WO2017157269A1 - 一种全自动轨道式光伏组件清洗小车及其清洗方法 - Google Patents
一种全自动轨道式光伏组件清洗小车及其清洗方法 Download PDFInfo
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- WO2017157269A1 WO2017157269A1 PCT/CN2017/076529 CN2017076529W WO2017157269A1 WO 2017157269 A1 WO2017157269 A1 WO 2017157269A1 CN 2017076529 W CN2017076529 W CN 2017076529W WO 2017157269 A1 WO2017157269 A1 WO 2017157269A1
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- Prior art keywords
- water
- cleaning
- motor
- trolley
- joint
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- 238000004140 cleaning Methods 0.000 title claims abstract description 269
- 238000000034 method Methods 0.000 title claims abstract description 49
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 410
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 238000004891 communication Methods 0.000 claims abstract description 9
- 239000007921 spray Substances 0.000 claims description 40
- 230000009471 action Effects 0.000 claims description 11
- 230000002441 reversible effect Effects 0.000 claims description 10
- 239000000428 dust Substances 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 4
- 238000005406 washing Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000011010 flushing procedure Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 241000242583 Scyphozoa Species 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000013083 solar photovoltaic technology Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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- 239000002349 well water Substances 0.000 description 1
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Classifications
-
- 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
- B08B3/02—Cleaning by the force of jets or sprays
-
- 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
Definitions
- the invention relates to the field of solar photovoltaic technology, in particular to a fully automatic rail type photovoltaic module cleaning trolley and a cleaning method thereof.
- Photovoltaic power generation relies on sunlight, and its power generation efficiency depends largely on the cleanliness of photovoltaic modules. Photovoltaic power plants are mostly placed outdoors, and PV modules are easily covered by dust, stains, etc., causing the light intensity received on the surface of the components to drop, thereby causing considerable power generation losses. At the same time, local dust shielding may also cause hot spot effect, which poses a safety hazard.
- the cleaning methods of photovoltaic modules for photovoltaic power plants mainly include: 1) manual cleaning, which is the most widely used, but the cleaning cost is high, the effect is poor, and the efficiency is low; 2) the high pressure water gun cleaning, the cleaning effect is better, but the mobile water truck needs to be moved. Or buried pipeline, high cleaning cost, low efficiency, difficult to clean large area, and can not clean the power station where the water tank vehicle can not drive; 3) spray system cleaning, can remove the dust on the surface of photovoltaic modules, but the effect is not ideal, equipment High maintenance cost; 4) Professional cleaning equipment, high equipment cost, high requirements for PV module installation environment, requiring professional technicians to operate, unable to clean large areas and low cost.
- the object of the present invention is to provide a fully automatic rail-type photovoltaic module cleaning trolley and a cleaning method thereof with simple structure, reasonable design, wide adaptability and convenient use in view of the deficiencies of the prior art.
- a first aspect of the present invention provides a fully automatic orbital photovoltaic module cleaning cart including a traveling mechanism, a water intake mechanism, and a control portion, wherein the control portion is electrically connected to the traveling mechanism and the water intake mechanism, respectively.
- the traveling mechanism drives the water intake mechanism and the control portion to move along a main rail that communicates with the water source.
- the traveling mechanism comprises a walking wheel, a traveling motor and a main track; the traveling motor is electrically connected to the control portion, and the traveling motor drives the traveling wheel to make the walking wheel The main track moves.
- the cleaning cart further includes a valve control device
- the valve control device includes a tank body, and a water spray motor, an electromagnetic water valve, a plurality of rotary joints, a small mother tube, and respectively in the tank body a plurality of universal nozzles communicating with the rotary joint; one end of the small mother tube is in communication with a water intake male joint of the water intake mechanism, and the other end is in communication with an inlet side of the electromagnetic water valve, the electromagnetic water valve The outlet side communicates with an end of the rotary joint opposite the gimbal, and the water jet motor drives the rotary joint.
- the housing is further provided with a water jet motor shaft gear, a rotating shaft gear, a rotary joint fixing plate and a connecting pipe, and the rotary joint fixing plate fixes the rotary joint and the rotating shaft gear is fixed.
- a water jet motor shaft gear Mounted in the middle of the long shaft of the rotary joint, one side of the water jet shaft gear is connected to the water spray motor through a connecting shaft, and the water jet motor shaft gear meshes with the rotating shaft gear, and the water spray motor passes through the The water jet motor output shaft gear and the rotating shaft gear drive the rotary joint to rotate.
- the tank body is further provided with a water receiving hose, and the small mother tube communicates with the water intake male joint through the water receiving hose.
- the traveling mechanism includes a walking bracket, a bearing, a traveling shaft, a traveling wheel, a moving shaft gear, a traveling motor shaft gear, a traveling motor, and a main track;
- the walking bracket is disposed on an outer sidewall of the top of the box body, and two ends of the traveling shaft are provided with bearings, and the traveling shaft is rotatably connected to the walking bracket through bearings at both ends thereof;
- a moving shaft gear is disposed on the traveling shaft and outside the bearing, the traveling motor is coupled to the traveling motor shaft gear, the traveling motor shaft gear meshes with the moving shaft gear, and the traveling motor passes the traveling motor shaft gear and the moving shaft
- the gear drives a travel shaft that drives the traveling wheel located at the center thereof to move along the main track.
- a portion between the two bearings is an inner side and an outer side of a portion opposite to the inner side.
- the water intake mechanism includes a photoelectric sensor electrically connected to the control portion, a water intake male connector, an electric push rod located below the water intake male connector, and fixedly mounted on a lower surface of the main rail a plurality of sets of positioning water intake components, each set of the positioning water intake components comprising a water locating pin and a waterstop nipple, the water locating pin blocking the photoelectric sensor receiving light, photoelectrically converting the photoelectric sensor, and transmitting the signal to the control part
- the control part supplies power to the electric push rod, and the powered electric push rod pushes the water take-off male joint, and the water take-off male joint is connected to the water-stop joint to take water.
- the distance between the water locating needle and the waterstop joint in each set of locating water intake assemblies is equal.
- the water intake mechanism includes a photoelectric sensor electrically connected to the control portion, a water intake male connector provided with a water suction cup electromagnet, a push-pull electromagnet located below the water intake male connector, and a fixed installation a plurality of sets of positioning water take-up assemblies on a lower surface of the main rail, each set of the positioning water take-up assembly includes a water take-up positioning needle and a water-stopping water joint joint, the water-removing positioning needle blocking the photoelectric sensor from receiving light, and the photoelectric sensor is photoelectrically converted, and Transmitting a signal to the control portion, the control portion supplies power to the push-pull electromagnet, and the powered push-pull electromagnet hits the water intake male connector, and the water intake male connector of the water suction cup electromagnet is provided And the water intake male joint is connected to the waterstop joint to take water.
- the water intake mechanism is located inside the casing, the traveling mechanism is located at an outer upper portion of the casing, the upper portion of the casing is provided with a walking groove, and the water intake male joint passes through the The walking trough is connected to the through-water jellyfish to take water.
- the water take-up cup electromagnet and the water intake male connector are located in the walking groove.
- the lower end of the water intake male connector with the water suction cup electromagnet is provided with a return spring, and one end of the return spring is connected to the water intake male connector, and the other end is fixed on the inner wall of the housing.
- the push-pull electromagnet is electrically driven and then hits the water intake male joint upwardly, and the water intake male joint drives the return spring to move upward, and the water suction sucker electromagnet is energized to drive the water intake male joint to communicate with the waterstop joint. Up to a set time; the water intake cup electromagnet is de-energized, the return spring pulls the water intake male joint to move downward, and the water intake male joint is disconnected from the through-water joint connector to stop taking water.
- control portion includes an electrical controller, a charging interface, a battery, an external charging device, and a charging electromagnetic chuck; the electrical controller is disposed on the case, and the battery is located in the box The charging electromagnetic chuck is located outside the charging interface, and the external charging device is connected to the charging interface through the charging electromagnetic chuck, and is charged to the battery.
- an end proximity switch and an end sensing position are mounted on an outer side surface of the box perpendicular to the main rail, and an initial proximity switch is mounted on the other outer side perpendicular to the main rail. And the initial sensing bit.
- the cleaning trolley is further provided with an auxiliary rail, the auxiliary rail is located at an outer lower part of the box body, and a limited position rolling device is disposed on an outer side surface of the bottom of the box body, and the box body passes through The limit rolling device is movably connected to the auxiliary track.
- the cleaning trolley further includes a coiled trolley that is slidably coupled to the main rail by a passive roller on a top and an outer side wall thereof, the coiled trolley including a wire with a wire a tube, an electric control valve, a coiler, a PLC control board, an electric retractable wheel, the leaded hose is wound on the coiler, and one end of the lead hose is connected to the bottom end of the water take-off male joint, and the lead hose is connected The other end is in communication with an electric control valve, and the PLC control board adjusts the stowage or release of the leaded hose by controlling the expansion and contraction of the electric retractable wheel.
- the coiled trolley is further provided with an electromagnetic attraction and separator, and the coiled trolley is connected or disconnected from the water intake structure by the electromagnetic attraction and separator.
- the cleaning trolley further includes a cleaning mechanism including a gantry and a water spray pipe located at a lower portion of the gantry, the gantry being fixedly coupled to the casing, the gantry The frame slides along the main track.
- a cleaning mechanism including a gantry and a water spray pipe located at a lower portion of the gantry, the gantry being fixedly coupled to the casing, the gantry The frame slides along the main track.
- the cleaning trolley is further provided with an auxiliary rail, the auxiliary rail and the main rail are respectively located at two sides of the photovoltaic module, and the gantry slides along the main rail and the auxiliary rail.
- the outer side wall of the lower portion of the water spray pipe is further provided with a water spray head and a cleaning motor, and the water spray head is in communication with the leaded wire hose for spraying water to the photovoltaic module, and the cleaning is performed.
- the motor is used to remove dust from the surface of the PV module.
