CN-121990163-A - Photovoltaic cleaning robot migration device and method

CN121990163ACN 121990163 ACN121990163 ACN 121990163ACN-121990163-A

Abstract

The invention discloses a photovoltaic cleaning robot migration device and a photovoltaic cleaning robot migration method, in particular to the technical field of photovoltaic cleaning equipment, comprising an unmanned aerial vehicle and a nacelle connected with the unmanned aerial vehicle through a lifting rope, wherein the nacelle comprises a controller, a nacelle body, a travelling mechanism, an optical sensor and a lifting rotating mechanism, the travelling mechanism for driving the nacelle body to move on a photovoltaic panel is arranged at the bottom of the nacelle body, the optical sensor is used for identifying and positioning the cleaning robot, the lifting rotating mechanism is used for lifting the cabin body to enable the travelling mechanism to be separated from the surface of the photovoltaic panel and drive the cabin body to rotate, the cabin body comprises a flap door and a flap door driving device, the flap door is rotatably connected with the bottom surface of the cabin body through a rotating shaft, the flap door driving device drives the flap door to rotate outwards to open or rotate inwards to close, and when the flap door is opened, the cleaning robot enters the cabin body through the flap door. The invention can improve the morning migration efficiency of the cleaning robot among different photovoltaic arrays, has high flexibility and lower requirements on the field environment, and improves the cleaning efficiency.

Inventors

LI DONG
LUO YUYING
FU XIAOXUAN
WANG PENG
LI LEI
QI YANCHUN
ZHANG XU
ZHU GE
YU XIAO
GAO QIANG
LI DAHUA
ZHANG ZIKANG
XIE WENQI
ZHANG ZIJIAN
ZHAO WEI

Assignees

天津理工大学

Dates

Publication Date: 20260508
Application Date: 20260327

Claims (10)

1. The photovoltaic cleaning robot migration device is characterized by comprising an unmanned aerial vehicle and a nacelle, wherein the unmanned aerial vehicle is fixedly connected with the nacelle through a lifting rope, the nacelle comprises a controller, a nacelle body, a travelling mechanism, an optical sensor and a lifting rotation mechanism, the travelling mechanism is arranged at the bottom of the nacelle body and used for driving the nacelle body to move on a photovoltaic panel along a straight line, the optical sensor is connected with the nacelle body and used for identifying and positioning the photovoltaic cleaning robot, the lifting rotation mechanism is connected with the nacelle body and used for lifting the nacelle body to enable the travelling mechanism to be separated from the surface of the photovoltaic panel, then the nacelle body is driven to rotate around the axis of the vertical photovoltaic panel, the nacelle body comprises a flap door and a flap door driving device, the flap door driving device is connected with the bottom surface of the nacelle body in a rotating mode and used for driving the flap door to rotate outwards or rotate inwards to be closed, and the flap door driving device, the optical sensor, the lifting rotation mechanism and the flap door driving device are connected with the flap door to rotate outwards when the flap door is opened through a control signal.
2. The photovoltaic cleaning robot migration apparatus according to claim 1, wherein a clamping mechanism is arranged in the cabin body and is used for clamping and fixing the photovoltaic cleaning robot, and the clamping mechanism is in signal connection with the controller.
3. The photovoltaic cleaning robot moving device according to claim 2, wherein the clamping mechanism comprises two clamping pieces, the two clamping pieces are symmetrically fixed on two opposite side surfaces of the cabin body, the clamping pieces comprise a clamping cylinder and a clamping plate, the fixed end of the clamping cylinder is fixedly connected with the side wall of the cabin body, and the free end of the clamping cylinder is fixedly connected with the clamping plate.
4. The photovoltaic cleaning robot migration apparatus according to claim 3, wherein a flexible backing plate is provided on a side of the clamping plate away from the cylinder.
5. The photovoltaic cleaning robot migration apparatus of claim 1, wherein the traveling mechanism comprises a traveling driving device and a crawler traveling mechanism, and the traveling driving device is connected with the crawler traveling mechanism and used for driving the crawler traveling mechanism to rotate.
6. The photovoltaic cleaning robot migration apparatus according to claim 1, wherein the lifting and rotating mechanism comprises a rotating mechanism and a lifting mechanism, the rotating mechanism comprises a rotating cylinder, the free end of the rotating cylinder is fixedly connected with the bottom surface of the cabin body, the lifting mechanism comprises a lifting cylinder, the fixed end of the lifting cylinder is fixedly connected with the fixed end of the rotating cylinder, and the free end of the lifting cylinder can be in contact with the photovoltaic panel.
7. The photovoltaic cleaning robot migration apparatus according to claim 6, wherein the lifting and rotating mechanism further comprises a sucker mechanism, the sucker mechanism comprises a sucker body, an air suction pipe and an air pump, the sucker body is fixedly connected with the free end of the lifting cylinder, the sucker body can be in contact with the photovoltaic panel, and the sucker body is connected with the air pump through the air suction pipe.
8. The photovoltaic cleaning robot migration apparatus of claim 1, wherein the flap door driving apparatus comprises two electric push rods, fixed ends of the two electric push rods are respectively hinged with the side wall of the cabin, and free ends of the two electric push rods are respectively hinged with the left side and the right side of the flap door.
9. The photovoltaic cleaning robot migration apparatus according to claim 1, wherein an in-place detection sensor is arranged in the cabin body, the in-place detection sensor is used for detecting whether the photovoltaic cleaning robot completely enters the cabin body, and the in-place detection sensor is in signal connection with the controller.
10. A method of transporting a photovoltaic cleaning robot using the device of any one of claims 1 to 9, comprising the steps of: After a photovoltaic cleaning robot finishes the cleaning operation of a single photovoltaic array, the unmanned aerial vehicle carries the nacelle to fly above the photovoltaic array, and the nacelle stably falls on the surface of a photovoltaic panel after accurate hovering; The optical sensor detects the alignment state of the cabin door of the cabin body and the central axis of the photovoltaic cleaning robot, if the deviation between the central axis of the cabin door and the central axis of the photovoltaic cleaning robot is detected, the controller controls the lifting rotating mechanism to lift the cabin body firstly, so that the travelling mechanism is separated from the surface of the photovoltaic panel, and then the cabin body is driven to rotate around the axis of the vertical photovoltaic panel until the central axis of the cabin door and the central axis of the photovoltaic cleaning robot completely coincide; After the cabin body reaches a preset position, the controller controls the flap door driving device to act and drives the flap door to turn outwards and open until the flap door is attached to the surface of the photovoltaic panel to form a smooth transition inclined plane; after the photovoltaic cleaning robot completely enters the cabin body and stops in place, the controller instructs the flap door driving device to drive the flap door to inwards turn over, close and lock; Step five, slowly descending the height of the unmanned aerial vehicle after the unmanned aerial vehicle reaches the upper part of the next photovoltaic array until the nacelle stably contacts the photovoltaic panel, and keeping the unmanned aerial vehicle in a hovering state; the flap door is turned outwards and opened, and is attached to the photovoltaic panel to form a transitional inclined plane, an operator instructs the photovoltaic cleaning robot to drive out of the cabin body along the inclined plane, the photovoltaic cleaning robot moves to a designated operation position of the photovoltaic array, and a cleaning program is started; And step six, after the photovoltaic cleaning robot is driven out, the flap door is turned inwards to be closed and locked, the unmanned aerial vehicle is lifted to return to the initial stopping position with the nacelle, standby rest is completed, and after the photovoltaic cleaning robot finishes the cleaning operation of the current photovoltaic array, the next round of transportation flow is started.

