CN110394319A - A kind of cleaning equipment - Google Patents
A kind of cleaning equipment Download PDFInfo
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- CN110394319A CN110394319A CN201910683303.0A CN201910683303A CN110394319A CN 110394319 A CN110394319 A CN 110394319A CN 201910683303 A CN201910683303 A CN 201910683303A CN 110394319 A CN110394319 A CN 110394319A
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- vehicle
- cleaning
- main vehicle
- control device
- photovoltaic module
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- 238000004140 cleaning Methods 0.000 title claims abstract description 171
- 238000005406 washing Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 28
- 230000004888 barrier function Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims 2
- 239000011435 rock Substances 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 239000007788 liquid Substances 0.000 description 5
- 230000008520 organization Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 241001347978 Major minor Species 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000003020 moisturizing effect Effects 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000033748 Device issues Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000005060 rubber Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
- F24S40/20—Cleaning; Removing snow
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Sustainable Development (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Sustainable Energy (AREA)
- Thermal Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of cleaning equipments, for cleaning photovoltaic module, including main vehicle, secondary vehicle and cleaning assembly, main vehicle and secondary vehicle are located at the two sides of photovoltaic module, the both ends of cleaning assembly are connected with main vehicle and secondary vehicle respectively, and when main vehicle and mobile secondary vehicle, dragging cleaning assembly cleans photovoltaic module.During cleaning photovoltaic module, main vehicle and secondary vehicle synchronizing moving, dragging cleaning assembly clear up photovoltaic module.Main vehicle and secondary vehicle are respectively supported the both ends of cleaning assembly, under strong wind weather or on rough road surface cleaning assembly will not generate it is excessive rock, because improving the safety of washing and cleaning operation without damaging photovoltaic module by pressure.
Description
Technical field
The present invention relates to technical field of photovoltaic power generation, in particular to a kind of cleaning equipment.
Background technique
With the continuous improvement of environmental requirement, solar energy is increasingly looked forward to as a kind of clean energy resource, development and utilization
The attention of industry.The effect of photovoltaic module is to convert solar energy into electrical energy, and realizes the utilization to solar energy.The more ground in the whole nation in recent years
Photovoltaic plant is all established, photovoltaic power generation total amount rises year by year.
After photovoltaic module long-time use, surface can be infected with dust, influence the conversion ratio of solar energy.Thus need to photovoltaic
Assembly surface is cleared up.Existing photovoltaic module cleaning equipment generally includes car body, mechanical arm and round brush, one end of mechanical arm
It is connected with car body, other end cantilever is simultaneously connected with round brush, and round brush clears up photovoltaic module during car body is mobile.
But cleaning equipment in the prior art can be rocked because of reasons such as landform and weather, and photovoltaic module may be shaken
Round brush damage by pressure, seriously affect the normal power generation of photovoltaic plant.
Therefore, how to improve the safety of photovoltaic module scale removal process is that those skilled in the art's technology urgently to be solved is asked
Topic.
Summary of the invention
The object of the present invention is to provide a kind of cleaning equipments, are propped up by main vehicle and secondary vehicle the both ends of cleaning assembly
Support, avoids cleaning equipment from causing to damage photovoltaic module by pressure due to rocking because of the reasons such as weather and landform, improves the peace of washing and cleaning operation
Quan Xing.
To achieve the above object, the present invention provides a kind of cleaning equipment, for cleaning photovoltaic module, comprising:
Main vehicle, the main parking stall is in the side of photovoltaic module；
Secondary vehicle, the pair parking stall is in the other side of photovoltaic module；
Cleaning assembly, the both ends of the cleaning assembly are connected with the main vehicle and the secondary vehicle respectively, when the main vehicle with
When the pair vehicle movement, the cleaning assembly cleaning photovoltaic module is dragged.
It preferably, further include to adjust the height of the cleaning assembly and/or the support component of angle, the main vehicle
And/or the secondary vehicle is equipped with the support component, two support components are hinged with the both ends of the cleaning assembly respectively.