- the working principle of the invention is as follows: a main rail and an auxiliary rail are installed along the line of the photovoltaic module, and the main rail is connected with the water source, which serves as a walking track for cleaning the trolley and a water intake point when cleaning the photovoltaic module, thereby realizing the water source along the photovoltaic module.
- the fully automatic orbital photovoltaic module cleaning system provided by the invention is suspended on the main rail, and the auxiliary rail is stabilized; the starting working point is the parking position of the mobile vehicle cleaning device during non-working time, where the fixed type 12V or 24V DC charging power supply; on the main track, there are a plurality of water-stop joints as the water intake point from the starting point to the end point.
- the cleaning system automatically recognizes the water intake point and takes water by means of the water-distributing needle during the driving along the main track, and controls the valve through the valve.
- the device cleans the photovoltaic modules.
- the fully automatic rail-type photovoltaic module cleaning system provided by the invention can greatly improve the utilization rate of the equipment, reduce the one-time investment of the equipment, and realize the automatic cleaning with low cost, large-scale, high-frequency and no human intervention.
- the cleaning motor on the gantry cleans the dust on the photovoltaic module.
- the water can be sprayed directly or the cable hose can be released.
- the gantry drives the cable hose to drive in the opposite direction. Spraying water to the cleaning motor during driving to achieve water cleaning and rinsing, cleaning frequency can be rooted According to the pollution level of PV modules.
- a second aspect of the present invention provides a cleaning method for a fully automatic orbital photovoltaic module cleaning trolley, the cleaning method comprising the following steps:
- Step 1 The electric circuit of the cleaning car is powered on, and the traveling motor is started.
- the cleaning car travels along the main track to the end point to the water locating pin.
- the water locating pin blocks the receiving light of the photoelectric sensor, and the photoelectric sensor photoelectrically converts and converts the electric power.
- the signal is transmitted to the control part, the cleaning trolley stops walking, the water intake male connector is connected with the waterstop connector to take water, and the cleaning trolley cleans the photovoltaic module;
- Step 2 The cleaning trolley walks to the next water-removing positioning needle, and repeats the water taking and cleaning procedures described in step 1;
- Step 3 the cleaning is finished, or repeat step 2 until the water intake and cleaning procedures at the last water locating needle are completed.
- the cleaning method comprises the following steps:
- Step 1 The electric circuit of the cleaning car is powered on, and the traveling motor is started.
- the cleaning car travels along the main track to the end point to the water locating pin.
- the water locating pin blocks the receiving light of the photoelectric sensor, and the photoelectric sensor photoelectrically converts and converts the electric power.
- the signal is transmitted to the control part, the cleaning trolley stops walking, the water intake male connector and the waterstop joint are connected to take water, the cleaning trolley cleans the photovoltaic module to the set time, the water intake male connector is disconnected from the waterstop connector, and the control unit is returned.
- Step 2 The walking motor is powered, and the cleaning trolley walks to the next water collecting positioning needle, and repeats the above procedure until the corresponding procedure of the last water dispensing positioning needle is completed;
- Step 3 The track car continues to walk, and the end point of the cleaning car is installed at the end point of the cleaning car, the sensing end point, the photoelectric sensor is powered off, the traveling motor is reversed, and the cleaning car moves toward the starting point;
- Step 4 The cleaning trolley walks to the starting point, and the initial proximity switch action is installed on the starting point of the cleaning trolley, the photoelectric sensor is powered, the water spray motor and the traveling motor are de-energized, the battery is charged, and the cleaning trolley completes a cleaning cycle. .
- the cleaning trolley travels between adjacent two water intake locating pins, and the cleaning trolley cleans or does not clean the photovoltaic modules.
- step 1 is to power on the electric circuit of the cleaning trolley, and the traveling motor is started.
- the cleaning trolley travels along the main track toward the end point to the water locating pin, and the water locating pin blocks the receiving light of the photoelectric sensor, and the photoelectric sensor generates photoelectricity. Convert and transfer the converted electrical signal to the control section for cleaning
- the trolley stops walking, the push-pull electromagnet hits the water intake male joint, the water male connector rises upward, the suction cup electromagnet is energized, the water intake male connector and the waterstop joint are connected to take water, the photovoltaic module is cleaned, the suction cup electromagnet is de-energized, and the control unit is returned.
- step 1 is to power on the electric circuit of the cleaning trolley, and the traveling motor is started.
- the cleaning trolley travels along the main track toward the end point to the water locating pin, and the water locating pin blocks the receiving light of the photoelectric sensor, and the photoelectric sensor generates photoelectricity. Convert and transfer the converted electrical signal to the control part, the cleaning car stops walking, the electric push rod pushes the water intake male connector upward, connects with the water-stop joint to take water, cleans the photovoltaic module to the set time, the electric push rod descends, takes the water public The joint is disconnected from the waterstop connector.
- step 1 the cleaning trolley travels to the water locating needle.
- the traveling motor reverses, the cleaning trolley moves toward the starting point, and the cleaning motor on the gantry operates and/or When the water spray pipe sprays water, the photoelectric sensor loses power. After walking to the set time, the traveling motor rotates forward and walks toward the end point.
- the hose with the wire is released; during the walking toward the end point, the hose with the wire is taken up.
- the electromagnetic pick-up and splitter is disconnected from the coiled trolley during the walking of the cleaning trolley toward the starting point.
- the cleaning method steps are as follows:
- Step 1 The fully automatic mobile water-saving photovoltaic module cleaning device stops at the starting point, and when the preset cleaning time is up (generally in the evening, controlled by the time switch), the electric circuit in the trolley is powered on;
- Step 2 The electric motor of the fully automatic mobile water-saving photovoltaic module cleaning device is powered on, and the traveling motor starts, and is in a forward rotation state, and walks toward the end point;
- the NPN photoelectric sensor When walking to the first water intake point, the NPN photoelectric sensor operates and enters the cleaning state. In the first stage, seven linkages are made: a. The electric push rod motor is energized instantaneously and mechanically maintained, and the water intake joint is lifted up and the water supply mother pipe is lifted. The connection of the stop valve is completed, and the water is taken; b.
- the electromagnetic suction device loses power, and the coiled trolley is separated from the water intake assembly as a box; c, after 2 seconds delay, the walking motor starts and walks toward the starting point; d, after 2 seconds delay, the water control solenoid valve opens to enter the water spray state; e, after 2 seconds delay, the cleaning motor installed on the gantry enters the forward and reverse rotation cleaning state; f, delay 1 second to disconnect the NPN photoelectric sensor Output contact; g, delay 2 seconds after the coil motor is powered, the motor is in the state of the tube, the length of the hose depends on the situation, generally take about 20 meters;
- the line When the line reaches the setting range (can be set as physical or time), enter the second stage of cleaning state, and make the following linkage: a, the running motor stops, and then walks toward the end point; b, the coil motor reverses, the motor is in the take-off status;
- the micro switch mounted on the device operates and performs six linkages: a, the electromagnetic cleaning device and the water intake assembly are sucked; b, the electric push The rod motor is energized instantaneously, reversely acting and mechanically maintained, separating the water intake joint from the stop valve on the water supply main pipe; c, the water control solenoid valve is de-energized; d, the rotary cleaning motor is de-energized; e. The coil motor loses power and stops; f, NPN photoelectric sensor resumes normal operation;
- Step 3 After the last water intake point is completed, the cleaning device continues to move forward. When the cleaning device reaches the end point, the end point of the end of the trolley is installed close to the switch action, and the following linkage is performed: a. Return control of the traveling motor Signal, the motor reverses walking until it reaches the starting point position; b, disconnects the NPN photoelectric sensor power line contact, so that the NPN photoelectric sensor does not work during the return journey of the car;
- Step 4 When the car returns to the starting point, the initial proximity switch action is installed on the side of the starting point of the car, and the following linkage is performed: a, the NPN photoelectric sensor power line contact is restored; b, the external power supply and the built-in 12V battery is sucked, the battery enters a charging state; c, the water spray motor connected to the normally closed contact and the traveling motor lose power, and the motor stops running;
- Step 5 After a cleaning is completed, the total power time switch is turned off, the related control function is in the reset state, the device enters the sleep state, and waits for the next duty cycle.
- the water spray motor performs forward rotation and reverse rotation according to the setting procedure and time, and drives the rotary joint to perform forward rotation and reverse rotation.
- the configuration of 1 to N electronically controlled valves By controlling the configuration of 1 to N electronically controlled valves, the nozzles of each nozzle are flushed within the preset cleaning range according to the program and water injection time requirements.
- the method of rinsing the effluent depends on the installation method of the PV module. It can be swung directly from the front to the right or left, or it can be washed upwards and left in the rain.
- the cleaning device When the cleaning device is installed above the side, it can swing the impact cleaning downwards to the left or right, or it can be combined with the impact type and the rain type according to the circumferential rotation; 1 to N universal nozzles (depending on the cleaning width, N is generally taken 2-5) The direction of the water outlet is different. Each nozzle is responsible for the area of a certain width in front of it, and its length area is rotated. The amplitude of the swing is determined by the water pressure. When 1 to N nozzles are flushed in sequence, the cleaning of a certain unit in the area is completed; after the running motor is powered, the rolling wheel is rotated by the driving teeth, from the starting point to the working end direction. Walk, stop at the water point and stop the PV unit.
- the NPN photoelectric sensor sends a water intake signal and performs the following linkage; the traveling motor stops before going;
- the electromagnet is instantaneously pushed up with the quick water intake male connector and the suction cup electromagnet; the suction cup electromagnet is energized and then sucks and closes the jellyfish joint.
- the water in the main rail is sent to the small parent tube through the quick joint to the water tank inside the pipe box. .
- Each electromagnetic water valve is opened and discharged according to the procedure and time. When the electromagnetic water valve completes a round of cleaning and water discharge, it automatically resets, the running motor starts, and the next round of cleaning work is continued. Repeat the above cleaning work, the cleaning device can walk and clean over a long distance.
