flies away from the temporary stopping platform 5;
wherein, can also include unmanned aerial vehicle 1's battery among the wireless receiving arrangement that charges 101, place the battery at temporary shutdown platform 5 together, can further alleviate unmanned aerial vehicle 1's burden.
Through above-mentioned two kinds of measures, under the prerequisite of guaranteeing dirt clearing device's cleaning performance, solved the problem that unmanned aerial vehicle duration is short, improved the operating efficiency.
The "detachable structure" described in this embodiment is a known product, such as a clamping jaw mechanism.
Further, the temporary parking platform 5 in be equipped with location navigation head 502 for guide unmanned aerial vehicle 1 accurate berth on temporary parking platform 5, and can be used for providing photovoltaic board physical position coordinate information for unmanned aerial vehicle 1. In this case, the positioning and navigation device 502 may fully fulfill the function of the "ground guidance device" described above.
The positioning navigation device 502 performs information interaction with the unmanned aerial vehicle 1, and the specific communication signal may be a sound signal, an optical signal, or an electromagnetic wave signal.
The invention is not limited to the above embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are included in the scope defined by the claims of the present application.
Claims (5)
1. A photovoltaic plate dirt removing system for operation and maintenance of a photovoltaic power station comprises an unmanned aerial vehicle (1) and is characterized by further comprising a plurality of temporary stopping platforms (5) arranged in the photovoltaic power station, wherein the temporary stopping platforms (5) are arranged near a photovoltaic plate (4) or on a support (401) of the photovoltaic plate and used for improving the cruising ability of the unmanned aerial vehicle (1) to execute cleaning operation;
the unmanned aerial vehicle (1) at least comprises a control module, a positioning module, an image acquisition module, an image processing module and a cleaning module; wherein:
a control module: the system is used for controlling the flight process of the unmanned aerial vehicle (1) and communicating with a photovoltaic power station monitoring system;
a positioning module: for determining a specific position of the drone (1) within the photovoltaic power plant; positioning is realized by combining a satellite navigation positioning device with an electronic map of a photovoltaic power station; or a plurality of ground guide devices are arranged in the photovoltaic power station, and a guide information interaction device is arranged in the unmanned aerial vehicle, and the guide information interaction device and the ground guide devices are communicated with each other in a near field communication mode to realize distance measurement and positioning;
an image acquisition module: the device at least comprises an airborne camera (2), wherein the airborne camera (2) is used for shooting images of the photovoltaic panel (4) and monitoring the process of removing the scale deposit and observing the treatment effect;
an image processing module: analyzing the image of the photovoltaic panel (4) through image processing software/hardware, and determining whether scale exists on the photovoltaic panel (4) and the specific position of the scale; or sending image data shot by the airborne camera (2) to remote monitoring personnel through the control module, and judging whether scale exists and the specific position of the scale through manual auxiliary identification; then sending the manual identification result to the unmanned aerial vehicle (1);
a cleaning module: the device is used for removing incrustation on a photovoltaic panel (4) at a fixed point, and the cleaning module is a dry ice cleaning device (3); the dry ice cleaning device (3) comprises a liquid carbon dioxide storage tank (301), a control valve I (302), an air compression mechanism (303), a control valve II (304), a dry ice generating pipe (305), a compressed air pipe (306), a nozzle pipe (307) and a nozzle (308); wherein:
a first inlet of the dry ice generating pipe (305) is connected with a first control valve (302) and a liquid carbon dioxide storage tank (301);
the second inlet of the dry ice generating pipe (305) is connected with the outlet of the compressed air pipe (306);
the inlet of the compressed air pipe (306) is connected with the second control valve (304) and the air compression mechanism (303); the air compression mechanism (303) is an air compressor or a compressed air storage tank;
the outlet of the dry ice generating pipe (305) is connected with the inlet of the nozzle pipe (307); the outlet of the nozzle pipe (307) is connected with the nozzle (308);
when the liquid carbon dioxide passes through the dry ice generating pipe (305), one part of the liquid carbon dioxide absorbs heat to be gasified, and simultaneously, the other part of the liquid carbon dioxide is condensed into solid dry ice particles, and a gaseous and solid mixed fluid is formed at the outlet of the dry ice generating pipe (305); then ejected through a nozzle (308);