Preferably, the cleaning assembly includes cleaning roller, and the both ends of the cleaning roller are cut with scissors with two support components respectively
It connects.
Preferably, further include be connected with the main vehicle, the secondary vehicle, the cleaning assembly and the support component,
The control device for being automatically performed cleaning operation to control each component.
It preferably, further include positioning system, the positioning system is connected with the control device, and the control device can
The moving direction of the main vehicle and the secondary vehicle is controlled according to the location information of the positioning system.
Preferably, the main vehicle and/or the secondary vehicle are additionally provided with and are connected with the control device, to detect the main vehicle
With the relative position detector of the secondary workshop relative position, the control device is according to the phase of the main vehicle and the secondary workshop
Between the distance position control the two.
Preferably, further include obstacle avoidance system, the obstacle avoidance system include to detect the main vehicle and the secondary garage into
The obstacle detecting sensor of barrier on route, the obstacle detecting sensor are connected with the control device, if described
Obstacle detecting sensor finds barrier, and the control device can control the main vehicle and the secondary vehicle carries out avoidance operation.
Preferably, the obstacle avoidance system further includes the mechanical protection device on the main vehicle and/or the secondary vehicle, institute
Stating mechanical protection device includes baffle and trigger mechanism, and the trigger mechanism is connected with the control device, when the baffle with
When barrier collides, the trigger mechanism sends collision alarm to the control device.
Preferably, the main vehicle and/or the secondary vehicle are equipped with the battery to power.
It preferably, further include the electric power detection mechanism being connected with the battery and charging mechanism, the electric power detection machine
Structure is connected with the control device, and when the electricity of the battery is lower than preset value, the control device controls the main vehicle
It is moved to charging pile with the secondary vehicle, the charging mechanism is connected with the charging pile charges to the battery.
Cleaning equipment provided by the invention, for cleaning photovoltaic module, including main vehicle, secondary vehicle and cleaning assembly, main vehicle and
Secondary vehicle is located at the two sides of photovoltaic module, and the both ends of cleaning assembly are connected with main vehicle and secondary vehicle respectively, when main vehicle and secondary vehicle move
When dynamic, dragging cleaning assembly cleans photovoltaic module.
During cleaning photovoltaic module, main vehicle and secondary vehicle synchronizing moving, dragging cleaning assembly carries out photovoltaic module clear
Reason.Main vehicle and secondary vehicle are respectively supported the both ends of cleaning assembly, clean under strong wind weather or on rough road surface
Component will not generate it is excessive rock, because improving the safety of washing and cleaning operation without damaging photovoltaic module by pressure.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the structural schematic diagram of cleaning equipment provided by the present invention；
Fig. 2 is the side view of cleaning equipment.
Wherein, the appended drawing reference in Fig. 1 and Fig. 2 are as follows:
Main vehicle 1, cleaning assembly 2, secondary vehicle 3, photovoltaic module 4, support component 5.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make those skilled in the art more fully understand the present invention program, with reference to the accompanying drawing and it is embodied
The present invention is described in further detail for mode.
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is the structural schematic diagram of cleaning equipment provided by the present invention；Fig. 2 is cleaning equipment
Side view.
Cleaning equipment provided by the present invention, for cleaning photovoltaic module 4.The structure of cleaning equipment is as shown in Figure 1, include
Main vehicle 1, secondary vehicle 3 and cleaning assembly 2.The arrangement usually in rows of photovoltaic module 4, main vehicle 1 and secondary vehicle 3 are located at a line photovoltaic group
The two sides of part 4,2 both ends of cleaning assembly pass through main vehicle 1 respectively and secondary vehicle 3 supports, and are bonded with the surface of photovoltaic module 4.Main vehicle 1
Drive cleaning assembly 2 to move together with during secondary 3 synchronizing moving of vehicle, at the same cleaning assembly 2 to the surface of photovoltaic module 4 into
Row cleaning.It should be noted that the main vehicle 1 and secondary vehicle 3 in the application are only difference nominally, the two all has driving force,
Not point of the major-minor on practical significance.
