CN-122026791-A - Central ferry vehicle system of photovoltaic array cleaning robot and operation method thereof

CN122026791ACN 122026791 ACN122026791 ACN 122026791ACN-122026791-A

Abstract

The central ferry vehicle system of the photovoltaic array cleaning robot and the operation method thereof provided by the invention ensure stable butt joint by arranging the ferry vehicle platform capable of being accurately butted with the photovoltaic bracket on the central ferry vehicle track and adopting the hydraulic adjusting mechanism and the composite positioning technology, and comprehensively improve the adaptability, the accuracy and the reliability of the ferry vehicle system of the photovoltaic array cleaning robot by matching with an intelligent central control unit, thereby realizing the efficient transrow transportation of the cleaning robot in the photovoltaic array with irregular boundaries, minimizing the number of robots and cooperatively dispatching tasks, remarkably reducing the configuration cost of cleaning equipment, effectively solving the problems of poor adaptability and high cost in the prior art, and providing technical guarantee for the efficient operation and maintenance of the photovoltaic power station.

Inventors

BIE YIFAN
XIAO ZHOU
LI CHENGHUANG
ZOU HAIQING
HE ZHIFENG
TU SIYU
WANG PAN
HUANG CONGZHI
ZOU XIANJIN
CAI WEI

Assignees

长江勘测规划设计研究有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260114

Claims (10)

