CN115382806B - Photovoltaic panel cleaning device and roof-type BIPV photovoltaic array cleaning method - Google Patents
Photovoltaic panel cleaning device and roof-type BIPV photovoltaic array cleaning method Download PDFInfo
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- CN115382806B CN115382806B CN202210933766.XA CN202210933766A CN115382806B CN 115382806 B CN115382806 B CN 115382806B CN 202210933766 A CN202210933766 A CN 202210933766A CN 115382806 B CN115382806 B CN 115382806B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 152
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000013084 building-integrated photovoltaic technology Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 226
- 238000010408 sweeping Methods 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000000295 complement effect Effects 0.000 claims description 4
- 239000000523 sample Substances 0.000 claims 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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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
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Photovoltaic Devices (AREA)
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Abstract
The application discloses a photovoltaic panel cleaning device and a method for cleaning a roof-type BIPV photovoltaic array, comprising a moving mechanism, a cleaning mechanism and an auxiliary mechanism; the moving mechanism is used for controlling the cleaning mechanism to vertically move along the length direction of the photovoltaic panel and horizontally move along the width direction of the photovoltaic panel, and the auxiliary mechanism is used for controlling the offset of the cleaning mechanism; the moving mechanism comprises a base, a turntable, a slideway and a telescopic part which are sequentially arranged from bottom to top; the auxiliary mechanism comprises K auxiliary units, and the auxiliary units are provided with N telescopic auxiliary arms; the cleaning mechanism is connected with the moving mechanism through a telescopic component; and one end of the cleaning mechanism, which is far away from the moving mechanism, is provided with an electromagnetic unit which is in electromagnetic connection with the auxiliary arm. The cleaning machine has the advantages of stable transmission, high automation degree, simple structure, low cost and high-efficiency and safe cleaning.
Description
Technical Field
The application relates to a photovoltaic panel cleaning device and a method for cleaning a roof-type BIPV photovoltaic array, and belongs to the field of cleaning devices.
Background
The photovoltaic cleaning robot has important significance for solving the dust pollution problem of the photovoltaic assembly, accelerating intelligent operation and maintenance of the photovoltaic and improving the economic benefit of the power station. The traditional plane cleaning robot is insufficient in obstacle crossing capability and climbing capability, and when the lateral direction of the adjacent photovoltaic panel has a large step or drop, the traditional cleaning robot cannot normally pass through or generates a self-locking instability problem. Currently, mainstream products in the market all aim at improving obstacle surmounting and 'self-locking' resistance of the cleaning robot, such as dispersion driving, novel transmission technology, optimization of machine body structure and the like, but a solution with high cost performance is not found yet. Based on inherent characteristics such as waterproof, fire prevention and bearing of BIPV photovoltaic array, the photovoltaic board junction of continuous arrangement installation has the apron of great difference in height, has formed the obstacle when photovoltaic cleaning equipment removes between the photovoltaic board of dislocation. However, the existing photovoltaic cleaning equipment does not have the function of crossing the obstacle, and when the obstacle is met, the walking gesture is askew or self-locking instability occurs due to the obstacle.
Disclosure of Invention
The technical problem that this application will solve lies in, and traditional cleaning robot not only is difficult to adapt to the roof slope, does not stride obstacle moreover and cleans, and the manual work cleans with high costs, and the danger is high, and both do not do the high automation of system. The application provides a cleaning operation device and method for a roof photovoltaic array, which have the characteristics of strong obstacle crossing capability, low investment, easy assembly and disassembly, easy management and easy maintenance. The invention realizes the obstacle crossing as obstacle crossing in the obstacle crossing cleaning of the roof-type BIPV photovoltaic panel array, the rest of the cleaning photovoltaic panel can be detached for the use of roofs of various types by changing parameters through a programming language logic control circuit, the cleaning process is automatic, and the cost is low.