Cleaning assembly 2 is the structure for having cleaning capacity.Cleaning assembly 2 can be selected with dynamic active cleaning mechanism,
The column roller brush that is such as able to rotate, the disc brush being able to rotate or the structure with dust suction effect；Cleaning assembly 2 also can be selected without
The passive cleaning mechanism of power, such as mop formula cleaning mechanism, cleaning equipment provides thrust and pressure to cleaning assemblies, it is made to erase
The pollutant on 4 surface of photovoltaic module.If using mop formula cleaning mechanism, cleaning head can select the materials such as cloth, rubber, nylon
One of material is a variety of, and the shape of cleaning head can be bulk, strip, hairbrush shape etc..
Optionally, cleaning assembly 2 can connect cleaning solution organization of supply.During cleaning photovoltaic module 4, cleaning solution supply
Mechanism provides cleaning solution to cleaning assembly 2.Cleaning solution organization of supply may include liquid reserve tank, solution feed pump and be connected with cleaning assembly 2
Liquid supply pipe.Connection type between cleaning solution organization of supply and cleaning assembly 2 can refer to the prior art.
Main vehicle 1 and secondary vehicle 3 can refer to the structure of the self-propelled vehicles such as AGV trolley in the prior art, and sandy beach wheel can be used in the two
Formula chassis and the cross-country chassis of crawler type, such chassis have preferable handling capacity, climbing capacity and damping effect.If clear
It washes component 2 and connects cleaning solution organization of supply, cleaning solution organization of supply is mountable on main vehicle 1 and/or secondary vehicle 3.Main vehicle 1 and secondary vehicle
3 can move along pre-determined route, can also be by operator's remote control.
It needs to fit with the surface of photovoltaic module 4 in 2 course of work of cleaning assembly, and the photovoltaic module 4 of different location
The height and angle of upper surface often have differences.Therefore, cleaning equipment further includes support component 5, and main vehicle 1 and secondary vehicle 3 are all provided with
There is support component 5, two support components 5 are hinged with the both ends of cleaning assembly 2 respectively.It should be noted that support component 5 and cleaning
Component 2 hingedly not only directly carries out hinged articulated manner by mechanisms such as pin shafts including the two, also includes that the two passes through connection
The structures such as block carry out hinged articulated manner indirectly.
Optionally, the cleaning assembly 2 in Fig. 1 and Fig. 2 is cleaning roller, and support component 5 is the retractable structures such as electric cylinders, cylinder
Or the Level Multiple Degree of Freedom Structures such as mechanical arm, the height and angle of the flexible adjustable cleaning roller of support component 5.In addition, main vehicle 1 and secondary vehicle
Also settable support column on 3, support component 5 and corresponding support are column articulated.Support column can be rotated in the circumferential, when main vehicle
1 it is different with secondary 3 movement speed of vehicle when, reduce stress suffered by cleaning assembly 2 and support component 5.The angle change of support component 5
The distance between main vehicle 1 and secondary vehicle 3 is adjusted, improves the flexibility of cleaning equipment.The cleaning assembly 2 and support component of other structures
Connection type between 5 can refer to cleaning roller, and details are not described herein.
Optionally, support component 5 is controlled using that can pass through the preferable driver of the linearity, such as uses motor or liquid
Pressure motor etc..Support component 5 flexible, it can be achieved that 0 ° to 50 ° tilt angle of cleaning roller adjusting, meet on existing market not
With the cleaning demand of angle photovoltaic module 4.