- the mobile cleaning trolley can greatly improve the equipment utilization rate and reduce the one-time input cost of the equipment; the distributed installation on the spot can play the cleaning effect of the fixed cleaning device; the conventional dispersion
- the local nozzle is concentrated in the box body, the system is simpler, the pipe consumption is greatly reduced; the cleaning water can be allocated according to the program reasonably, and the utilization rate of the cleaning water can be improved; according to the relative position of the track and the photovoltaic module, the rotating nozzle can swing left and right, and can be rotated circumferentially.
- the water outlet method is flexible and diverse. The direction of the water can be straight or rain. Rain-fighting cleaning is better for PV modules installed in a near-tiled manner.
- the rain-fighting cleaning method is characterized by artificially manufacturing a short-term extraordinarily heavy rain in a small area, and scouring the surface of the photovoltaic module in the set area without blind spots.
- the cleaning method uses a water pressure to flush a sufficient amount of water to a sufficient height through a multi-way valve control device, and then the large particle water droplets uniformly hit the surface of the photovoltaic panel in a free fall manner, so that the surface of the photovoltaic panel is peeled off, and the water is removed. .
- the direct flush automatic cleaning method can also achieve the flushing effect of the artificial water gun.
- the track is set to move the cleaning device, and the track length is determined according to the arrangement and requirements of the photovoltaic module.
- a plurality of water-stop joints are arranged on the main rail as water intake ports to avoid the use of large equipment to install washing water; the water receiving signal is automatically set, and the degree of automation is high.
- the water source fixed on the pipeline is automatically occluded by the upper and lower water intake devices, and automatically receives water to the small mother tube of the cleaning device as cleaning water; the whole device starts, walks, takes water, cleans, resets, and constantly Cycle to the end point until you return to the starting point and then recharge, all according to the program settings, no manual intervention.
- the non-contact close-range flushing can be performed through the spray pipe on the gantry; the bypass nozzle can be used for close-range flushing; in the non-aqueous state, the brush can be cleaned by the motor.
- Contact cleaning dry cleaning
- contact cleaning combined with close proximity cleaning.
- the electric brush can simultaneously spray water through the micro water nozzle above the electric brush during the rotary cleaning process, which can well remove the deep ash accumulation on the surface of the photovoltaic module. It belongs to a kind of cleaning device with ultra low water consumption. This cleaning device is particularly suitable for severely water-stressed areas.
- the device is composed of a water intake component, a coiled trolley and a cleaning mechanism, and the water is taken by the cleaning mechanism in the rail.
- separation and suction can be realized, and the hose is extended and contracted by the moving, thereby realizing long-distance water intake and using water to clean the photovoltaic module during the moving process.
- the long-distance contact rotary cleaning combined with water cleaning is a breakthrough in the cleaning method and cleaning quality of the photovoltaic module cleaning field.
- Embodiment 1 is a process flow diagram of a fully automatic rail-type photovoltaic module cleaning trolley provided in Embodiment 1;
- Figure 2 is a partial structural view of Figure 1;
- FIG 3 is a structural view of a fully automatic rail type photovoltaic module cleaning trolley provided in the second embodiment.
- the fully automatic rail type photovoltaic module cleaning trolley provided by the embodiment includes clearing The washing machine body, the main rail 9 and the auxiliary rail 32, the cleaning cart body slides between the main rail 9 and the auxiliary rail 32, and the bottom of the cleaning cart body is provided with a limit rolling device 31, and the limit rolling device 31 is preferably a card slot. At least part of the auxiliary rail 32 is located inside the card slot, and the card slot and the auxiliary rail 32 together limit the movement path of the cleaning trolley to prevent the cleaning trolley from swinging left and right. Both ends of the main rail 9 are provided with a bent portion facing the auxiliary rail 32, and the inner sides of the two bent portions are respectively provided with a starting point sensing position and an ending sensing position.
- the cleaning vehicle body comprises a valve control device, a traveling mechanism, a water intake mechanism and a control part;
- the valve control device comprises a tank body 1 in which a water spray motor 13 , a water jet motor shaft gear 14 , a rotating shaft gear 15 and a shaft are arranged.
- the water spray motor 13 is connected to the rotary shaft gear 15 via the water spray motor output shaft gear 14 for driving the rotary joint 18, thereby controlling the water discharge path of the universal spray head 16.
- the traveling mechanism includes a walking bracket 2, a bearing 3, a traveling shaft 4, a traveling wheel 5, a moving shaft gear 6, a traveling motor shaft gear 7, a traveling motor 8, and a main rail 9; the traveling bracket 2 is disposed on an outer side of the upper portion of the casing 1.
- the traveling motor 8 is connected to the traveling motor shaft gear 7, the traveling motor shaft gear 7 is meshed with the moving shaft gear 6, the moving shaft gear 6 is disposed on the traveling shaft 4, the traveling shaft 4 is disposed on the traveling bracket 2, and the traveling shaft 4 is located
- the bearing 3 at both ends is rotatably connected with the walking bracket 2, and the traveling wheel 5 is disposed in the middle of the traveling shaft 4, and the main rail 9 is movably connected under the traveling wheel 5; the traveling motor drives the traveling shaft 4, and the traveling wheel 5 drives the cleaning carriage body along the main rail 9 slide.
- the main rail 9 is a hollow structure, and the main rail 9 is in communication with a water source.
- the water taking mechanism includes a water-stop joint 10, a walking groove 11, a photoelectric sensor 12, a water locating pin 22, a water suction cup magnet 23, a water take-up joint 24, a push-pull electromagnet 25, a water receiving hose 26, a photoelectric sensor 12, and a push-pull type.
- the electromagnet 25 and the water suction cup electromagnet 23 are located at the upper portion of the inner side wall of the casing 1, and the water suction cup electromagnet 23 is provided with the water intake male connector 24.
- the upper part of the casing 1 is provided with a walking groove 11 which is located directly below the main rail 9.
- the water suction cup electromagnet 23 and the water intake male joint 24 are disposed in the walking groove 11, and the jellyfish joint 10 is located outside the lower part of the main rail 9.
- one end of the water intake male connector 24 passes through the traveling groove 11 and communicates with the waterstop joint 10 to take water.
- the other end of the water intake male connector 24 communicates with the small mother pipe 21 of the valve control device through the water receiving hose 26.
- the control portion includes an electrical controller 27, a charging interface 28, a battery 29, an external charging device 34, and a charging electromagnetic chuck 38.
- the charging electromagnetic chuck 38 is disposed outside the charging interface 28.
- the charging electromagnetic chuck 38 is sucked by the external charging device 34 and charged by the charging interface 28 for the battery 29 disposed in the casing 1.
- the casing 1 is provided with an electric controller 27, and the electric controller 27 controls the entire provided by the present invention.
- the automatic orbital photovoltaic module cleans the opening and closing of the trolley circuit.
- the end of the box 1 near the end point is equipped with an end point proximity switch 33 and an end point sensing position 36.
- the other side of the box body 1 near the starting point is provided with an initial proximity switch 30 and an initial sensing position 35 for sensing the starting point respectively. And the end point.
- the cleaning trolley stops at the starting point, and when the preset cleaning time is up (generally in the evening, controlled by the time switch), the circuit of the cleaning trolley is powered on;
- the photoelectric sensor in this embodiment is an NPN photoelectric sensor, inductively taking water positioning needle, and making the following linkage: a, the walking motor stops walking; b, the water suction cup electromagnet 23 After 2 seconds of electric return, the impact of the water inlet male connector is up; c, the water suction cup electromagnet is energized, and the water intake male connector and the water source through the jellyfish joint are connected to take water; d, the electromagnetic water valve operates in accordance with a preset program and Flushing.
- the relevant control module automatically resets; the water suction cup electromagnet loses power and returns to the position, the traveling motor is energized, and continues to the next water locating needle. After the arrival, the above working procedure is repeated until the end is completed. Cleaning work at a water locating needle;
- the track car continues to move forward.
- the walking car goes to the end point, the end point installed on the end of the car is close to the switch action, and the following linkage: a, the walking motor The return control signal is obtained, the traveling motor reverses walking, and the reverse walking state is maintained to the starting point position; b, the photoelectric sensor is powered off, and the photoelectric sensor does not work during the cleaning of the trolley return stroke.
- the initial proximity switch action is installed on the side of the starting point of the car, and the following linkage is performed: a, the photoelectric sensor is energized, ready for the next cycle of operation; b, charging electromagnetic The suction cup is in contact with the external charging device, and the 12V battery enters the charging state; c, the water spray motor and the traveling motor lose power, the motor stops running, and the battery is automatically reset after the charging is completed;
- the clean water entering the main rail 9 is clean softened water, one or several of river water, river water, rain water and deep well water, etc. It can be used as a water source for cleaning softened water.
- the original water pump pressurizes the water in the water source and then selectively passes the material filter according to the water quality of the water source to filter the minerals, soften the water device, further soften the water, mineral content and softening degree.
- the water that meets the standard can enter the water storage tank as a buffer, or directly pass the secondary water pump through the check valve to increase the water pressure to about 0.4 MPa, wherein the check valve prevents the water source from flowing backward.
- the water pressurized to 0.4 MPa can be selectively introduced into the relay water pump according to the water pressure, and the water pressure is further pressurized to 0.6 MPa or more, and the water pressure, the mineral content and the softening degree are all delivered to the photovoltaic module water pipe network. Such as the main track.
- the fully automatic rail-type photovoltaic module cleaning trolley provided in this embodiment includes a cleaning trolley body, a main rail 9 and an auxiliary rail 32.
- the main rail 9 and the auxiliary rail 32 are respectively located on both sides of the photovoltaic module, and the cleaning vehicle body is cleaned.
- the main rail 9 and the auxiliary rail 32 are slid by the contact at the top thereof.
- the cleaning cart body comprises a water taking mechanism, a box body 7 and a cleaning mechanism.
- a water taking mechanism On the lower outer side wall of the main rail 9, two through-water joints 10 and two water-removing locating pins 22 are provided, which are respectively recorded as a water-feeding joint.