In one aspect of the application, a photovoltaic panel cleaning apparatus is provided, comprising a moving mechanism, a cleaning mechanism, and an auxiliary mechanism;
the moving mechanism is used for controlling the cleaning mechanism to vertically move along the length direction of the photovoltaic panel and horizontally move along the width direction of the photovoltaic panel, and the auxiliary mechanism is used for controlling the offset of the cleaning mechanism;
the moving mechanism comprises a base, a turntable, a slideway and a telescopic part which are sequentially arranged from bottom to top;
the auxiliary mechanism comprises K auxiliary units, and the auxiliary units are provided with N telescopic auxiliary arms;
the cleaning mechanism is connected with the moving mechanism through a telescopic component;
and one end of the cleaning mechanism, which is far away from the moving mechanism, is provided with an electromagnetic unit which is in electromagnetic connection with the auxiliary arm.
The auxiliary arm is provided with a program complementary to the vertical position of the cleaning mechanism, so that the cleaning mechanism can be tightly connected, and the transverse movement of the cleaning mechanism can be effectively avoided under the condition that the vertical movement of the cleaning mechanism is not hindered.
Optionally, the base is provided with a pulley for realizing horizontal movement of the moving mechanism;
the base is provided with side plates with a double-layer structure, each side plate comprises an inner side plate and an outer side plate which can be turned over, and the outer side plates can be turned over to form the same angle with the slide way;
the base is provided with a groove, the tangent plane is of an inverted 'concave' structure, the width of the concave groove is adaptive to the width of a moving track of the moving mechanism, wherein the adaptive is that the width of the groove meets the matching requirement with the width of the track on the photovoltaic panel for the moving mechanism to move, and the moving mechanism can freely and horizontally move.
Optionally, the inclination angle of the slideway is larger than the included angle between the photovoltaic panel and the horizontal plane, so that the cleaning mechanism can stably fall on the photovoltaic panel.
Optionally, the turntable is connected with the base through a rotating shaft, so that 360-degree rotation of all structures above the turntable can be realized;
the fixed end of the telescopic component is fixedly connected with the rotating shaft, and the free end is wound around the rotating shaft in a 'well rope' manner and then is connected with the cleaning mechanism; the vertical position of the cleaning unit is changed by rotating and fixing the rotating shaft;
the tail end of the slideway is provided with a fixed pulley which is used for changing the direction of the telescopic component and avoiding friction.
Optionally, the sweeping mechanism is provided with a sweeping brush and a pulley on the bottom surface of the photovoltaic panel.
Optionally, the auxiliary unit further comprises a fixed block;
the section of the fixed block along the vertical direction is right trapezoid;
the lower bottom surface of the fixed block is provided with a pulley;
the inclined surface of the fixed block is used for fixing a telescopic auxiliary arm;
the free end of the auxiliary arm is provided with a magnet.
Optionally, N is a positive integer from 2 to 4.
Optionally, K is a positive integer from 1 to 2.
Optionally, the inclination of inclined plane with photovoltaic board and the contained angle of horizontal plane are complementary, in order to make the auxiliary arm that gives out be on a parallel with the photovoltaic board, guarantee to clean the mechanism steady operation.
Optionally, the length of the cleaning mechanism is less than the barrier length formed by the adjacent photovoltaic panels, so that the difficulty in moving the cleaning unit and damage to the side cleaning brush are avoided.
Optionally, the length of the base of the moving mechanism and the length of the fixing block of the auxiliary mechanism are both adapted to the width of the photovoltaic panel, wherein the adaptation means that the length of the base of the moving mechanism and the length of the fixing block of the auxiliary mechanism are both adapted to the width of the photovoltaic panel to be cleaned, and the adaptation means that the length of the base of the moving mechanism and the length of the fixing block of the auxiliary mechanism are equal to the width of the photovoltaic panel and the width of the barriers on both sides.
Optionally, the photovoltaic panel cleaning device further comprises a control system, wherein the control system is electrically connected with the moving mechanism, the cleaning mechanism and the auxiliary mechanism;
the control system comprises a control electromagnetic switch module and an offset adjustment module;
the electromagnetic switch control module is used for controlling connection and disconnection of the auxiliary arm and the cleaning mechanism;
the adjustment offset module is used for adjusting the relative positions of the moving mechanism and the auxiliary mechanism.