In the present embodiment, cleaning equipment is equipped with main vehicle 1 and secondary vehicle 3, and main vehicle 1 and secondary vehicle 3 are located at the two of photovoltaic module 4
Side, and be supported by both ends of the support component 5 to cleaning assembly 2, avoid cleaning assembly 2 from generating significantly in the course of work
It swings, and then avoids damaging by pressure photovoltaic module 4.In addition, support component 5 is using the retractable structures such as electric cylinders or cylinder, support group
The angle and height of the flexible adjustable cleaning assembly 2 of part 5, enable cleaning assembly 2 and 4 surface of photovoltaic module of different angle to paste
It closes, meets cleaning demand.
Optionally, it is the degree of automation for improving cleaning equipment, mitigates the burden of operator, cleaning equipment further includes control
Device processed.Control device is connected with main vehicle 1, secondary vehicle 3, cleaning assembly 2 and support component 5, automatic for controlling each component
It advances and completes cleaning operation.Control device is mainly by with operational capability, compiling ability, the controller of driving capability and driving
Device composition, such as PLC controller or MCU microprocessor etc..
Control device can control the traveling of main vehicle 1 and secondary vehicle 3, if main vehicle 1 and secondary vehicle 3 use sandy beach wheel undercarriage, turn
Setting angle sensor to tire, the steering angle of angular transducer Real-time Feedback steering tire.Steering tire can be by hydraulic
Perhaps electric cylinders carry out driving steering hydraulic cylinder to cylinder or the linearity of electric cylinders is good, and steering tire more can accurately be driven to turn
Cross given target angle.The rotary shaft of main drive wheel is also equipped with encoder, and encoder can feed back motor speed, control device
The revolving speed according to measured by encoder can be converted to the mileage number of tire running.Travel speed, angle of turn, operating range three
A index is all made of closed-loop control system, by the closed loop control process that is set in control device instead of the logic of artificial judgment,
Guarantee is provided for cleaning equipment autonomous.
Optionally, if main vehicle 1 and secondary vehicle 3 use crawler body, control device is controlled using the control turning of differential method
Device processed controls the angle of turn of crawler body by the mobile linear differential of the crawler belt for controlling vehicle frame two sides.Crawler belt movement
Wire velocity control can be pacified on driven wheel in track drive by adjusting to the respective driving hydraulic motor rotary speed of two sides crawler belt
Equipped with velocity sensor, velocity sensor can feed back the movement speed of crawler belt to control device, realize the closed-loop control of speed.
In addition, the both ends of cleaning assembly 2 are equipped with proximity sensor, proximity sensor is connected with control device, and for examining
Survey the distance between 2 both ends of cleaning assembly and photovoltaic module 4.Control device is according to the testing result real-time control of proximity sensor
Support component 5 is stretched, so that cleaning assembly 2 be made to be bonded always with 4 surface of photovoltaic module.Subsequent cleaning assembly 2 is filled in control
4 surface of photovoltaic module is cleared up under the control set.Certainly, main vehicle 1 and secondary vehicle 3 during traveling because of the influence of topography,
One end height of cleaning assembly 2 can be made to change, influence cleaning assembly and 4 surface of photovoltaic module is bonded effect.Therefore, lead to
Crossing proximity sensor and control device and controlling support component 5 can guarantee that cleaning assembly 2 under any circumstance can be with
The surface of photovoltaic module 4 is bonded.
Optionally, cleaning equipment further includes positioning system, and positioning system can be by GPS (Global Positioning
System) system, MEMS (Micro-Electro-Mechanical System) inertial navigation system, earth magnetism compass, vision
Sensor, ultrasound, laser, close switch etc., one of or several compositions.Positioning system is connected with control device, control dress
Set the moving direction that main vehicle 1 and secondary vehicle 3 can be controlled according to the location information of positioning system.The positioning method of positioning system can join
Examine the prior art.
During cleaning photovoltaic module 4, the relative position between main vehicle 1 and secondary vehicle 3 needs to keep constant.Thus, it is main
Vehicle 1 and/or secondary vehicle 3 are equipped with relative position detector, it is ensured that the position of two vehicles is relatively fixed, and plays the function of security protection.