- the water intake mechanism and the tank 7 are connected by a water receiving hose 26, wherein the water receiving hose 26 is a leaded hose; the photoelectric sensor 12 is disposed on the upper left side of the water taking mechanism; on the main rail 9 and the auxiliary rail 32
- a gantry 48 is provided, and the gantry 48 is fixedly coupled to the casing 7, and the gantry 48 is slidable along the main rail 9 and the auxiliary rail 32.
- the water taking mechanism comprises a water intake component passive roller 54, an electric push rod 25 and a water take-up male joint 24, and a water take-off male joint is arranged inside the water take-up mechanism, and the bottom end of the water take-off male joint 24 communicates with the leaded wire hose 26, and the water intake male joint 24
- the track 9 passes through the water take-up assembly passive roller 54, and the water take-up mechanism slides along the main track 9 through the water take-up assembly passive roller 54.
- the box body 7 includes a belt hose 26, two electromagnetic suction and separators 40, a hose positioning wheel 41, an electromagnetic water valve 20, a coiler 42, a battery 29, and an electrical controller 27 (ie, a PLC control board).
- the electric retractable wheel 43 and the electric control valve 56 are provided with a coiler 42, a hose positioning wheel 41, an electric retractable wheel 43, a battery 29 and a PLC control board 27 on the inner side of the casing 7, and the coiler 42 is wound on the upper side.
- There is a wire hose 26 having one end connected to the bottom end of the water intake male connector 24, and the other end of the wire hose 26 connected to the electric control valve 56, and a wire hose at the upper end of the electronic control valve 56.
- 26 is provided with electromagnetic water valve 20 and straight flushing nozzle 49; on the right side of the casing 7 is provided with two electromagnetic suction and separator 40; on the right side of the bottom end of the casing 7 is provided with an end point proximity switch 33; On the left side of the bottom end of the casing 7, an initial proximity switch 30 is provided, the left side of the casing 7 is close to the starting position, and the right side is close to the ending position.
- a micro switch 53 is provided on the right side of the upper end of the casing 7 for controlling circuit breaking and closing at the end point.
- the cleaning mechanism includes a gantry 48 to which the gantry 48 is fixedly coupled, and the gantry 48 is slidable along the main rail 9 and the auxiliary rail 32.
- the gantry wheel 3 and the gantry wheel 4 slide along the main track 9 and the auxiliary track 32.
- the lower part of the gantry is provided with two rows of water spray pipes 59.
- the outer side wall of the spray water pipe 59 facing the photovoltaic module is provided with a water spray head 16 and a cleaning motor 52 for cleaning dust on the surface of the photovoltaic module.
- the cleaning trolley is parked at the starting position, the box is at the starting position, the starting mechanism is located on the side of the box near the end position, and the preset cleaning time is up (generally in the evening, controlled by the time control switch), cleaning Powering up the circuit inside the car;
- the embodiment adopts the NPN photoelectric sensor to enter the cleaning state, and the first stage performs the following linkage: a, the electric push rod motor instantaneously energizes and mechanically holds, takes water The male connector is connected to the water supply female pipe on the water supply main pipe to complete the water intake; b, the electromagnetic absorption and the separator are de-energized after 2 seconds delay, the box body is separated from the water intake mechanism; c, the delay is 2 seconds after walking The motor starts and walks toward the starting point; d, after 2 seconds delay, the electromagnetic water valve opens to enter the water spray state; e, after 2 seconds delay, the cleaning motor installed on the gantry enters the forward and reverse rotation cleaning state; f, delay The output contact of the 1 second NPN photoelectric sensor is disconnected; g, the coil motor is energized after 2 seconds delay, the coiler is in the state of the discharge tube, and the length of the hose with the wire is not the content claimed in the present invention, and can be
- the line When the line reaches the setting range (can be set as physical or time), enter the second stage of the cleaning state, and make the following linkage: a, the walking motor stops after walking to the end direction; b, the coil motor reverses, the coiler is at Received status.