In the application, the system for controlling the connection and disconnection of the auxiliary arm and the cleaning mechanism is logically related to the moving mechanism and the auxiliary mechanism, and the electromagnet and the auxiliary arm are started after the cleaning mechanism is put down and are closed when the obstacle is about to be crossed.
In the application, the offset adjustment module is embodied in such a way that the moving mechanism and the auxiliary mechanism on one side always keep the same horizontal position, and the offset adjustment module can judge and implement the position where the offset adjustment module is supposed to be according to the size of the offset adjustment module after the specific sizes of the ridge and the eave of the roof are input.
Optionally, the auxiliary arm is further provided with a sleeve structure, the sleeve structure realizes a telescopic function, and the larger the difference between the inner diameter and the outer diameter of the sleeve is, the shorter the sleeve is, and the more the number of the sleeves is;
the diameter of the sleeve structure is 2 cm-5 cm.
As one embodiment, the photovoltaic panel cleaning apparatus includes: comprises a moving mechanism, a cleaning unit and an auxiliary mechanism. The moving mechanism consists of three parts, namely a base, a rotary table and a slideway from bottom to top, wherein the tangent plane of the base is in an inverted concave structure, tracks paved on the ridge are connected by pulleys (4 in total) between plates to realize horizontal movement on the ridge, the side plates of the base are in a double-layer structure, the outer side of the side plates can be turned out to form the same angle with the slideway, the rotary table is connected with the center of the upper surface of the base through a rotary shaft to realize 360-degree rotation of the rotary table on the base, the edge of the surface of the rotary table is perforated, the rotary shaft and a motor are fixed in the rotary table, a flexible rope with toughness is pulled out to be fixed with a cleaning unit, the residual area is fixed with the slideway,
the cleaning mechanism is a cuboid, the head of the cleaning mechanism is provided with two electromagnets (for realizing the attraction and disconnection of an auxiliary arm extending out of the auxiliary mechanism), the tail of the cleaning mechanism is perforated and fixed with a soft rope, the cleaning mechanism is formed by a plurality of disc-type rotary brushes (a built-in small rotating machine is connected with the same switch) from front to back, and the friction is reduced by four pulleys in the middle. When the device works, the brush is started, the cleaning unit is driven to lift by the rotating shaft of the moving mechanism, the auxiliary mechanism reduces lateral movement, the auxiliary mechanism is retracted to the moving mechanism when the device is wound, and the auxiliary mechanism is brought to the other end of the obstacle by the moving mechanism, as shown in a figure II.
Optionally, the photovoltaic panel cleaning device comprises 2 auxiliary mechanisms, the two auxiliary mechanisms are located on the tracks paved on the eave at two sides, four pulleys are arranged on the bottom surface, the cross section of the four pulleys is in a right trapezoid shape (the acute angle of the trapezoid is complementary with the slope angle of the roof), the inclined surface extends out of two telescopic auxiliary arms, and the heads of the auxiliary arms are composed of magnets, as shown in fig. 3.
In still another aspect of the present application, a method for cleaning a roof-type BIPV photovoltaic array is provided, where the cleaning is performed by using the above-mentioned photovoltaic panel cleaning device, and the method includes:
(1) Maintaining the movement mechanism and the auxiliary mechanism in vertical alignment along the length direction of the photovoltaic panel; the cleaning mechanism is put down to the bottom of the slideway of the moving mechanism through the telescopic component;
(2) Opening an electromagnetic unit of the cleaning mechanism, and extending an auxiliary arm which is telescopic by the auxiliary mechanism, wherein the auxiliary arm is in electromagnetic attraction with the cleaning mechanism;
(3) The cleaning mechanism repeatedly and vertically moves along the length direction of the photovoltaic panel through the moving mechanism to finish cleaning along the length direction;
(4) And (3) continuously cleaning the photovoltaic panel after the moving mechanism and the auxiliary mechanism synchronously move horizontally along the width direction of the photovoltaic panel to the next length direction.