Relative position detector is connected with control device, when the relative position deviation between main vehicle 1 and secondary vehicle 3 is excessive, control device
The speed for adjusting the two, restores relative position to suitable range.Relative position include between main vehicle 1 and secondary vehicle 3 away from
Walk-off angle degree, distance can be measured by relative position detector between the two, and the angle between the two passes through relative position and detects
Close sensor on device and cleaning assembly 2 is judged that specific judgment mode can refer to the prior art.
In the present embodiment, cleaning equipment is equipped with control device, can control main vehicle 1 by control device and secondary vehicle 3 is advanced,
And the position of cleaning assembly 2 is adjusted, and control cleaning assembly 2 and clean to the surface of photovoltaic module 4.Cleaning equipment can be certainly
The dynamic cleaning operation for completing photovoltaic module 4.
Photovoltaic module 4 is commonly installed outdoors, may there is stone sundries etc. on the place of photovoltaic plant, influences to clean
The traveling of equipment.For the interference for avoiding sundries, cleaning equipment further includes obstacle avoidance system.Obstacle avoidance system includes obstacle detection sensing
Device, main vehicle 1 and secondary vehicle 3 are equipped with obstacle detecting sensor, and obstacle detecting sensor can be specially that ultrasonic sensor or security protection swash
Light etc., principle can refer to reversing radar in the prior art.User can set the detection range of obstacle detecting sensor
Fixed, when there is barrier to appear in detection range, obstacle detecting sensor issues obstruction warning signal, control to control device
Device feeds back to drive motor controller after receiving obstruction warning signal, makes motor brake that main vehicle 1 and secondary vehicle 3 to stop.Certainly,
Obstruction warning signal can also be fed directly to drive motor controller by obstacle detecting sensor, stop main vehicle 1 and secondary vehicle 3
Under, it avoids bumping against with front obstacle.
In addition, partial impairment object is smaller, although obstacle detecting sensor can not detect, barrier still can collide with master
The chassis of vehicle 1 or secondary vehicle 3, impacts the traveling of cleaning equipment.Thus, obstacle avoidance system further includes being located at main vehicle 1 and/or pair
Mechanical protection device on vehicle 3, mechanical protection device include baffle and trigger mechanism, and trigger mechanism can be specially pressure sensor
Or pressure switch etc..Trigger mechanism is connected with control device, and when baffle collides with barrier, trigger mechanism is filled to control
Set transmission collision alarm.Control device feeds back to drive motor controller after receiving collision alarm, makes motor brake by main 1 He of vehicle
Secondary vehicle 3 stops.
In the present embodiment, cleaning equipment is additionally provided with obstacle avoidance system, the barrier being able to detect in travelling route by obstacle avoidance system
Hinder object, avoid barrier that cleaning equipment is advanced, improves the reliability of cleaning equipment operation.
Optionally, main vehicle 1 and/or secondary vehicle 3 are equipped with the battery to power, and main vehicle 1 and secondary vehicle 3 are supplied by battery
Electricity, compared to existing internal combustion engine chassis, chassis job costs, pollution effect, plant maintenance, the fuel feeding being driven by electricity are mating etc.
It is required that all having dropped.
Further, cleaning equipment further includes the electric power detection mechanism be connected to the battery and charging mechanism, electric power detection
Mechanism is connected with control device.When the electricity of battery is lower than preset value, control device controls main vehicle 1 and secondary vehicle 3 is moved to
Charging pile, charging mechanism is connected with charging pile charges to battery.The position of the supply point of charging is stored in control device
Set, when the electricity of battery is lower than preset value, control device control main vehicle 1 and secondary vehicle 3 along positioning system commander to supply
Point moves close to.By taking main vehicle 1 is equipped with battery as an example, main vehicle 1 is equipped with alignment sensor, when cleaning equipment and supply point position foot
Enough after, alignment sensor feeds back the information in place of main vehicle 1 to control device.Corresponding charging pile receives in place at that time
It opens, thus starts to charge after signal.After charging is full, electric quantity signal, control dress feed back to control device in electric power detection mechanism
Set sending ON- and OFF- command, main vehicle 1 still return to duty with the help of positioning system.Alignment sensor can be specially photoelectricity
Switch or travel switch etc..Secondary vehicle 3 can refer to above-mentioned equipped with the technical solution that battery and major and minor vehicle 3 are respectively arranged with battery
Scheme is operated, and details are not described herein.