- the setting range can be set as physical or time
- the micro switch installed on the device operates and performs the following linkages: a, the electromagnetic attraction and the separator are powered, and the box and the water intake mechanism are coupled; b.
- the electric push rod motor is energized instantaneously, reverse action and mechanical maintenance, separating the water intake male connector and the waterstop joint; c, the electromagnetic water valve is de-energized; d, the rotary cleaning motor loses power and stops; e, coil The motor loses power and stops; f, NPN photoelectric sensor resumes normal operation.
- the cleaning device continues to move forward.
- the end point of the end of the trolley is installed close to the switch action, and the following linkages are made: a, NPN The photoelectric sensor power line contact is disconnected, the NPN photoelectric sensor does not work during the return stroke of the trolley; b, the traveling motor obtains the return control signal, the traveling motor reverses walking, and keeps the reverse walking state until the starting point position;
Landscapes
- Cleaning In General (AREA)
Abstract
一种全自动轨道式光伏组件清洗小车，包括行走机构、取水机构及控制部分。控制部分分别与行走机构和取水机构电连接，行走机构带动取水机构和控制部分沿与水源连通的主轨道（9）移动。还公开了一种该清洗小车的清洗方法，包括如下清洗步骤：步骤1，清洗小车的电气回路上电，行走电机启动，清洗小车沿主轨道（9）向终点方向行走至取水定位针（22）处，清洗小车停止行走，取水，清洗小车对光伏组件进行清洗。步骤2，清洗小车行走至下一个取水定位针，重复步骤1所述的取水、清洗程序；步骤3，清洗结束，或重复步骤2直至完成最后一个取水定位针处的取水、清洗程序。该清洗设备能够沿轨道自动行走，识别取水点并取水，降低了成本，能自动控制程序合理分配清洗用水，提高清洗水的效率。
Description
本发明涉及太阳能光伏技术领域，具体涉及一种全自动轨道式光伏组件清洗小车及其清洗方法。
光伏发电作为一种清洁能源，得到国家产业政策大力支持，近年来光伏电站的建设规模发展迅猛。
光伏发电依靠阳光照射，其发电效率很大程度上取决于光伏组件的洁净程度。光伏电站多置于室外，光伏组件容易被沙尘、污渍等污染物覆盖，致使组件表面接收的光照强度下降，由此造成可观的发电损失。同时局部灰尘遮蔽还可能导致热斑效应，造成安全隐患。
现阶段光伏电站光伏组件的保洁手段主要有：1)人工清洗，该方式应用最广，但清洗成本高，效果差，效率低；2)高压水枪清洗，清洗效果较好，但需移动水车或地埋管路，清洗成本高，效率低，难以大面积快速清洗，且不能清洗水罐车辆无法行驶的电站；3)喷淋***清洗，能清除光伏组件表面尘埃，但效果不理想，设备维护成本高；4)专业清洗设备，设备成本较高，对光伏组件安装环境要求较高，需专业技术人员操作，无法大面积低成本清洗。
发明内容
本发明的目的在于针对现有技术的不足，提供一种结构简单、设计合理、适应性广、使用方便的全自动轨道式光伏组件清洗小车及其清洗方法。
本发明的第一个方面在于提供一种全自动轨道式光伏组件清洗小车，包括行走机构、取水机构及控制部分，所述控制部分分别与所述行走机构和所述取水机构电连接，所述行走机构带动所述取水机构和所述控制部分沿与水源连通的主轨道移动。
在一个优选实施例中，所述行走机构包括行走轮、行走电机和主轨道；所述行走电机与所述控制部分电连接，所述行走电机驱动所述行走轮，使所述行走轮沿所述主轨道移动。
在一个优选实施例中，所述清洗小车还包括阀控装置，所述阀控装置包含箱体，以及位于箱体内的喷水电机、电磁水阀、多个旋转接头、小母管，以及分别与所述旋转接头连通的多个万向喷头；所述小母管一端与所述取水机构的取水公接头连通，另一端与所述电磁水阀的进水侧连通，所述电磁水阀的出水侧连通所述旋转接头上与所述万向喷头相对的一端，所述喷水电机驱动所述旋转接头。
在一个优选实施例中，所述箱体内还设有喷水电机出轴齿轮、转动轴齿轮、旋转接头固定板和连接管，所述旋转接头固定板将所述旋转接头固定，转动轴齿轮固定安装在旋转接头的长轴的中部，所述喷水电机出轴齿轮一侧面通过连接轴与喷水电机连接，所述喷水电机出轴齿轮与转动轴齿轮啮合，所述喷水电机通过所述喷水电机出轴齿轮和转动轴齿轮带动所述旋转接头旋转。
在一个优选实施例中，所述箱体内还设有接水软管，所述小母管通过所述接水软管与所述取水公接头连通。
在一个优选实施例中，所述行走机构包含行走支架、轴承、行走轴、行走轮、动轴齿轮、行走电机轴齿轮、行走电机、主轨道；
所述行走支架设置在所述箱体顶部的外侧壁上，行走轴两端设置有轴承，行走轴通过位于其两端的轴承与行走支架转动连接；
动轴齿轮设置在行走轴上、轴承的外侧，所述行走电机与行走电机轴齿轮连接，行走电机轴齿轮与动轴齿轮啮合，所述行走电机通过所述行走电机轴齿轮和所述动轴齿轮驱动行走轴，所述行走轴带动位于其中部的行走轮沿主轨道移动。
其中，行走轴上，两个所述轴承之间的部分为内侧，与内侧相对的部分的外侧。
在一个优选实施例中，所述取水机构包含与所述控制部分电连接的光电传感器，取水公接头，位于所述取水公接头下方的电动推杆，以及固定安装在所述主轨道下表面上的多组定位取水组件，每组所述定位取水组件包括取水定位针和通止水母接头，所述取水定位针阻挡光电传感器接收光线，光电传感器发生光电转换，并将信号传递至所述控制部分，所述控制部分向所述电动推杆给电，得电的所述电动推杆推动所述取水公接头，取水公接头上行与所述通止水母接头连通取水。
在一个优选实施例中，每组定位取水组件中的取水定位针和通止水母接头之间的距离相等。
在一个优选实施例中，所述取水机构包含与所述控制部分电连接的光电传感器，设有取水吸盘电磁铁的取水公接头，位于所述取水公接头下方的推拉式电磁铁，以及固定安装在所述主轨道下表面上的多组定位取水组件，每组所述定位取水组件包括取水定位针和通止水母接头，所述取水定位针阻挡光电传感器接收光线，光电传感器发生光电转换，并将信号传递至所述控制部分，所述控制部分向所述推拉式电磁铁给电，得电的所述推拉式电磁铁撞击所述取水公接头，设有取水吸盘电磁铁的取水公接头上行，使所述取水公接头与所述通止水母接头连通取水。
在一个优选实施例中，所述取水机构位于所述箱体内部，所述行走机构位于所述箱体的外侧上部，所述箱体的上部设有行走槽，所述取水公接头穿过所述行走槽与所述通止水母接连通取水。
在一个优选实施例中，所述取水吸盘电磁铁及取水公接头位于所述行走槽中。
在一个优选实施例中，带取水吸盘电磁铁的所述取水公接头下端设有复位弹簧，所述复位弹簧一端连接在所述取水公接头上，另一端固定在所述箱体的内壁上，所述推拉式电磁铁得电后向上撞击所述取水公接头，所述取水公接头带动复位弹簧向上运动，所述取水吸盘电磁铁得电，带动取水公接头与所述通止水母接头连通取水至设定时间；所述取水吸盘电磁铁失电，所述复位弹簧拉动所述取水公接头向下移动，所述取水公接头与所述通止水母接头断开，停止取水。
在一个优选实施例中，所述控制部分包含电气控制器、充电接口、蓄电池、外置充电装置、充电电磁吸盘；所述电气控制器设置在所述箱体上，所述蓄电池位于所述箱体内部；所述充电电磁吸盘位于所述充电接口的外侧，所述外置充电装置与充电接口通过充电电磁吸盘吸合后连接，向所述蓄电池充电。
在一个优选实施例中，所述箱体与所述主轨道垂直的一外侧面上安装有终点接近开关和终点感应位，与所述主轨道垂直的另一外侧面上安装有起始接近开关和起始感应位。
在一个优选实施例中，所述清洗小车还设有辅助轨道，所述辅助轨道位于所述箱体的外侧下部，所述箱体底部的外侧面上设置有限位滚动装置，所述箱体通过所述限位滚动装置与辅助轨道活动连接。
在一个优选实施例中，所述清洗小车还包括盘管小车，所述盘管小车通过位于其顶部、外侧壁上的被动滚轮与所述主轨道滑动连接，所述盘管小车包括带导线软管、电控阀、盘管器、PLC控制板、电动伸缩轮，所述带导线软管缠绕在所述盘管器上，带导线软管一端与取水公接头底端连接，带导线软管另一端与电控阀连通，所述PLC控制板通过控制所述电动伸缩轮的伸缩，调节所述带导线软管的收起或释放。
在一个优选实施例中，所述盘管小车上还设有电磁吸合及分离器，所述盘管小车通过所述电磁吸合及分离器与所述取水结构连接或断开。
在一个优选实施例中，所述清洗小车还包括清洁机构，所述清洁机构包括龙门架和位于所述龙门架下部的喷水管，所述龙门架与所述箱体固定连接，所述龙门架沿所述主轨道滑动。
在一个优选实施例中，所述清洗小车还设有辅助轨道，所述辅助轨道与所述主轨道分别位于光伏组件的两侧，所述龙门架沿所述主轨道和所述辅助轨道滑动。
在一个优选实施例中，所述喷水管下部的外侧壁上还设有水喷头和清扫电机，所述水喷头与所述带导线软管连通，用于向光伏组件喷水，所述清扫电机用于清除光伏组件表面的灰尘。