Wherein, the moving mechanism and the auxiliary mechanism are always kept in vertical alignment for ensuring and stabilizing the cleaning path of the cleaning mechanism. The electromagnet for the cleaning structure is attracted with the auxiliary arm, so that the attraction and disconnection of the electromagnet and the auxiliary arm are conveniently controlled. The auxiliary mechanism is not in charge of pulling and releasing, is only connected with the cleaning mechanism to keep stability in the horizontal direction, otherwise, the balance of the auxiliary mechanism can be influenced when the auxiliary arm applies force, and in case of failure of the moving mechanism or the auxiliary mechanism, the cleaning mechanism cannot be pulled out.
Optionally, in step (1), further includes: the outer side plate of the lifting moving mechanism is connected with the slide way, and the spliced slide way is used for prolonging the slide way and reducing the vibration when the cleaning unit is put down
Optionally, in step (2), after the auxiliary arm is electromagnetically attracted to the cleaning mechanism, the cleaning device further includes: the outer side plate of the moving mechanism is retracted so that the portion covered by the plate can be cleaned.
Optionally, when the cleaning device reaches the obstacle, the electromagnetic unit of the cleaning mechanism is closed, the outer side plate of the moving mechanism is lifted, the cleaning mechanism is retracted to the slideway of the moving mechanism, the auxiliary mechanism is retracted to the auxiliary arm, and the moving mechanism and the auxiliary mechanism synchronously move to bypass the obstacle.
In this application, pull out the obstacle scope with cleaning mechanism, realize the obstacle mode of striding of obstacle around does: the moving mechanism can stretch the cleaning mechanism to the slideway of the moving mechanism, the auxiliary mechanism can retract the auxiliary arm into the auxiliary mechanism, then the auxiliary mechanism moves horizontally around the obstacle, and the cleaning mechanism is put down to work continuously.
Optionally, after cleaning the photovoltaic panel on one side roof is completed, the cleaning mechanism is retracted to the slideway of the moving mechanism, the turntable of the moving mechanism rotates 180 degrees to the other side roof, and the steps (1) - (4) are repeated.
The rotating shaft in the middle of the base of the moving mechanism and the rotating disc can realize 360-degree rotation of all structures above the rotating disc, and the rotating disc-slideway mechanism for realizing cleaning of two surfaces of a roof by changing the direction of putting down the cleaning mechanism is realized.
As a specific implementation mode, the invention aims to realize that the obstacle-crossing sweeping roof type BIPV photovoltaic array is kept vertically aligned with one side auxiliary mechanism all the time when the operation is started, the outer side plate of the base of the moving mechanism is lifted, the sweeping mechanism is put down to the bottom of a track, the electromagnet at the head of the sweeping mechanism is opened, meanwhile, the auxiliary mechanism stretches out of the auxiliary arm, the head magnet of the auxiliary mechanism is attracted with the sweeping unit (because the electromagnet attraction mechanism aims to avoid the lateral movement of the sweeping unit, the attraction force of the magnet does not need to bear most of the weight of the sweeping unit and the moving mechanism, the electromagnet with strong attraction force is not needed, and the electromagnet can be born generally), the outer side plate of the base of the moving mechanism is slowly put down, then the vertical movement of the sweeping unit is realized through the forward rotation and the reverse rotation of the rotating shaft of the moving mechanism and the counter-offset of the auxiliary arm of the auxiliary mechanism, and when the vertical position is swept, the moving mechanism and the auxiliary mechanism are synchronously moved, and the sweeping is continued. When the obstacle is reached, the electromagnet of the cleaning unit is closed, the side plate of the moving mechanism is lifted, the rotating shaft rotates to retract the cleaning unit to the moving mechanism, the auxiliary arm is retracted to the auxiliary mechanism, and the synchronous movement bypasses the obstacle. When one side roof is cleaned, the cleaning unit is retracted to the moving mechanism, and the rotating disc of the moving mechanism rotates 180 degrees to the roof at the other side to repeat the work.
The beneficial effects that this application can produce include:
according to the technical scheme, the bridging of the photovoltaic array lap joint part is achieved through electrical control. The vertical position of the cleaning trolley is controlled through stretching, so that the obstacle detouring function is realized; the device is capable of changing the obstacle crossing into obstacle crossing, and can be detached for a plurality of roofs of the same type (the width of the cleaning unit is difficult to change and adapt to different types, and other working modes such as the number of the obstacle crossing, the vertical height of the cleaning and the like can be adapted by changing scene variables), and the device has the advantages of excellent cleaning effect, stable transmission, detachability, high adaptability, high automation degree, simple cleaning route, small machine body vibration, low cost and the like. The obstacle-crossing cleaning is realized, the power generation efficiency of the photovoltaic panel is ensured, the degree of automation is high, and the adaptability is wide.