1. The central ferry vehicle system of the photovoltaic array cleaning robot is characterized by comprising a running track of the central ferry vehicle transversely arranged in a reserved channel of the photovoltaic array, the central ferry vehicle capable of running on the running track autonomously, a plurality of cleaning tracks paved on each photovoltaic bracket (7) and vertically connected with the running track, and a central control unit; The central ferry vehicle is provided with a positioning unit and a telescopic docking mechanism, wherein the positioning unit and the telescopic docking mechanism are used for docking with different cleaning tracks, the top of the telescopic docking mechanism is provided with a cleaning robot docking plate (2) for carrying a cleaning robot (8), and the length of the cleaning robot docking plate (2) is consistent with the width of a photovoltaic bracket; The central control unit integrates wireless communication, scheduling decision and motion control modules, is responsible for overall system global operation, schedules the central ferry vehicle to be connected with the cleaning track in real time according to task demands, and commands the cleaning robot (8) to orderly execute cleaning tasks.
2. The central ferry vehicle system of the photovoltaic array cleaning robot according to claim 1, wherein the top of the cleaning robot stopping plate (2) is provided with a left stop lever (3) and a right stop lever (4) which can clamp the cleaning robot (8), and the left stop lever (3) and the right stop lever (4) can be lifted.
3. The central ferry vehicle system of the photovoltaic array cleaning robot according to claim 1, wherein the positioning unit comprises RTK laser measuring instruments (9) arranged on two sides of the parking plate (2) of the cleaning robot, and the RTK laser measuring instruments (9) are used for acquiring the height and inclination angle information of the photovoltaic bracket.
4. The central ferry vehicle system of the photovoltaic array cleaning robot according to claim 1, wherein the central ferry vehicle comprises a ferry vehicle body (1) and a cleaning robot stopping plate (2) arranged on the upper portion of the ferry vehicle body (1), and the top of the ferry vehicle body (1) is connected with the bottom of the cleaning robot stopping plate (2) through a hydraulic height adjusting mechanism (5).
5. The central ferry vehicle system of the photovoltaic array cleaning robot according to claim 4, wherein the ferry vehicle body (1) comprises a pulley sliding plate at the bottom, a plurality of support columns arranged on the pulley sliding plate and a hydraulic height adjusting mechanism (5) arranged at the top of the support columns, and the end part of the hydraulic height adjusting mechanism (5) is hinged with the bottom of the parking plate (2) of the cleaning robot through a flexible hinge joint (6).
6. The central ferry vehicle system of the photovoltaic array cleaning robot of claim 5, wherein the plurality of support columns of the ferry vehicle body (1) comprises a set of short-rod support columns and a set of long-rod support columns, and an internal support diagonal is arranged between the short-rod support columns and the long-rod support columns.
7. The center ferry system of the photovoltaic array cleaning robot of claim 6, wherein the top of the short rod support column is fixed with a hydraulic height adjusting mechanism (5) along the vertical direction, the top of the long rod support column is fixed with a support diagonal, the inclined direction of the support diagonal faces the inner side of the ferry main body (1), and the top of the support diagonal is fixed with the hydraulic height adjusting mechanism (5) along the extending direction of the support diagonal.
8. The central ferry vehicle system of the photovoltaic array cleaning robot according to claim 7, wherein the length of the hydraulic height adjusting mechanism (5) is adjusted according to the specific condition of the photovoltaic support, and the length of the short rod support column and the hydraulic height adjusting mechanism (5) is as follows The length of the supporting inclined rod and the hydraulic height adjusting mechanism (5) is , And (3) with The calculation method of (2) is as follows: , , , Wherein, the The inclination angle of the photovoltaic bracket is that the height of the highest point of the photovoltaic bracket is The height of the lowest point of the photovoltaic bracket is , And The specific numerical value of (a) is determined by the space coordinates of the two ends of the photovoltaic bracket obtained by the RTK laser detector (9), and the distance between the short rod support column and the long rod support column is The length of the long-rod support column is Length of the cleaning robot rest plate (2) = The distance between the flexible hinge joint (6) of the hydraulic height adjusting mechanism (5) at the top of the short rod supporting column and the flexible hinge joint (6) of the hydraulic height adjusting mechanism (5) at the top of the supporting inclined rod is The length of the nearest side edge of the flexible hinge joint (6) of the hydraulic height adjusting mechanism (5) supporting the top of the inclined rod and the sweeping robot stopping plate (2) is The length of the nearest side edge of the flexible hinge joint (6) of the hydraulic height adjusting mechanism (5) at the top of the short rod supporting column and the sweeping robot stopping plate (2) is 。
9. The central ferry vehicle system of the photovoltaic array cleaning robot of claim 1, wherein the central control unit performs the following operation flow: the transfer and positioning are that a central ferry vehicle carrying a cleaning robot (8) is controlled to move to a target cleaning track and align; the single-side operation comprises the steps of positioning a photovoltaic bracket (7) at one side of a cleaning track by a positioning unit, adjusting a telescopic docking mechanism to complete docking, conveying a cleaning robot (8) to the bracket at one side to execute cleaning, and returning the cleaning robot (8) to a cleaning robot docking plate (2) after the completion; The other side operation comprises the steps of positioning a photovoltaic bracket (7) at the other side of the cleaning track by a positioning unit, adjusting a telescopic docking mechanism to complete docking, conveying a cleaning robot (8) to the side bracket to perform cleaning, and returning the cleaning robot (8) to a cleaning robot docking plate (2) after the completion of the cleaning; and (3) circulating operation, namely controlling the central ferry vehicle to transfer the cleaning robot (8) to the next cleaning track, and repeating the cleaning flow on the two sides.
10. A method of operating a central ferry vehicle system of a photovoltaic array cleaning robot according to any of claims 1-9, comprising the steps of: S1, the system is in place, wherein a central control unit dispatches a central ferry vehicle carrying a cleaning robot (8) to autonomously run along a running track of the central ferry vehicle according to a task instruction until the central ferry vehicle is aligned with the cleaning track of a target photovoltaic array; S2, unilateral cleaning operation, wherein a positioning unit of the central ferry vehicle positions a photovoltaic bracket (7) on one side of a target cleaning track, and a central control unit drives a telescopic docking mechanism to adjust and extend according to positioning information so that a cleaning robot docking plate (2) and the cleaning track on the side photovoltaic bracket (7) form a seamless docking channel; S3, the other side cleaning operation comprises the steps that the positioning unit of the central ferry vehicle positions a photovoltaic support (7) on the other side of the target cleaning track, the central control unit adjusts the telescopic docking mechanism again according to new positioning information to enable the cleaning robot docking plate (2) and the cleaning track on the side photovoltaic support (7) to form a seamless docking channel, the cleaning robot (8) is controlled to move from the cleaning robot docking plate (2) to the side photovoltaic support (7) and execute a cleaning task, and the cleaning robot (8) is controlled to return to the cleaning robot docking plate (2) after the cleaning task is completed; S4, circulation and transfer, wherein the central control unit controls the telescopic docking mechanism to retract and schedules the central ferry vehicle to transfer to the next target cleaning track along the running track with the cleaning robot (8), and the steps S2 to S3 are repeated until the cleaning operation of all the designated photovoltaic arrays in the task instruction is completed; And S5, after the task is finished and the cleaning operation is returned, the central control unit dispatches the cleaning robot (8) carried by the central ferry vehicle to return to a preset parking position or waits for a next task instruction.