In addition, also settable automatic water supplement function in cleaning equipment.Specifically, main vehicle 1 and/or secondary vehicle 3 are equipped with water tank,
Liquidometer is equipped in water tank, liquidometer is connected with control device, and when liquid level is lower than preset value, control device can control cleaning
Equipment goes to the moisturizing point demarcated in advance to carry out moisturizing, and water-refilling operation mode can refer to automatic charging function.
In the present embodiment, for cleaning equipment by being driven by electricity, cleaning equipment is also provided with automatic charging and automatic water supplement function
Can, when the low battery of battery or the too low liquid level of water tank, cleaning equipment under control of the control means can be automatic complete
At the operation of charging and moisturizing, the degree of automation of cleaning equipment is further improved.
Cleaning equipment during the work time, firstly, keeping certain relative position between main vehicle 1 and secondary vehicle 3, and with identical
Speed advance, major-minor vehicle 3 rests in the two sides of 4 array of photovoltaic module to be cleaned respectively.Then, cleaning assembly 2 is by leaning on
It whether there is photovoltaic module 4 below nearly sensor detection cleaning assembly 2.After detecting photovoltaic module 4 close to sensor, return
Signal is detected to control device, control device issues motion command to support component 5.Support component 5 starts to act, adjustment cleaning
The height and angle of component 2, so that cleaning assembly 2 is close to photovoltaic module 4 to be cleaned.When cleaning assembly 2 is adjusted to suitable position
It postpones and fits with the surface of photovoltaic module 4, cleaning assembly 2 is started to work.Main vehicle 1 it is synchronous with secondary vehicle 3 with fixed speed forward
Traveling, the close sensor at 2 both ends of cleaning assembly are measured in real time component, and testing result feeds back to branch by control device
Support component 5, support component 5 are in real time adjusted the height of cleaning assembly 2, guarantee in major-minor vehicle driving process, cleaning group
The distance between part 2 and photovoltaic module 4 keep certain.
After cleaning equipment completes the cleaning of 4 array of photovoltaic module, the close sensor on cleaning assembly 2 is detected
Lower section is without photovoltaic module 4, then feedback signal to control device, control device issue movement instruction to support component 5.Support component
5 setting in motions make cleaning assembly 2 return back to origin position, wait cleaning next time.Then, main vehicle 1 and secondary vehicle 3 pass through positioning system
System is moved to next row photovoltaic module 4 to be cleaned.Repeat above-mentioned cleaning operation.
When cleaning equipment is in Low Power Mode, cleaning equipment is back to supply point and charges.It goes after completing charging
Continue washing and cleaning operation to the point of interruption.
It should be noted that in the present specification, such as first and second etc relational terms are used merely to one
Entity is distinguished with other several entities, and without necessarily requiring or implying between these entities, there are any this actual
Relationship or sequence.
Cleaning equipment provided by the present invention is described in detail above.Specific case used herein is to this hair
Bright principle and embodiment is expounded, method of the invention that the above embodiments are only used to help understand and its
Core concept.It should be pointed out that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection of the claims in the present invention
In range.
Claims (10)
1. a kind of cleaning equipment, for cleaning photovoltaic module (4) characterized by comprising
Main vehicle (1), the main vehicle (1) are located at the side of photovoltaic module (4)；
Secondary vehicle (3), the pair vehicle (3) are located at the other side of photovoltaic module (4)；
Cleaning assembly (2), the both ends of the cleaning assembly (2) are connected with the main vehicle (1) and the secondary vehicle (3) respectively, work as institute
When stating main vehicle (1) and the mobile secondary vehicle (3), the cleaning assembly (2) cleaning photovoltaic module (4) is dragged.