本发明的工作原理为：在光伏组件沿线安装有主轨道和辅助轨道，主轨道与水源连通，既作为清洗小车的行走轨道，又在清洗光伏组件时提供取水点，实现了水源沿光伏组件的延伸。本发明提供的全自动轨道式光伏组件清洗***悬挂在主轨道上，辅助轨道起稳定作用；起始工作点处为移动式车载清洗装置非工作时间的停靠位置，该处设有固定式12V或24V直流充电电源；在主轨道上，从起始点到终点设有多个通止水母接头作为取水点，清洗***在沿主轨道行驶过程中借助取水定位针自动识别取水点并取水，通过阀控装置对光伏组件进行清洗。本发明提供的全自动轨道式光伏组件清洗***可大大提高设备利用率，降低设备一次性投入，实现低成本、大范围、高频次、无人工干预的全自动清洗。
清洗小车运行过程中，龙门架上的清扫电机清扫光伏组件上的灰尘，清洗小车运行至取水点后，可直接喷水，也可释放带导线软管，龙门架带动带导线软管反向行驶，在行驶过程中喷水给清扫电机，实现带水清扫及冲洗，清洗频次可根
据光伏组件的污染程度设定。
本发明第二个方面在于提供一种全自动轨道式光伏组件清洗小车的清洗方法，所述清洗方法包括如下步骤：
步骤1、清洗小车电气回路上电，行走电机启动，清洗小车沿主轨道向终点方向行走至取水定位针处，取水定位针阻挡光电传感器的接收光线，光电传感器发生光电转换，并将转换的电信号传输至控制部分，清洗小车停止行走，取水公接头与通止水母接头连通进行取水，清洗小车清洗光伏组件；
步骤2、清洗小车行走至下一个取水定位针，重复步骤1所述取水、清洗程序；
步骤3、清洗结束，或重复步骤2直至完成最后一个取水定位针处的取水、清洗程序。
在一个优选实施例中，所述清洗方法包括如下步骤：
步骤1、清洗小车电气回路上电，行走电机启动，清洗小车沿主轨道向终点方向行走至取水定位针处，取水定位针阻挡光电传感器的接收光线，光电传感器发生光电转换，并将转换的电信号传输至所述控制部分，清洗小车停止行走，取水公接头与通止水母接头连通取水，清洗小车对光伏组件进行清洗至设定时间，取水公接头与通止水母接头断开，控制单元归位；
步骤2、行走电机得电，清洗小车行走至下一取水定位针处，重复以上程序，直至完成最后一个取水定位针处的相应程序；
步骤3、轨道小车继续行走，安装在清洗小车终点一侧的终点接近开关动作，感应终点，光电传感器断电，行走电机反转，清洗小车向起始点方向行走；
步骤4、清洗小车行走至起始点，安装在所述清洗小车起始点一侧的起始接近开关动作，光电传感器得电，喷水电机与行走电机失电，蓄电池充电，清洗小车完成一个清洗周期。
在一个优选实施例中，所述清洗小车行走在相邻两个取水定位针之间的过程中，清洗小车对光伏组件清洗或不清洗。
在一个优选实施例中，步骤1为清洗小车电气回路上电，行走电机启动，清洗小车沿主轨道向终点方向行走至取水定位针处，取水定位针阻挡光电传感器的接收光线，光电传感器发生光电转换，并将转换的电信号传输至控制部分，清洗
小车停止行走，推拉式电磁铁撞击取水公接头，取水公接头上行，吸盘电磁铁得电，取水公接头与通止水母接头连通取水，清洗光伏组件，吸盘电磁铁失电，控制单元归位。
在一个优选实施例中，步骤1为清洗小车电气回路上电，行走电机启动，清洗小车沿主轨道向终点方向行走至取水定位针处，取水定位针阻挡光电传感器的接收光线，光电传感器发生光电转换，并将转换的电信号传输至控制部分，清洗小车停止行走，电动推杆推动取水公接头上行，与通止水母接头连通取水，清洗光伏组件至设定时间，电动推杆下行，取水公接头与通止水母接头断开。
在一个优选实施例中，步骤1中清洗小车行走至取水定位针处，所述清洗小车取水过程中，行走电机反转，清洗小车向起始点方向行走，龙门架上的清扫电机运转和/或喷水管喷水，光电传感器失电，行走至设定时间后，行走电机正转，向终点方向行走。
在一个优选实施例中，步骤1取水过程中，释放带导线软管；向终点方向行走过程中，收起带导线软管。
在一个优选实施例中，清洗小车向起始点方向行走过程中，所述电磁吸合及分离器与所述盘管小车断开。
在一个优选实施例中，所述清洁方法步骤如下：
步骤1、全自动移动式节水型光伏组件清洁装置在起始点停靠位，在预设清洁时间到时(一般在晚间，由时间开关控制)，小车内电气回路上电；
步骤2、全自动移动式节水型光伏组件清洁装置电气控制回路上电后行走电机启动，处于正转状态,朝终点方向行走；
当行走至第一取水点时，NPN光电传感器动作，进入清洗状态，第一阶段作7个联动：a、电动推杆电机瞬间得电动作并作机械保持,将取水接头上行与供水母管上的止通阀连接，完成取水；b、延时2秒后电磁吸合装置失电，盘管小车与取水组件作箱体分离；c、延时2秒后行走电机启动,向起点方向行走；d、延时2秒后水控电磁阀打开进入喷水状态；e、延时2秒后安装在龙门架上的清扫电机进入正反旋转清扫状态；f、延时1秒断开NPN光电传感器的输出接点；g、延时2秒后盘管电机得电，电机处于放管状态，软管长度视情况而定，一般取20米左右；
当行至设定范围时(可作物理或时间设定)进入清洗状态第二阶段，作以下联动：a、行走电机停止，然后向终点方向行走；b、盘管电机反转，电机处于收管状态；
当清洁装置向终点方向移动并接触到取水组件时，安装在装置上的微动开关动作，并作6个联动：a、电磁吸合装置得电清洁装置与取水组件吸合；b、电动推杆电机瞬间得电，反向动作并作机械保持，将取水接头与供水母管上的止通阀分离；c、水控电磁阀失电关闭；d、旋转清扫电机失电停转；e、盘管电机失电停转；f、NPN光电传感器恢复正常工作；
至此该范围的一轮光伏组件清洁工作结束(也可根据需要设置该范围内的来回清洗次数)，相关控制模块自动复位，行走电机再次得电，继续向下一个取水点前行，到达后重复以上的工作程序，直至完成最后一个取水点范围内的清洁工作；
步骤3、完成最后一个取水点的工作后，清洁装置继续前行，当清洁装置行至终点时，安装在小车终点一侧的终点接近开关动作，并作以下联动：a、给行走电机返程控制信号，电机反转行走，直至到达起始点位置前；b、将NPN光电传感器电源线接点断开，使小车返行程过程中，NPN光电传感器不工作；
步骤4、当小车返行程至起始点时，安装在小车起始点一侧的起始接近开关动作，并作以下联动：a、NPN光电传感器电源线接点恢复导通；b、外置电源与内置12V蓄电池吸合，所述蓄电池进入充电状态；c、连接在常闭接点的喷水电机与行走电机失电，电机停止运转；
步骤5、完成一次清洁后，总电源时间开关关闭，相关控制功能处在复位状态，装置进入休眠状态，等待下一工作周期。
喷水电机按设定程序及时间进行正转与反转，并带动旋转接头进行正转与反转。通过控制1至N个电控阀的组态，使各路喷头按程序及喷水时间要求，在预设清洗范围内对光伏组件进行冲洗。冲洗的出水方式视光伏组件的安装方式而定，可以正前方直接左右摆动冲洗，也可向上以左右摆动的雨击方式清洗。清洗装置安装在侧面上方时，可向下左右摆动冲击式清洗，也可以按圆周转动方式作冲击式与雨击式结合的清洗；1至N个万向喷头(视清洗宽度确定，N一般取2-5)的出水方向各不相同，每个喷头负责其前方一定宽度的区域，其长度区域由旋转
摆动幅度与水压确定。当1至N个喷头冲水依次完成后，即完成区域内某一单元的清洗；在清洗装置的工作时段，行走电机得电后，经传动齿带动滚动轮转动，由起始点向工作终点方向行走，遇取水点后停止前行，对某光伏单元进行冲洗。冲洗完成后继续前行至下一站，直至各单元冲洗完成后返回起始点；当车载清洗装置行走至取水点时，NPN光电传感器发出取水信号，并作以下联动；行走电机停止前行；推拉式电磁铁瞬间推动装有快速取水公接头与吸盘电磁铁上行；吸盘电磁铁得电后吸合通止水母接头，主轨道内水经快速接头至管箱内接水软管送至小母管。各路电磁水阀按程序及时间打开并出水。当电磁水阀完成一轮清洗出水后自动复位，行走电机启动，继续下一轮清洗工作。重复上述清洗工作，清洗装置可长距离行走与清洗。
本发明提供的全自动轨道式光伏组件清洗小车的有益效果为：
1、清洗装置结构及形式上的创新：移动式清洗小车可大大提高设备利用率，降低设备的一次性投入成本；就地分布式安装可起到固定式清洗装置的清洗效果；将常规分散性就地喷头集中于箱体内，***更加简单，管材用量大幅减少；能按程序合理分配清洗用水，提高清洗水的利用率；根据轨道与光伏组件的相对位置，旋转喷头可左右摆动，可圆周转动，出水方式灵活多样。出水方向可为直冲式，也可为雨击式。对以接***铺方式安装的光伏组件，雨击式清洗效果更佳。雨击式清洗方式的特征在于人为制造小范围内的短时特大暴雨，将设定区域内的光伏组件表面污染物无盲区地冲刷干净。该清洗方式借助水压，通过多路阀控装置，将足量的水冲至足够高度，随后大颗粒水滴以自由落体方式均匀撞击光伏板表面，使光伏板表面污染物剥离，随流水而去。直冲式自动清洗方式也能达到人工持水枪的冲洗效果。
2、取水方法上的突破：
设置轨道让清洗装置运动起来，轨道长度根据光伏组件布置形式及需求确定。主轨道上分布有多个通止水母接头作为取水口，避免使用大设备承装清洗水；自动设别取水信号，自动化程度高。当接收到取水信号后，固定在管道上的水源经上下取水装置自动咬合连接，并自动接水至清洗装置小母管作为清洗用水；整套装置从启动、行走、取水、清洗、复位、并不断循环到终点，直到返回起始点后再充电，全部根据程序设定完成，无需人工干预。
3、清洁功能多样性的创新
根据光伏组件清洁需求，可进行相关功能的取舍，通过龙门架上的喷水管可进行非接触极近距离冲洗；通过旁路喷头可进行近距离冲洗；在无水状态下，通过清扫电机刷可进行接触式清扫(干洗)；可进行接触式清扫与极近距离冲洗相结合的清洁方式。
4、清洁装置在节水能力方面的创新
本装置接触式旋转清扫与近距离水清洗相结合的清洁方式中，电动刷在旋转清扫过程中，通过电动刷上方的微型水喷头同时喷水，能很好地清除光伏组件表面深层积灰，属于一种超低用水量的清洁装置。该清洁装置对严重缺水地区尤为合适。
5、长距离水清洁方法上的突破
装置分别由取水组件、盘管小车及清洁机构三部分组成，通过清洁机构在轨移动方式取水。在取水组件与盘管小车方面，可实现分离与吸合，通过移动中的软管伸与缩，实现了长距离取水及在移动过程中使用水清洁光伏组件。而长距离接触式旋转清扫与水清洁相结合的清洁方式，是光伏组件清洁领域在清洁方法与清洁质量上质的突破。
图1为实施例一提供的全自动轨道式光伏组件清洗小车的工艺流程图；
图2为图1的部分结构图；
图3为实施例二提供的全自动轨道式光伏组件清洗小车的结构图。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面对实施例或现有技术描述中所需要使用的附图作简单介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他附图。
实施例一
如图1-图2所示，本实施例提供的全自动轨道式光伏组件清洗小车包括清