Description

Central ferry vehicle system of photovoltaic array cleaning robot and operation method thereof Technical Field The application relates to the technical field of new energy, in particular to a ferry vehicle system of a photovoltaic array cleaning robot and an operation method thereof. Background Along with global energy transformation and promotion, the scale of a solar photovoltaic installation is continuously enlarged, but pollutants such as dust, bird droppings, snow and the like are easy to reduce the power generation efficiency and bring potential safety hazards, so that regular cleaning is important. Traditional manual cleaning is low in efficiency and poor in safety, the fixed cleaning system consumes much water and is inflexible, and an automatic, water-saving and efficient photovoltaic cleaning robot gradually becomes a mainstream operation and maintenance choice. The photovoltaic cleaning robot has strong endurance capability and can adapt to photovoltaic arrays with the length of more than 1000 meters. However, many power stations are limited by terrain, land boundaries, etc., and there are a large number of short arrays of only 100-200 meters in length. If each short array is independently configured with a robot, equipment waste and investment cost are greatly increased, and popularization and application of the robot are restricted. Therefore, the industry introduces a ferry vehicle as a mobile transfer station, and realizes multiple purposes of one machine by autonomous navigation and accurately positioning transfer robots among different arrays. At present, a main stream scheme deploys ferry vehicles at the end parts of the arrays, and the ferry vehicles are transported and butted by means of linear tracks. However, in practical application, in order to improve the power generation efficiency, the photovoltaic panels are often arranged at an optimal inclination angle, and in order to fully utilize irregular land, the arrays are often rotated and misplaced, so that the ends are difficult to form continuous straight channels. In addition, the facilities of the box transformer, the road, the ditch and the like often block the end space, so that the traditional end ferry scheme is difficult to implement. Disclosure of Invention In order to solve the problem that the implementation of the traditional end ferry vehicle scheme is difficult because the layout and the end space of the photovoltaic array are abuse broken in the background art, the application provides the central ferry vehicle system of the photovoltaic array cleaning robot and the operation method thereof, and the central ferry vehicle system can adapt to the internal deployment of the photovoltaic array and is matched with a corresponding optimal scheduling method, so that the problem of automatic cleaning of the photovoltaic power station in irregular terrain is solved, the equipment utilization rate is further improved, the system cost is reduced, and the overall operation and maintenance level of the power station is improved. The first aspect of the application provides a central ferry vehicle system of a photovoltaic array cleaning robot, which comprises a running track of a central ferry vehicle transversely arranged in a reserved channel of a photovoltaic array, a central ferry vehicle capable of running on the running track autonomously, a plurality of cleaning tracks paved on each photovoltaic bracket and vertically connected with the running track, and a central control unit; The central ferry vehicle is provided with a positioning unit and a telescopic docking mechanism which are used for docking with different cleaning tracks; the top of the telescopic docking mechanism is provided with a sweeping robot stopping plate carrying a sweeping robot, and the length of the sweeping robot stopping plate is consistent with the width of the photovoltaic bracket; the telescopic docking mechanism can be adjusted after the positioning unit finishes positioning the photovoltaic bracket, and is docked with the target cleaning track to form a seamless transition channel; The central control unit integrates wireless communication, scheduling decision and motion control modules, is responsible for overall system global operation, schedules the central ferry vehicle to be connected with the cleaning track in real time according to task demands, and commands the cleaning robot to orderly execute cleaning tasks. Further, the top of cleaning robot stop board is provided with left side pin and the right side pin that can grasp cleaning robot, left side pin and right side pin can go up and down. Further, the positioning unit comprises RTK laser measuring instruments arranged on two sides of the parking plate of the cleaning robot, and the RTK laser measuring instruments are used for acquiring the height and inclination angle information of the photovoltaic bracket. Further, the central ferry vehicle comprises a ferry vehicle body and a sweeping