Drawings
FIG. 1 is a schematic view of a moving mechanism according to an embodiment of the present application;
FIG. 2 is a schematic view of a cleaning mechanism in an embodiment of the present application;
FIG. 3 is a schematic view of an auxiliary mechanism in an embodiment of the present application;
fig. 4 is a schematic view of a cleaning device according to an embodiment of the present application.
Wherein, (1) the slideway (the bottom of which is a turntable); (2), a base; (3), side plates; (4), cleaning mechanism head (equipped with electromagnet); (5), hairbrushes; (6), a roller; (7), an auxiliary arm; (8), auxiliary arm head (magnet assembly).
Detailed Description
The present application is described in detail below with reference to examples, but the present application is not limited to these examples.
Example 1
As shown in fig. 4, the cleaning device in this embodiment includes a moving mechanism, a cleaning mechanism, 2 auxiliary mechanisms, and a control system; the moving mechanism is connected with the cleaning mechanism through a soft rope, the cleaning mechanism and the auxiliary mechanism are electromagnetically connected with the head of the cleaning mechanism through an auxiliary arm head (8) of the auxiliary mechanism, and the control system is electrically connected with the moving mechanism, the cleaning mechanism and the auxiliary mechanism.
The moving mechanism is shown in fig. 1 and comprises a slideway (1), a base (2) and a side plate (3); the turntable at the bottom of the slideway (1) is connected with the base (2) through a rotating shaft, one end of the soft rope is fixed on the rotating shaft, and the other end of the soft rope is wound on the rotating shaft in a 'well rope' manner and then is connected with the cleaning mechanism; the base (2) is provided with a pulley, an inverted concave groove is further formed in the base, and a fixed pulley is arranged at the tail end of the slideway (1). The side plates (3) comprise an outer side plate and an inner side plate, and the lower ends of the outer side plates are inclined downwards by 10 degrees: the inclination angle is lower than the roof inclination angle, so that the safety is ensured while the length of the outer side plate is prolonged as much as possible; the height of the inner side plate is 9cm, and the distance between the inner side plates of the base is 25cm: the length of the outer side plate is prolonged as much as possible by the attached ridge, scratch is prevented between the outer side plate and the photovoltaic plate, and a supporting effect can be achieved by the inner 90-degree vertex angle after the cleaning unit is put down, so that the moving mechanism is prevented from tipping. The pulley radius was 2.5cm. Slide (1) tilt angle 30 °: the angle should be higher than the roof ramp angle, preferably 30 ° under the limit of the length of the outer side panels. The length of the moving mechanism is 115cm, which is matched with the width of one photovoltaic panel.
The cleaning mechanism is of a cuboid structure, a hairbrush (5) and a roller (6) are arranged on the bottom surface of the cleaning mechanism, 2 cylindrical electromagnets are arranged on the head of the cleaning mechanism, and the cleaning mechanism is 98cm long: the brush of the cleaning mechanism is a disc-type brush, has a certain cleaning effect on short distance outside the range, and if the size of the brush is 99.5cm which fits the length between barriers, the brush not only can cause difficult movement of the cleaning unit, but also can cause damage to the lateral high-speed disc-type brush, so that the length of the machine body is properly reduced. The diameter of the cylindrical electromagnet is 5cm, the cylindrical electromagnet and the auxiliary arm head magnet are the same size, and the distance between the two cylindrical electromagnets is 28cm: the distance between the two auxiliary arms is the same.