洗小车主体、主轨道9和辅助轨道32，清洗小车主体在主轨道9和辅助轨道32之间滑动，清洗小车主体底部设有限位滚动装置31，该限位滚动装置31优选为卡位槽，至少部分辅助轨道32位于卡位槽内部，卡位槽与辅助轨道32一起限制清洗小车的运动路径，防止清洗小车左右摆动。主轨道9两端均设有朝向辅助轨道32的弯折部，两个弯折部的内侧分别设有起始点感应位和终点感应位。
清洗小车主体包括阀控装置、行走机构、取水机构及控制部分；阀控装置包含箱体1，箱体1内设置有喷水电机13、喷水电机出轴齿轮14、转动轴齿轮15、万向喷头16、旋转接头固定板17、旋转接头18、连接管19、电磁水阀20、小母管21；小母管21通过与之连接的接水软管26与取水机构的取水公接头24连通，小母管21的支管接头连接电磁水阀20的进水侧，旋转接头18一端与电磁水阀20的出水侧连通，另一端与万向喷头16连通，旋转接头18长轴的中部安装有传动齿轮15，旋转接头固定板17用于固定旋转接头18。喷水电机13通过喷水电机出轴齿轮14与转动轴齿轮15连接，用于驱动旋转接头18，进而控制万向喷头16的出水路径。
行走机构包含行走支架2、轴承3、行走轴4、行走轮5、动轴齿轮6、行走电机轴齿轮7、行走电机8、主轨道9；行走支架2设置在箱体1上部的外侧面上；行走电机8与行走电机轴齿轮7连接，行走电机轴齿轮7与动轴齿轮6啮合，动轴齿轮6设置在行走轴4上，行走轴4设置在行走支架2上，行走轴4通过位于其两端的轴承3与行走支架2转动连接，行走轴4中部设置有行走轮5，行走轮5下方活动连接主轨道9；行走电机驱动行走轴4，行走轮5带动清洗小车主体沿主轨道9滑动。主轨道9为中空结构，主轨道9与水源连通。
取水机构包含通止水母接头10、行走槽11、光电传感器12、取水定位针22、取水吸盘磁铁23、取水公接头24、推拉式电磁铁25、接水软管26；光电传感器12、推拉式电磁铁25、取水吸盘电磁铁23位于箱体1内侧壁的上部，取水吸盘电磁铁23上装有取水公接头24。箱体1上部设有行走槽11，行走槽11位于主轨道9的正下方，取水吸盘电磁铁23及取水公接头24设置在行走槽11内，通止水母接头10位于主轨道9的下部外侧壁上，取水公接头24的一端穿过行走槽11与通止水母接头10连通取水，取水公接头24的另一端通过接水软管26与阀控装置的小母管21连通。
控制部分包含电气控制器27、充电接口28、蓄电池29、外置充电装置34、充电电磁吸盘38；充电电磁吸盘38设置于充电接口28的外侧。充电电磁吸盘38与外置充电装置34吸合后通过充电接口28为设置于箱体1内的蓄电池29充电；箱体1上设置有电气控制器27，电气控制器27控制本发明提供的全自动轨道式光伏组件清洗小车电路的开合。
箱体1靠近终点的一侧安装有终点接近开关33和终点感应位36，箱体1靠近起始点的另一侧安装有起始接近开关30和起始感应位35，分别用于感应起始点和终点。
箱体1内部还设有时间开关，用于控制各个程序的工作时间。
本实施例提供的全自动轨道式光伏组件清洗小车的清洗方法如下：
(1)清洗小车在起始点停靠位，在预设清洗时间到时(一般在晚间，由时间开关控制)，清洗小车的电路上电；
(2)电路上电后作以下联动：a、行走电机启动，处于正转行走状态，向终点行走；b、喷水电机启动，按正转一定时间与反转相同时间不断反复循环，直到一轮清洗工作结束；
(3)行走至第一个取水定位针时，光电传感器，本实施例中为NPN光电传感器，感应取水定位针，并作以下联动：a、行走电机停止行走；b、取水吸盘电磁铁23得电2秒后归位，瞬间撞击取水公接头上行；c、取水吸盘电磁铁得电，将取水公接头与水源通止水母接头连通取水；d、电磁水阀按预先设定的程序依次动作并冲水。
当冲水设定时间到后，相关控制模块自动复位；取水吸盘电磁铁失电回位，行走电机得电，继续向下一个取水定位针前行，到达后重复以上的工作程序，直至完成最后一个取水定位针处的清洗工作；
(4)在完成最后一个取水定位针处的工作后，轨道小车继续前行，当行走小车行至终点，安装在小车终点一侧的终点接近开关动作，并作以下联动：a、行走电机获得返程控制信号，行走电机反转行走，并保持反转行走状态至起始点位置；b、光电传感器断电，清洗小车返行程过程中，光电传感器不工作。
(5)当小车返行程至起始点时，安装在小车起始点一侧的起始接近开关动作，并作以下联动：a、光电传感器通电，准备下一轮的运行周期；b、充电电磁
吸盘与外置充电装置接触，12V蓄电池进入充电状态；c、喷水电机与行走电机失电，电机停止运转，充电结束后自动复位；
(6)完成一次清洗后，总电源时间开关关闭，相关控制功能处在复位状态，装置进入休眠状态，等待下一个工作周期。
如图1所示，本发明提供的全自动轨道式光伏组件清洗小车中，进入主轨道9中的清洁水为清洁软化水，江水、河水、雨水和深井水等中的一种或几种均可以作为清洁软化水的水源，原水泵将水源中的水加压后根据水源的水质可选择地通过物质过滤器，过滤其中的矿物质，软化水装置，进一步软化水，矿物质含量、软化程度均达标的水可进入储水箱作为缓冲，或直接通过逆止阀后经过二级水泵，将水压增加至0.4MPa左右，其中逆止阀为防止水源倒流。加压至0.4MPa的水，根据水压可选择地进入中继水泵，将水压进一步加压至0.6MPa以上，水压、矿物质含量以及软化程度均达标的水输送至光伏组件水管网络，如主轨道等。
实施例二
如图3所示，本实施例提供的全自动轨道式光伏组件清洗小车包括清洗小车主体、主轨道9和辅助轨道32，主轨道9和辅助轨道32分别位于光伏组件的两侧，清洗小车主体通过位于其顶部的接触件沿主轨道9和辅助轨道32滑动。
清洗小车主体包括取水机构、箱体7和清洁机构，在主轨道9的下部外侧壁上设有2个通止水母接头10和2个取水定位针22，分别记为通止水母接头一、通止水母接头二和取水定位针一、取水定位针二，且通止水母接头一到取水定位针一的距离与通止水母接头二到取水定位针二的距离相等，主轨道9的起始位处设有12V外置电源34；在主轨道9的外侧设有取水机构和箱体7，其中，主轨道9与辅助轨道之间的部分为“内侧”，与“内侧”相对的部分为外侧。取水机构和箱体7之间通过接水软管26连通，其中接水软管26为带导线软管；在取水机构的上方左侧设有光电传感器12；在主轨道9与辅助轨道32上设有龙门架48，龙门架48与箱体7固定连接，龙门架48可沿主轨道9和辅助轨道32滑动。取水机构包括取水组件被动滚轮54、电动推杆25和取水公接头24，在取水机构内侧设有取水公接头，取水公接头24的底端与带导线软管26连通，在取水公接头24的下面设有电动推杆25，在取水机构的顶端设有取水组件被动滚轮54，主轨
道9穿过取水组件被动滚轮54，取水机构通过取水组件被动滚轮54沿主轨道9滑动。箱体7包括一带导线软管26、2个电磁吸合及分离器一40、、软管定位轮41、电磁水阀20、盘管器42、蓄电池29、电气控制器27(即PLC控制板)、电动伸缩轮43和电控阀56，在箱体7的内侧设有盘管器42、软管定位轮41、电动伸缩轮43、蓄电池29和PLC控制板27，盘管器42上面缠绕有带导线软管26，带导线软管26的一端与取水公接头24的底端连接，带导线软管26的另一端与电控阀56连接，在电控阀56上端的带导线软管26上设有电磁水阀20和直冲喷头49；在箱体7的右侧面上设有2个电磁吸合及分离器40；在箱体7底端右侧设有终点接近开关33；在箱体7底端左侧设有起始接近开关30，箱体7的左侧接近起始位，右侧接近终点位。在箱体7上端右侧设有微动开关53用于控制终点处的电路断开与闭合。
清洁机构包括龙门架48，龙门架48与箱体7固定连接，龙门架48可沿主轨道9和辅助轨道32滑动。龙门架48的前后两侧设有2个行走电机8，分别记为行走电机一、行走电机二，龙门架48通过位于其下部的四个龙门架滚轮，分别为龙门架滚轮一、龙门架滚轮二、龙门架滚轮三和龙门架滚轮四，沿主轨道9和辅助轨道32滑动。龙门架下部设有2排喷水管59，喷水管59朝向光伏组件的一侧的外侧壁上设有水喷头16和清扫电机52，清扫电机52用于扫除光伏组件表面的灰尘。
采用本实施例提供的全自动轨道式光伏组件清洗小车清洗光伏组件的方法如下：
(1)清洗小车停靠在起始位，箱***于起始位，起始机构位于箱体靠近终点位的一侧，预设清洁时间到时(一般在晚间，由时间控制开关控制)，清洗小车内电路上电；
(2)行走电机启动，处于正转行走状态，清洗小车沿主轨道和辅助轨道朝终点方向行走；
当行走至第一个取水定位针时，光电传感器，本实施例采用NPN光电传感器动作，进入清洁状态，第一阶段作以下联动：a、电动推杆电机瞬间得电动作并作机械保持，取水公接头上行与供水母管上的通止水母接头连通完成取水；b、延时2秒后电磁吸合及分离器失电，箱体与取水机构分离；c、延时2秒后行走
电机启动，向起点方向行走；d、延时2秒后电磁水阀打开进入喷水状态；e、延时2秒后安装在龙门架上的清扫电机进入正反旋转清扫状态；f、延时1秒NPN光电传感器的输出接点断开；g、延时2秒后盘管电机得电，盘管器处于放管状态，带导线软管的长度不是本发明请求保护的内容，可以根据需要而定，一般为20米左右。
当行至设定范围时(可作物理或时间设定)，进入清洁状态第二阶段，作以下联动：a、行走电机停止后向终点方向行走；b、盘管电机反转，盘管器处于收管状态。
当清洁装置向终点方向移动并接触到取水机构时，安装在装置上的微动开关动作，并作以下联动：a、电磁吸合及分离器得电，箱体与取水机构吸合；b、电动推杆电机瞬间得电，反向动作并做机械保持，将取水公接头与通止水母接头分离；c、电磁水阀失电关闭；d、旋转清扫电机失电停转；e、盘管电机失电停转；f、NPN光电传感器恢复正常工作。
至此该取水定位针处的一轮光伏组件清洁工作结束，相关控制模块自动复位，行走电机再次得电，继续向下一个取水点前行，到达后重复以上工作程序，直至完成最后一个取水定位针处的清洁工作；
(3)在完成最后一个取水定位针位置处的清洗工作后，清洁装置继续前行，当清洁装置行至终点，安装在小车终点一侧的终点接近开关动作，并作以下联动：a、NPN光电传感器电源线接点断开，小车返行程过程中，NPN光电传感器不工作；b、行走电机获得返程控制信号，行走电机反转行走，并在行至起始点位置前一直保持反转行走状态；
(4)清洗小车返行程至起始点时，安装在清洗小车起始点一侧的起始接近开关动作，并作以下联动：a、NPN光电传感器电源线接点恢复导通状态，准备下一轮的运行周期；b、外置电源与蓄电池吸合进入充电状态；c、连接在常闭接点的喷水电机与行走电机失电，电机停止运转(当充电结束后自动复位)；
(5)完成一次清洁后，总电源时间开关关闭，相关控制功能处在复位状态，装置进入休眠状态，等待下一个工作周期