2. cleaning equipment according to claim 1, which is characterized in that further include to adjust the cleaning assembly (2)
The support component (5) of height and/or angle, the main vehicle (1) and/or the secondary vehicle (3) are equipped with the support component (5), and two
The support component (5) is hinged with the both ends of the cleaning assembly (2) respectively.
3. cleaning equipment according to claim 2, which is characterized in that the cleaning assembly (2) includes cleaning roller, described clear
The both ends for washing roller are hinged with two support components (5) respectively.
4. cleaning equipment according to claim 3, which is characterized in that further include with the main vehicle (1), the secondary vehicle (3),
The control that the cleaning assembly (2) and the support component (5) are connected, are automatically performed cleaning operation to control each component
Device.
5. cleaning equipment according to claim 4, which is characterized in that it further include positioning system, the positioning system and institute
It states control device to be connected, the control device can control the main vehicle (1) and institute according to the location information of the positioning system
State the moving direction of secondary vehicle (3).
6. cleaning equipment according to claim 4, which is characterized in that the main vehicle (1) and/or the secondary vehicle (3) also set
There is the relative position detection being connected with the control device, to detect relative position between the main vehicle (1) and the secondary vehicle (3)
Device, the control device control the distance between the two according to the relative position between the main vehicle (1) and the secondary vehicle (3).
7. cleaning equipment according to claim 4, which is characterized in that further include obstacle avoidance system, the obstacle avoidance system includes
To detect the obstacle detecting sensor of the barrier on the main vehicle (1) and described secondary vehicle (3) travelling route, the obstacle inspection
It surveys sensor to be connected with the control device, if the obstacle detecting sensor finds barrier, the control device can
It controls the main vehicle (1) and the secondary vehicle (3) carries out avoidance operation.
8. cleaning equipment according to claim 7, which is characterized in that the obstacle avoidance system further includes being located at the main vehicle
(1) and/or the mechanical protection device on the secondary vehicle (3), the mechanical protection device includes baffle and trigger mechanism, the touching
Hair mechanism is connected with the control device, and when the baffle and barrier collide, the trigger mechanism is to the control
Device sends collision alarm.
9. according to cleaning equipment described in claim 4 to 8 any one, which is characterized in that the main vehicle (1) and/or described
Secondary vehicle (3) is equipped with the battery to power.
10. cleaning equipment according to claim 9, which is characterized in that further include the electricity inspection being connected with the battery
It surveys mechanism and charging mechanism, the electric power detection mechanism is connected with the control device, when the electricity of the battery is lower than pre-
If when value, the control device controls the main vehicle (1) and the secondary vehicle (3) is moved to charging pile, the charging mechanism and institute
State charging pile be connected charge to the battery.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910683303.0A CN110394319B (en) | 2019-07-26 | 2019-07-26 | Cleaning equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910683303.0A CN110394319B (en) | 2019-07-26 | 2019-07-26 | Cleaning equipment |
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| CN110394319B CN110394319B (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910683303.0A Active CN110394319B (en) | 2019-07-26 | 2019-07-26 | Cleaning equipment |
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| CN111438099A (en) * | 2020-04-03 | 2020-07-24 | 张梅 | Use method of photovoltaic cleaning robot |
| CN112139094A (en) * | 2020-09-11 | 2020-12-29 | 康茜 | Synchronous cleaning device convenient to simultaneously clear up multiunit solar photovoltaic board |
| CN113198765A (en) * | 2021-05-03 | 2021-08-03 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically returning and continuing to sail |
| CN113198765B (en) * | 2021-05-03 | 2024-06-07 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically returning and continuing |
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| Publication number | Publication date |
|---|---|
| CN110394319B (en) | 2021-12-31 |
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