Each auxiliary mechanism comprises a fixed block and 2 auxiliary arms (7), the heads of the auxiliary arms (7) are provided with magnets, the sections of the fixed blocks along the vertical direction are right trapezoid, the auxiliary arms (7) are fixed on the inclined surfaces of the fixed blocks, the bottom surfaces of the auxiliary arms are provided with pulleys, the inclined angles of the inclined surfaces are 75 degrees, the discharged auxiliary arms are parallel to a roof, and the running stability of the trolley is guaranteed. The diameter of the auxiliary arm sleeve is 2 cm-5 cm, the sleeve structure achieves the telescopic function, the larger the difference of the inner diameter and the outer diameter of the sleeve is, the shorter the sleeve is, the more the number of the sleeves is, and the length of the sleeve is reduced for increasing the number of the sleeves. The length of the auxiliary mechanism is 115cm, which is matched with the width of a photovoltaic panel.
The control system comprises a control electromagnetic switch module and an offset adjustment module.
Example 2
The cleaning device of example 1 was used to clean a roof-top BIPV photovoltaic array, wherein the roof had the following dimensions: the roof slope is 15 degrees, the ridge is 10cm in height, 20cm in width, the roller is 5cm in diameter and 2cm in width, the size of each photovoltaic plate is as follows, the width of each barrier between the photovoltaic plates is about 8cm, and 4 photovoltaic plates are vertically arranged in each barrier.
When the input scene quantitatively begins to work, after the vertical position is corrected by the moving mechanism and the auxiliary mechanism on one side, the outer side plate of the base of the moving mechanism is lifted to be smoothly connected with the slide way, the cleaning unit is put down to the bottom of the track, the electromagnet at the head of the cleaning unit is opened, the auxiliary mechanism stretches out of the auxiliary arm, the magnet at the head of the auxiliary mechanism is attracted with the cleaning robot, the outer side plate of the base of the moving mechanism is slowly put down, then the moving mechanism and the auxiliary mechanism pull at the same speed and put down, so that the cleaning unit vertically moves to clean, and when the vertical position is cleaned up and down once, the electromagnet of the cleaning unit is closed and is retracted to the moving mechanism, the auxiliary arm is retracted to the auxiliary mechanism, and synchronously moves to bypass the obstacle and is corrected again. After the roof on one side is cleaned, the cleaning unit is retracted to the moving mechanism, and the rotating disc of the moving mechanism rotates 180 degrees to the roof on the other side to repeat the work.
The foregoing description is only a few examples of the present application and is not intended to limit the present application in any way, and although the present application is disclosed in the preferred examples, it is not intended to limit the present application, and any person skilled in the art may make some changes or modifications to the disclosed technology without departing from the scope of the technical solution of the present application, and the technical solution is equivalent to the equivalent embodiments.
Claims (15)
1. A photovoltaic panel cleaning device is characterized in that,
comprises a moving mechanism, a cleaning mechanism and an auxiliary mechanism;
the moving mechanism is used for controlling the cleaning mechanism to vertically move along the length direction of the photovoltaic panel and horizontally move along the width direction of the photovoltaic panel, and the auxiliary mechanism is used for controlling the offset of the cleaning mechanism; the cleaning mechanism is used for cleaning the photovoltaic panel;
the moving mechanism comprises a base, a turntable, a slideway and a telescopic part which are sequentially arranged from bottom to top;
the auxiliary mechanism comprises K auxiliary units, and the auxiliary units are provided with N telescopic auxiliary arms;
the cleaning mechanism is connected with the moving mechanism through a telescopic component;
an electromagnetic unit is arranged at one end of the cleaning mechanism, which is far away from the moving mechanism, and is in electromagnetic connection with the auxiliary arm;
the base is provided with a pulley for realizing horizontal movement of the moving mechanism;
the base is provided with side plates with a double-layer structure, each side plate comprises an inner side plate and an outer side plate which can be turned over, and the outer side plates can be turned over to be matched with the slide ways and form the same angle;
the base is provided with a groove, the section of the groove is of an inverted concave structure, and the width of the groove is matched with the width of a track on the photovoltaic panel for moving by the moving mechanism;
the turntable is connected with the base through a rotating shaft;
the fixed end of the telescopic component is fixedly connected with the rotating shaft, and the free end is wound around the rotating shaft in a 'well rope' manner and then is connected with the cleaning mechanism;
and the tail end of the slideway is provided with a fixed pulley.