以上对本发明的具体实施例进行了详细描述，但其只是作为范例，本发明并不限于以上描述的具体实施例。对本领域技术人员而言，任何对本发明进行的等同修改和替代也都在本发明的范畴之中。因此，在不脱离本发明的精神和范围下
所作的均等变换和修改，都应涵盖在本发明的范围内。
Claims (20)
- 一种全自动轨道式光伏组件清洗小车，其特征在于，包括行走机构、取水机构及控制部分，所述控制部分分别与所述行走机构和所述取水机构电连接，所述行走机构带动所述取水机构和所述控制部分沿与水源连通的主轨道移动。
- 根据权利要求1所述的清洗小车，其特征在于，所述行走机构包括行走轮、行走电机和主轨道；所述行走电机与所述控制部分电连接，所述行走电机驱动所述行走轮，使所述行走轮沿所述主轨道移动。
- 根据权利要求1所述的清洗小车，其特征在于，所述清洗小车还包括阀控装置，所述阀控装置包含箱体，以及位于箱体内的喷水电机、电磁水阀、多个旋转接头、小母管，以及分别与所述旋转接头连通的多个万向喷头；所述小母管一端与所述取水机构的取水公接头连通，另一端与所述电磁水阀的进水侧连通，所述电磁水阀的出水侧连通所述旋转接头上与所述万向喷头相对的一端，所述喷水电机驱动所述旋转接头。
- 根据权利要求3所述的清洗小车，其特征在于，所述箱体内还设有喷水电机出轴齿轮、转动轴齿轮、旋转接头固定板和连接管，所述旋转接头固定板将所述旋转接头固定，转动轴齿轮固定安装在旋转接头的长轴的中部，所述喷水电机出轴齿轮一侧面通过连接轴与喷水电机连接，所述喷水电机出轴齿轮与转动轴齿轮啮合，所述喷水电机通过所述喷水电机出轴齿轮和转动轴齿轮带动所述旋转接头旋转。
- 根据权利要求3或4所述的清洗小车，其特征在于，所述清洗小车还设有辅助轨道，所述辅助轨道位于所述箱体的外侧下部，所述箱体底部的外侧面上设置有限位滚动装置，所述箱体通过所述限位滚动装置与辅助轨道活动连接。
- 根据权利要求3所述的清洗小车，其特征在于，所述行走机构包含行走支架、轴承、行走轴、行走轮、动轴齿轮、行走电机轴齿轮、行走电机、主轨道；所述行走支架设置在所述箱体顶部的外侧壁上，行走轴两端设置有轴承，行走轴通过位于其两端的轴承与行走支架转动连接；动轴齿轮设置在行走轴上、轴承的外侧，所述行走电机与行走电机轴齿轮连接，行走电机轴齿轮与动轴齿轮啮合，所述行走电机通过所述行走电机轴齿轮和所述动轴齿轮驱动行走轴，所述行走轴带动位于其中部的行走轮沿主轨道移动。
- 根据权利要求1所述的清洗小车，其特征在于，所述取水机构包含与所述控制部分电连接的光电传感器，取水公接头，位于所述取水公接头下方的电动推杆，以及固定安装在所述主轨道下表面上的多组定位取水组件，每组所述定位取水组件包括取水定位针和通止水母接头，所述取水定位针阻挡光电传感器接收光线，光电传感器发生光电转换，并将信号传递至所述控制部分，所述控制部分向所述电动推杆给电，得电的所述电动推杆推动所述取水公接头，取水公接头上行与所述通止水母接头连通取水。
- 根据权利要求1所述的清洗小车，其特征在于，所述取水机构包含与所述控制部分电连接的光电传感器，设有取水吸盘电磁铁的取水公接头，位于所述取水公接头下方的推拉式电磁铁，以及固定安装在所述主轨道下表面上的多组定位取水组件，每组所述定位取水组件包括取水定位针和通止水母接头，所述取水定位针阻挡光电传感器接收光线，光电传感器发生光电转换，并将信号传递至所述控制部分，所述控制部分向所述推拉式电磁铁给电，得电的所述推拉式电磁铁撞击所述取水公接头，设有取水吸盘电磁铁的取水公接头上行，使所述取水公接头与所述通止水母接头连通取水。
- 根据权利要求8所述的清洗小车，其特征在于，带取水吸盘电磁铁的所述取水公接头下端设有复位弹簧，所述复位弹簧一端连接在所述取水公接头上，另一端固定在所述箱体的内壁上，所述推拉式电磁铁得电后向上撞击所述取水公接头，所述取水公接头带动复位弹簧向上运动，所述取水吸盘电磁铁得电，带动取水公接头与所述通止水母接头连通取水至设定时间；所述取水吸盘电磁铁失电，所述复位弹簧拉动所述取水公接头向下移动，所述取水公接头与所述通止水母接头断开，停止取水。
- 根据权利要求8所述的清洗小车，其特征在于，所述清洗小车还包括盘管小车，所述盘管小车通过位于其顶部、外侧壁上的被动滚轮与所述主轨道滑动连接，所述盘管小车包括带导线软管、电控阀、盘管器、PLC控制板、电动伸缩轮，所述带导线软管缠绕在所述盘管器上，带导线软管一端与取水公接头底端连接，带导线软管另一端与电控阀连通，所述PLC控制板通过控制所述电动伸缩轮的伸缩，调节所述带导线软管的收起或释放。
- 根据权利要求10所述的清洗小车，其特征在于，所述清洗小车还包括清洁 机构，所述清洁机构包括龙门架，以及位于所述龙门架下部的喷水管，所述喷水管与所述龙门架与所述箱体顶端外部固定连接，所述龙门架带动所述箱体沿所述主轨道滑动。
- 根据权利要求11所述的清洗小车，其特征在于，所述清洗小车还设有辅助轨道，所述辅助轨道与所述主轨道分别位于光伏组件的两侧，所述龙门架沿所述主轨道和所述辅助轨道滑动。
- 根据权利要求11所述的清洗小车，其特征在于，所述喷水管的下部外侧壁上还设有水喷头和清扫电机，所述水喷头与所述带导线软管连通，用于向光伏组件喷水，所述清扫电机用于清除光伏组件表面的灰尘。
- 根据权利要求1所述的清洗小车，其特征在于，所述控制部分包含电气控制器、充电接口、蓄电池、外置充电装置、充电电磁吸盘；所述电气控制器设置在所述箱体上，所述蓄电池位于所述箱体内部；所述充电电磁吸盘位于所述充电接口的外侧，所述外置充电装置与充电接口通过充电电磁吸盘吸合后连接，向所述蓄电池充电。
- 一种全自动轨道式光伏组件清洗小车的清洗方法，其特征在于，所述清洗方法包括如下步骤：步骤1、清洗小车电气回路上电，行走电机启动，清洗小车沿主轨道向终点方向行走至取水定位针处，取水定位针阻挡光电传感器的接收光线，光电传感器发生光电转换，并将转换的电信号传输至控制部分，清洗小车停止行走，取水公接头与通止水母接头连通进行取水，清洗小车清洗光伏组件；步骤2、清洗小车行走至下一个取水定位针，重复步骤1所述取水、清洗程序；步骤3、清洗结束，或重复步骤2直至完成最后一个取水定位针处的取水、清洗程序。
- 根据权利要求15所述的清洗方法，其特征在于，所述清洗方法包括如下步骤：步骤1、清洗小车电气回路上电，行走电机启动，清洗小车沿主轨道向终点方向行走至取水定位针处，取水定位针阻挡光电传感器的接收光线，光电传感器发生光电转换，并将转换的电信号传输至所述控制部分，清洗小车停止行走，取 水公接头与通止水母接头连通取水，清洗小车对光伏组件进行清洗至设定时间，取水公接头与通止水母接头分离，控制单元归位；步骤2、行走电机得电，清洗小车行走至下一个取水定位针处，重复以上程序，直至完成最后一个取水定位针处的相应程序；步骤3、轨道小车继续行走，安装在清洗小车终点一侧的终点接近开关动作，感应终点，光电传感器断电，行走电机反转，清洗小车向起始点方向行走；步骤4、清洗小车行走至起始点，安装在所述清洗小车起始点一侧的起始接近开关动作，光电传感器得电，喷水电机与行走电机失电，蓄电池充电，清洗小车完成一个清洗周期。
- 根据权利要求15所述的清洗方法，其特征在于，步骤1为清洗小车电气回路上电，行走电机启动，清洗小车沿主轨道向终点方向行走至取水定位针处，取水定位针阻挡光电传感器的接收光线，光电传感器发生光电转换，并将转换的电信号传输至控制部分，发生光电转换，清洗小车停止行走，推拉式电磁铁撞击取水公接头，取水公接头上行，吸盘电磁铁得电，取水公接头与通止水母接头连通取水，清洗光伏组件，吸盘电磁铁失电，控制单元归位。
- 根据权利要求15所述的清洗方法，其特征在于，步骤1为清洗小车电气回路上电，行走电机启动，清洗小车沿主轨道向终点方向行走至取水定位针处，取水定位针阻挡光电传感器的接收光线，光电传感器发生光电转换，并将转换的电信号传输至控制部分，清洗小车停止行走，电动推杆推动取水公接头上行，与通止水母接头连通取水，清洗光伏组件至设定时间，电动推杆下行，取水公接头与通止水母接头断开。
- 根据权利要求15-18任一项所述的清洗方法，其特征在于，步骤1中清洗小车行走至取水定位针处并取水后，行走电机反转，清洗小车向起始点方向行走，龙门架上的清扫电机运转和/或喷水管喷水，光电传感器失电，行走至设定时间后，行走电机正转，向终点方向行走。
- 根据权利要求19所述的清洗方法，其特征在于，所述清洗方法包括如下步骤：步骤1、全自动移动式节水型光伏组件清洁装置在起始点停靠位，在预设清 洁时间到时，小车内电气回路上电；步骤2、全自动移动式节水型光伏组件清洁装置电气控制回路上电后行走电机启动后处于正转行走状态，朝终点方向行走；当行走至第一取水点时，NPN光电传感器动作，进入清洁状态，第一阶段作以下联动：a、电动推杆电机瞬间得电动作并作机械保持,将取水接头上行与供水母管上的止通阀连接完成取水；b、延时2秒后电磁吸合装置失电盘管小车与取水组件作箱体分离；c、延时2秒后行走电机启动，向起点方向行走；d、延时2秒后水控电磁阀打开进入喷水状态；e、延时2秒后安装在龙门架上的清扫电机进入正反旋转清扫状态；f、延时1秒将NPN光电传感器的输出接点断开；g、延时2秒后盘管电机得电，电机处于放管状态，软管长度一般取20米左右；当行至设定范围时，进入清洁状态第二阶段，作以下联动：a、行走电机停止后向终点方向行走；b、盘管电机反转，电机处于收管状态；当清洁装置向终点方向移动并接触到取水组件时，安装在装置上的微动开关动作，并作以下联动：a、电磁吸合装置得电清洁装置与取水组件吸合；b、电动推杆电机瞬间得电，反向动作并作机械保持，将取水接头与供水母管上的止通阀分离；c、水控电磁阀失电关闭；d、旋转清扫电机失电停转；e、盘管电机失电停转；f、NPN光电传感器恢复正常工作；至此该范围的一轮光伏组件清洁工作结束，相关控制模块自动复位，行走电机再次得电，继续向下一个取水点前行，到达后重复以上的工作程序，直至完成最后一个取水点范围内的清洁工作；步骤3、在完成最后一个取水点的工作后，清洁装置继续前行，当清洁装置行至终点，安装在小车终点一侧的终点接近开关动作，并作以下联动：a、将NPN光电传感器电源线接点断开，使小车返行程过程中，NPN光电传感器不工作；b、给行走电机返程控制信号，使电机反转行走，并在行至起始点位置前一直保持反转行走状态；步骤4、当小车返行程至起始点时，安装在小车起始位一侧的起始接近开关动作，并作以下联动：a、使NPN光电传感器电源线接点恢复导通状态，准备下一轮的运行周期；b、外置电源与蓄电池吸合，所述蓄电池进入充电状态；c、使连接在常闭接点的喷水电机与行走电机失电，电机停止运转；步骤5、完成一次清洁后，总电源时间开关关闭，相关控制功能处在复位状态，装置进入休眠状态，等待下一个工作周期。
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