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CN-122009401-A - Overwater photovoltaic power station cleaning robot trans-row transfer system and method

CN122009401ACN 122009401 ACN122009401 ACN 122009401ACN-122009401-A

Abstract

The invention relates to the technical field of cleaning of waterborne photovoltaic arrays, and discloses a trans-row transfer system and a trans-row transfer method for a cleaning robot of a waterborne photovoltaic power station. The invention relates to a water photovoltaic array, which comprises a plurality of rows of photovoltaic plates which are arranged in parallel, a transfer execution mechanism, a cleaning robot, a lifting unit and a traction control mechanism, wherein the water photovoltaic array is internally provided with linear channels which penetrate through the lower parts of the rows of photovoltaic plates, the transfer execution mechanism is used for bearing the cleaning robot and can move among the rows of the water photovoltaic array along the linear channels, and the water photovoltaic array is used for solving the technical problems of low positioning precision, poor transfer stability and low operation efficiency caused by the influence of environmental factors such as water flow, wind wave and the like of the conventional fixed facility construction cost, poor flexibility, operation and maintenance ship and the like.

Inventors

  • SHI SHUO
  • LIU YANHUA
  • WEI JIAHAO
  • SU MENGMENG
  • SU XIYUN
  • LIU XUEFEI

Assignees

  • 山东道与物联科技有限公司

Dates

Publication Date
20260512
Application Date
20260126

Claims (10)

  1. 1. The overwater photovoltaic power station cleaning robot transrow transfer system is characterized by comprising an overwater photovoltaic array (4), a transfer executing mechanism, a cleaning robot (5), a lifting unit and a traction control mechanism; The water photovoltaic square matrix (4) comprises a plurality of rows of photovoltaic plates which are arranged in parallel, and linear channels penetrating through the lower parts of the rows of photovoltaic plates are formed in the water photovoltaic square matrix (4); the transfer executing mechanism is used for bearing the cleaning robot (5) and can move along the linear channel between rows of the water photovoltaic square arrays (4); The lifting unit is connected with the transferring executing mechanism and used for driving the transferring executing mechanism to lift so that the transferring executing mechanism can be in butt joint with the target photovoltaic panel for transferring by the cleaning robot (5); The traction control mechanism comprises traction devices which are respectively and fixedly arranged on the banks on two sides of the water photovoltaic square matrix (4), wherein the traction devices are connected with the transport execution mechanism through traction ropes, and the movement and the positioning of the transport execution mechanism in the linear channel are controlled by cooperatively winding and unwinding the traction ropes.
  2. 2. The water photovoltaic power station cleaning robot row-crossing transfer system according to claim 1, wherein the lifting unit comprises two crawler-type lifting transfer vehicles (1) which are respectively arranged on two sides of a shore and are oppositely arranged, a cableway (2) is erected between the two crawler-type lifting transfer vehicles (1), the transfer execution mechanism is a cableway transfer vehicle (3) arranged on the cableway (2), and the crawler-type lifting transfer vehicles (1) are configured to drive the cableway (2) to lift the cableway transfer vehicle (3) through synchronous lifting.
  3. 3. The water photovoltaic power station cleaning robot row-crossing transfer system according to claim 2, wherein the crawler-type lifting transfer vehicle (1) comprises a base (13), a first scissors fork (14) arranged on the base (13) and a bearing platform (16) arranged on the top of the first scissors fork (14).
  4. 4. A water photovoltaic power station cleaning robot row-crossing transfer system according to claim 3, wherein one end of the bearing platform (16) is hinged to the top of one side of the first scissor frame (14), and the crawler lifting transfer vehicle (1) further comprises a first driving device (15), and the first driving device (15) is used for driving the bearing platform (16) to rotate around a hinge point so as to adjust the inclination angle of the bearing platform.
  5. 5. A water photovoltaic power plant cleaning robot trans-row transfer system according to claim 3, characterized in that the base (13) is provided with telescopic support legs (11).
  6. 6. A water photovoltaic power plant cleaning robot trans-row transfer system according to claim 2, characterized in that the traction means is a winch one (12) mounted on a crawler-type lifting transfer car (1), the winch one (12) is equipped with a traction rope one (32), the free end of the traction rope one (32) is fixedly connected with a cableway transfer car (3).
  7. 7. The overwater photovoltaic power station cleaning robot transrow transfer system according to claim 1 is characterized in that the transfer executing mechanism is a transfer platform (63), the transfer platform (63) is arranged on a transfer ship (6), the traction control mechanism comprises two second windlass (7) fixedly arranged on two sides of the overwater photovoltaic square matrix (4) respectively, the second windlass (7) is provided with a second traction rope (65), and the second traction ropes (65) of the two second windlass (7) are fixedly connected with the head and the tail of the transfer ship (6) respectively.
  8. 8. The water photovoltaic power station cleaning robot transrow transfer system according to claim 7, wherein the transfer vessel (6) comprises a hull (61), the lifting unit is a second scissor frame (62) mounted on the hull (61), and the transfer platform (63) is mounted on top of the second scissor frame (62).
  9. 9. A water photovoltaic power plant cleaning robot trans-row transfer system according to any of claims 1-8, characterized in that the cleaning robot (5) has the function of moving both transversely and longitudinally in the plane of the photovoltaic panel.
  10. 10. A trans-row transfer method of a cleaning robot of a photovoltaic power station on water, based on a transfer system according to any one of claims 1-9, characterized by comprising the steps of: s1, loading a cleaning robot (5) onto a transfer executing mechanism; S2, cooperatively winding and unwinding a traction rope through a traction control mechanism, driving a transfer execution mechanism carrying a cleaning robot (5) to move to a preset butt joint position in front of the first row of target photovoltaic panels along a linear channel, and then lifting the transfer execution mechanism to a butt joint height matched with the edges of the first row of target photovoltaic panels through driving of a lifting unit to finish butt joint; S3, transferring the cleaning robot (5) from the butted transfer execution mechanism to the target photovoltaic panel, and executing cleaning operation, wherein after the operation is completed, the cleaning robot (5) automatically returns and is stopped on the transfer execution mechanism; S4, driving by a lifting unit, enabling the transfer executing mechanism and the cleaning robot (5) on the transfer executing mechanism to descend together until the highest point of the cleaning robot (5) is lower than the lowest point of the current row of photovoltaic panels, and making room for cross-row movement; S5, cooperatively winding and unwinding a traction rope through a traction control mechanism, driving a transfer execution mechanism to move to the butt joint position of the next row of target photovoltaic panels along a linear channel, and then lifting the transfer execution mechanism to the butt joint height matched with the edges of the row of target photovoltaic panels through driving of a lifting unit, so as to finish butt joint; S6, repeating the steps S3 to S5, so that the cleaning robot (5) cleans each row of photovoltaic panels of the water photovoltaic square matrix (4) in sequence; And S7, after the cleaning robot (5) finishes cleaning the last row of photovoltaic panels and returns to the transfer executing mechanism, the transfer executing mechanism is moved and lowered to an initial or recovery position, and the cleaning operation of the whole water photovoltaic array (4) is finished.