2. The photovoltaic panel cleaning apparatus of claim 1, wherein the ramp has an inclination angle greater than an angle of the photovoltaic panel to the horizontal.
3. The photovoltaic panel cleaning apparatus of claim 1, wherein the sweeping mechanism is provided with a sweeping brush and a pulley on the bottom surface of the photovoltaic panel.
4. The photovoltaic panel cleaning apparatus of claim 1, wherein,
the auxiliary unit further comprises a fixed block;
the section of the fixed block along the vertical direction is right trapezoid;
the lower bottom surface of the fixed block is provided with a pulley;
the inclined surface of the fixed block is used for fixing a telescopic auxiliary arm;
the free end of the auxiliary arm is provided with a magnet.
5. The photovoltaic panel cleaning apparatus of claim 1, wherein N is a positive integer from 2 to 4.
6. The photovoltaic panel cleaning apparatus of claim 1, wherein K is a positive integer from 1 to 2.
7. The photovoltaic panel cleaning apparatus of claim 4, wherein the incline angle of the incline is complementary to the angle of the photovoltaic panel with the horizontal.
8. The photovoltaic panel cleaning apparatus of claim 4, wherein,
the length of the cleaning mechanism is less than the barrier length formed by the adjacent photovoltaic panels.
9. The photovoltaic panel cleaning apparatus of claim 4, wherein the length of the base of the moving mechanism and the length of the fixed block of the auxiliary mechanism are each adapted to the width of the photovoltaic panel.
10. The photovoltaic panel cleaning apparatus of claim 1, wherein,
the photovoltaic panel cleaning device further comprises a control system, wherein the control system is electrically connected with the moving mechanism, the cleaning mechanism and the auxiliary mechanism;
the control system comprises a control electromagnetic switch module and an offset adjustment module;
the electromagnetic switch control module is used for controlling connection and disconnection of the auxiliary arm and the cleaning mechanism;
the adjustment offset module is used for adjusting the relative positions of the moving mechanism and the auxiliary mechanism.
11. A method for cleaning a roof-top BIPV photovoltaic array, characterized in that the cleaning device of any one of claims 1 to 10 is used for cleaning, and the method comprises the following steps:
(1) Maintaining the movement mechanism and the auxiliary mechanism in vertical alignment along the length direction of the photovoltaic panel; the cleaning mechanism is put down to the bottom of the slideway of the moving mechanism through the telescopic component;
(2) Opening an electromagnetic unit of the cleaning mechanism, and extending an auxiliary arm which is telescopic by the auxiliary mechanism, wherein the auxiliary arm is in electromagnetic attraction with the cleaning mechanism;
(3) The sweeping mechanism repeatedly and vertically moves along the length direction of the photovoltaic panel through pulling and releasing the moving mechanism and the auxiliary mechanism, so that one length direction sweeping is completed;
(4) And (3) continuously cleaning the photovoltaic panel after the moving mechanism and the auxiliary mechanism synchronously move horizontally along the width direction of the photovoltaic panel to the next length direction.
12. The method of claim 11, wherein the step of determining the position of the probe is performed,
in the step (1), further comprising: and lifting an outer side plate of the moving mechanism, and connecting with the slideway.
13. The method of claim 12, wherein in step (2), after the auxiliary arm is electromagnetically engaged with the cleaning mechanism, further comprising: and (5) retracting the outer side plate of the moving mechanism.
14. The method of claim 11, wherein the step of determining the position of the probe is performed,
when the cleaning device reaches an obstacle, the electromagnetic unit of the cleaning mechanism is closed, the outer side plate of the moving mechanism is lifted, the cleaning mechanism is retracted to the slideway of the moving mechanism, the auxiliary mechanism is retracted to the auxiliary arm, and the moving mechanism and the auxiliary mechanism synchronously move to bypass the obstacle.
15. The method of claim 11, wherein the step of determining the position of the probe is performed,
after the photovoltaic panel on one side of the roof is cleaned, the cleaning mechanism is retracted to the slideway of the moving mechanism, the turntable of the moving mechanism rotates 180 degrees to the roof on the other side, and the steps (1) - (4) are repeated.
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