the unmanned aerial vehicle (1) also comprises a local detachable component, and a temporary stopping platform (5) is arranged near the position where the unmanned aerial vehicle (1) executes the cleaning operation; before the photovoltaic panel (4) is cleaned by the unmanned aerial vehicle (1), firstly, the unmanned aerial vehicle (1) is parked on the temporary parking platform (5), then, the connection between the main body of the unmanned aerial vehicle (1) and the local detachable component is loosened, and the local detachable component is placed on the temporary parking platform (5); then the unmanned aerial vehicle (1) takes off and carries out cleaning operation; after cleaning, the unmanned aerial vehicle (1) stops on the temporary stopping platform (5) again and clamps the local detachable part, and then the unmanned aerial vehicle (1) carries the local detachable part to fly away from the temporary stopping platform (5);
the local detachable component is of a detachable air compressor structure, the air compression mechanism (303) adopts an air compressor (303a), the air compressor (303a) is designed to be of a detachable structure, and the air compressor (303a) is installed at the bottom of the unmanned aerial vehicle (1); the air compressor (303a) is matched with the temporary stopping platform (5) for use;
the operation process of the photovoltaic plate dirt removing system for the operation and maintenance of the photovoltaic power station is as follows:
s1, obtaining physical coordinates of the photovoltaic panel (4) with or suspected to have scale by the photovoltaic power station monitoring system, and sending the physical coordinates to the unmanned aerial vehicle (1), wherein the means for monitoring scale by the photovoltaic power station monitoring system is one or more of the following three types of combination:
firstly, the method comprises the following steps: manual inspection, wherein the field is manually inspected, the photovoltaic panel (4) with accumulated scale is searched, and the physical coordinate of the photovoltaic panel is reported to a photovoltaic power station monitoring system;
secondly, the method comprises the following steps: the rapid inspection is carried out, wherein an inspection field unmanned aerial vehicle is used for carrying out inspection, the position of the photovoltaic panel (4) with or suspected of scale is rapidly searched, and the physical coordinate of the photovoltaic panel is reported to a photovoltaic power station monitoring system;
thirdly, the method comprises the following steps: monitoring operation, namely monitoring the abnormal functional parameters of the photovoltaic panel in the operation process in real time by a photovoltaic power station monitoring system, and marking the suspected incrustation of the photovoltaic panel (4);
s2, after receiving the physical coordinates of the photovoltaic panel (4) with or suspected of having the scale, the unmanned aerial vehicle (1) flies to the position near the corresponding photovoltaic panel (4) according to the guidance of the positioning module; then, specific position information of scale on the photovoltaic panel (4) is obtained through an image acquisition module and an image processing module; then the unmanned aerial vehicle (1) is controlled by the control module to hover near the accumulated scale position, then the dry ice cleaning device (3) is started to clean, the shooting view area of the airborne camera (2) is aligned to the accumulated scale position, the whole dry ice cleaning process is monitored, and the cleaning effect is checked in time; after the scale deposit at the current position is cleaned, if other scale deposits exist on the photovoltaic panel (4), the unmanned aerial vehicle (1) is controlled by the control module to move to the position near the next scale deposit position, and cleaning is continued; wherein, the working process of the dry ice cleaning device (3) is as follows:
s201, aiming a nozzle (308) at the scale to be cleaned on the photovoltaic panel (4) according to the scale position determined by the airborne camera (2);
s202, opening a second control valve (304) to enable the air compression mechanism (303) to output compressed air and spray the compressed air from the nozzle (308);
s203, opening a first control valve (302) to output the liquid carbon dioxide in the liquid carbon dioxide storage tank, forming dry ice after the liquid carbon dioxide passes through a dry ice generating pipe (305), mixing the dry ice with compressed air, and then spraying the mixture from a nozzle (308); and spraying dry ice on the scale deposit to decompose and break the scale deposit; meanwhile, the photovoltaic panel (4) at the fouling part can be cooled, so that the photovoltaic panel (4) is prevented from being damaged by local overheating of the fouling part;
s204, after the dry ice is sprayed for a short time, closing the first control valve (302) and interrupting the output of the liquid carbon dioxide; at the moment, compressed air is continuously sprayed to the scale deposit, loose scale deposit is removed, and damage to the photovoltaic panel (4) caused by local supercooling due to continuous dry ice spraying is prevented;