Description

Overwater photovoltaic power station cleaning robot trans-row transfer system and method Technical Field The invention relates to the technical field of cleaning of waterborne photovoltaic arrays, in particular to a waterborne photovoltaic power station cleaning robot trans-row transfer system and a waterborne photovoltaic power station cleaning robot trans-row transfer method. Background Along with the development of clean energy, the construction scale of the water photovoltaic power station is increasingly enlarged. To maintain high power generation efficiency of the photovoltaic panel, it is necessary to clean it periodically. The adoption of an automatic cleaning robot to replace manual operation and maintenance has become an important trend of industry improvement efficiency and safety guarantee. However, the photovoltaic array on water is usually composed of a plurality of rows of photovoltaic plates, after the cleaning robot finishes cleaning a single row, the cleaning robot needs to cross a water area or a beach to be transported to an adjacent row for continuous operation, and the cross-row transportation link is a main technical obstacle for realizing full-automatic operation and maintenance. Currently, there are two main types of technical solutions to this problem. The first type adopts a simple operation and maintenance ship or a refitted ship for transportation. The scheme is obviously influenced by water flow and wind waves, the ship body is difficult to position, the butt joint precision is low, manual operation is relied on, the safety is poor, and the efficiency is low. The second category of schemes attempts to build a fixed infrastructure, such as erecting tracks or trestle between arrays. Although the scheme can provide a stable path, the construction cost is high, and the scheme cannot be flexibly adapted to the row spacing, water level change and complex terrain of different power stations, and has poor universality. In addition, there have been some automation attempts, such as the intelligent cleaning ship for the centralized photovoltaic power plant on water disclosed in the patent of the utility model of the issued bulletin number CN220518530U, which performs autonomous navigation and docking with the power system through the on-board sensor. However, the scheme still depends on the positioning and control capability of the ship body in a dynamic water environment, and under the continuous wind and wave interference, the problems of positioning drift, deviation correcting lag, insufficient butting stability and the like exist, so that the reliability and the efficiency of actual operation are affected. In summary, the prior art generally has the problems of weak environmental adaptability, insufficient positioning precision and stability, difficulty in considering efficiency and cost, and the like. Therefore, a novel system and method for realizing stable, accurate and efficient transrow transfer of the cleaning robot in a water complex environment are urgently needed. Disclosure of Invention The invention aims to overcome at least one defect of the prior art, and provides a trans-row transfer system of a cleaning robot of a photovoltaic power station on water, which is used for solving the technical problems of low positioning precision, poor transfer stability and low operation efficiency caused by the influence of environmental factors such as water flow, stormy waves and the like on an operation and maintenance ship and the like due to high construction cost and poor flexibility of the existing fixed facilities. The technical scheme includes that the overwater photovoltaic power station cleaning robot trans-row transfer system comprises an overwater photovoltaic square matrix, transfer execution mechanisms, cleaning robots, lifting units and traction control mechanisms, wherein the overwater photovoltaic square matrix comprises a plurality of rows of photovoltaic plates which are arranged in parallel, linear channels penetrating through the lower parts of the rows of photovoltaic plates are formed in the overwater photovoltaic square matrix, the transfer execution mechanisms are used for bearing the cleaning robots and can move among the rows of the overwater photovoltaic square matrix along the linear channels, the lifting units are connected with the transfer execution mechanisms and used for driving the transfer execution mechanisms to lift so that the transfer execution mechanisms can be in butt joint with target photovoltaic plates for transfer of the cleaning robots, and the traction control mechanisms comprise traction devices which are respectively fixedly arranged on two sides of the overwater photovoltaic square matrix and are connected with the transfer execution mechanisms through traction ropes to control movement and positioning of the transfer execution mechanisms in the linear channels through cooperative retraction of the traction ropes. The invention provide