Description

Photovoltaic cleaning robot migration device and method Technical Field The invention relates to the technical field of photovoltaic cleaning equipment, in particular to a photovoltaic cleaning robot migration device and a photovoltaic cleaning robot migration method. Background The global energy structure is accelerating to clean low-carbon transformation, and the photovoltaic industry is coming to a high-speed development period by virtue of the outstanding advantages of renewable resources and small environmental impact. The photovoltaic panel is used as a core component for photoelectric conversion of a photovoltaic system, and the running performance of the photovoltaic panel directly determines the power generation efficiency of the whole system and plays a key role in project economic benefit. Because the photovoltaic panel is exposed in the outdoor environment for a long time, pollutants such as dust, bird droppings and the like are easily accumulated on the photovoltaic panel, the stability of the output electric energy of the photovoltaic system can be effectively guaranteed through regular cleaning, the erosion of the pollutants to equipment can be reduced, and the actual service life of the photovoltaic panel is prolonged. As a key link of operation and maintenance of the photovoltaic system, scientific cleaning is not only an important grip for improving the overall utilization efficiency of clean energy, but also a key measure for cracking the current photovoltaic operation and maintenance pain point. The current photovoltaic module cleaning means mainly comprises four categories of manual cleaning, mechanical cleaning, unmanned aerial vehicle cleaning and robot cleaning, and the application characteristics and the limitation difference of various technologies are obvious. The robot cleaning method has the advantages of being superior to other modes, and mainly comprises two types of rail hanging type and crawler type. The track-mounted robot uses a photovoltaic panel frame as a running support, a rolling brush is driven by an upper end driving motor and a lower end driving motor to clean, a cleaning period can be automatically decided by combining data of a small weather station or preset time, but the running range is strictly limited by an array covered by a single track, the cross-array transfer is required to depend on auxiliary equipment such as a ferry car, the running stability of the equipment can be greatly reduced under severe environments such as sand erosion, track corrosion, temperature difference deformation and the like, the track-mounted robot is moved by virtue of panel surface friction, the transfer among different photovoltaic arrays is required to be manually carried, the cleaning efficiency is greatly reduced, and the manual carrying is more inconvenient especially for photovoltaic power stations in special positions such as hilly mountain areas, roofs and the like. How to promote the efficient automatic transfer and deployment of the photovoltaic cleaning robot in a large-scale and complex-terrain photovoltaic power station, and solve the problems of low efficiency, insufficient flexibility, high initial investment, severe requirements on site environment and the like existing in the existing transfer mode (such as manual transportation, rail transportation and vehicle transportation), and become an important topic to be solved in the industry. Disclosure of Invention The invention aims to provide a photovoltaic cleaning robot migration device and a photovoltaic cleaning robot migration method, which are used for solving the problems in the prior art, improving the morning migration efficiency of the cleaning robot among different photovoltaic arrays, and having high flexibility, lower requirements on the field environment and improving the cleaning efficiency. In order to achieve the above object, the present invention provides the following solutions: The invention provides a photovoltaic cleaning robot migration device which comprises an unmanned aerial vehicle and a nacelle, wherein the unmanned aerial vehicle is fixedly connected with the nacelle through a lifting rope, the nacelle comprises a controller, a nacelle body, a travelling mechanism, an optical sensor and a lifting rotation mechanism, the travelling mechanism is arranged at the bottom of the nacelle body and used for driving the nacelle body to move on a photovoltaic panel along a straight line, the optical sensor is connected with the nacelle body and used for identifying and positioning the photovoltaic cleaning robot, the lifting rotation mechanism is connected with the nacelle body and used for lifting the nacelle body to enable the travelling mechanism to be separated from the surface of the photovoltaic panel, then the nacelle body is driven to rotate around the axis of the vertical photovoltaic panel, the nacelle body comprises a flap door and a flap door driving device, the flap door driving devic