s205, observing whether the scale is thoroughly removed through the onboard camera (2), repeating S203 and S204 if the scale is not thoroughly removed, and spraying dry ice on the scale in a clearance manner until the scale is thoroughly removed;
s206, after the cleaning work is finished, closing the first control valve (302) and interrupting the output of the liquid carbon dioxide; then closing the second control valve (304), interrupting the output of the compressed air and finishing the cleaning process;
s3, when a temporary stopping platform (5) is arranged near the position where the unmanned aerial vehicle (1) executes the cleaning operation, executing the following operations:
be equipped with in unmanned aerial vehicle (1) but the air compressor structure of split:
before the unmanned aerial vehicle (1) cleans the photovoltaic panel (4), firstly stopping the unmanned aerial vehicle (1) on a temporary stop platform (5), then loosening the connection between the main body of the unmanned aerial vehicle (1) and the air compressor (303a) and placing the air compressor (303a) on the temporary stop platform (5);
then the unmanned aerial vehicle (1) takes off and carries out cleaning operation, at the moment, a compressed air pipe (306) connected with an air compressor (303a) is a telescopic hose, one side of the compressed air pipe (306) is connected with the air compressor (303a), and the other side of the compressed air pipe is connected with a dry ice cleaning device (3) on the unmanned aerial vehicle (1);
after the cleaning is finished, the unmanned aerial vehicle (1) stops on the temporary stopping platform (5) again and clamps the air compressor (303a), and then the unmanned aerial vehicle (1) carries the air compressor (303a) to fly away from the temporary stopping platform (5).
2. The photovoltaic panel fouling removal system for photovoltaic power plant operations and maintenance of claim 1, wherein: the temporary stopping platform (5) is provided with a positioning navigation device (502) for guiding the unmanned aerial vehicle (1) to stop on the temporary stopping platform (5) and providing the photovoltaic panel physical position coordinate information for the unmanned aerial vehicle (1).
3. The photovoltaic panel fouling removal system for photovoltaic power plant operations and maintenance of claim 1, wherein: the dry ice cleaning device (3) comprises a nozzle adjusting bracket (308a) used for adjusting the spraying angle of the nozzle (308), and the spraying angle of the nozzle (308) is finely adjusted through the nozzle adjusting bracket (308a), so that the optimal cleaning effect is achieved.
4. The photovoltaic panel fouling removal system for photovoltaic power plant operations and maintenance of claim 1, wherein: the airborne camera (2) comprises an infrared camera or a temperature measuring instrument is arranged in the unmanned aerial vehicle (1) and used for monitoring the temperature change of a scale deposit area in the dry ice cleaning process, and if the temperature of the scale deposit area is too low, the cleaning process is immediately interrupted.
5. The photovoltaic panel fouling removal system for photovoltaic power plant operations and maintenance of claim 1, wherein: the system also comprises a supply station, wherein the dry ice cleaning device (3) is of an integral detachable structure, when the carbon dioxide in a liquid carbon dioxide storage tank (301) in the dry ice cleaning device (3) is insufficient or exhausted, the unmanned aerial vehicle (1) flies back to the supply station, the onboard dry ice cleaning device (3) is integrally detached and replaced by the standby dry ice cleaning device (3), and the unmanned aerial vehicle (1) can be put into use again; the detached dry ice cleaning device (3) replenishes the liquid carbon dioxide storage tank (301) in the supply station with liquid carbon dioxide for standby.
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| CN201910126949.9A CN110022122B (en) | 2019-02-20 | 2019-02-20 | A photovoltaic board dirt clean-up system for photovoltaic power plant fortune dimension |
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| GB201808639D0 (en) | 2018-05-25 | 2018-07-11 | Additive Manufacturing Tech Ltd | Additive manufacturing |
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| CN111624207A (en) * | 2020-05-26 | 2020-09-04 | 国网天津市电力公司电力科学研究院 | System and method for measuring dust covering degree of photovoltaic panel of photovoltaic power station by using double unmanned aerial vehicles |
| CN111974748B (en) * | 2020-07-15 | 2022-05-17 | 厦门理工学院 | Solid CO2Cleaning method |
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| CN113060299B (en) * | 2021-03-22 | 2022-09-13 | 中国华能集团清洁能源技术研究院有限公司 | Peak-regulating photovoltaic power station for operation and maintenance of hydrogen fuel unmanned aerial vehicle and working method thereof |
| CN113458088B (en) * | 2021-07-15 | 2023-01-31 | 西安热工研究院有限公司 | Method and system for cleaning surface of solar photovoltaic panel |
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