A photovoltaic array cleaning vehicle and a photovoltaic array cleaning method thereof

Abstract

The invention discloses a photovoltaic array washing vehicle. The photovoltaic array washing vehicle comprises a proceeding chassis, a washing head supporting and positioning unit, a washing head unit, a water supply unit, an operation control unit and a vehicle body pose information collection device used for obtaining pose information of a vehicle body relative to the photovoltaic array, wherein a motion control component of a proceeding chassis steering system driving part is controlled by a main control module of the operation control unit; the washing head supporting and positioning unit comprises a movable base located at the head of the vehicle and a working arm set mounted on the movable base; the movable base comprises a rotation device and a transverse moving device; the working arm group comprises a main arm and an end arm capable of respectively pitching; the washing head unit comprises a washing brush, a water spraying part and a distance measuring sensor used for measuring the surface position and pose of a photovoltaic array board relative to the washing head unit; the main control module of the operation control unit takes a computer as the core of control. The invention also provides a method for washing the photovoltaic array by using the washing vehicle. The washing process is intelligent, efficient, flexible and safe, and is simple to operate, excellent in washing effect and low in usage cost.

Description

technical field [0001] The invention relates to a photovoltaic array cleaning vehicle and a photovoltaic array cleaning method thereof, in particular to a cleaning vehicle used for photovoltaic array cleaning in large-scale ground photovoltaic power plants and a corresponding photovoltaic array cleaning method. Background technique [0002] The solar panels of the photovoltaic power station are installed in the form of arrays in the open air, and the sand, dust, sundries and some corrosive substances in the atmosphere are easy to adhere to the surface. Especially in arid, windy and desertified areas with sparse vegetation, the panels will be covered with sand and dust within 1 to 2 weeks, seriously affecting their photoelectric conversion efficiency and even damaging the panels. Therefore, regular or timely cleaning of solar panels has become an essential part of the daily operation and maintenance of photovoltaic power plants. [0003] Foreign countries, especially Europea...

AI Technical Summary

Problems solved by technology

During cleaning operation: the cleaning vehicle moves along the photovoltaic array at a steady speed, the cleaning head sweeps across the surface of the photovoltaic array, and performs mobile cleaning on the solar panels on the array; the driving of the chassis of the cleaning vehicle is manual operation, and the operators on the vehicle also It is necessary to monitor or directly operate the position and posture of the working arm and the cleaning head, and the mental tension is high, which is often difficult to balance. Therefore, the ideal distance and parallel posture of the cleaning vehicle along the array are often difficult to guarantee due to the deviation of the vehicle body. Not only does it affect the cleaning effect, but it is also easy to cause safety accidents; in addition, although some cleaning vehicles are equipped with a system for automatically maintaining the posture of the cleaning terminal relative to the array panel based on contact or non-contact sensors, due to the system's Control parameters such as set distances and tolerance limits cannot be adjusted in real time through the console during cleaning operations, so they cannot adapt to the differences in the flatness of photovoltaic array panels and road surfaces in different areas of the electric field, making the adjustment system in some cases or The response is slow and the effect is not obvious, or it is too sensitive and frequently oscillates, both of which have a negative impact on the cleaning effect; moreover, the positioning support device or structure of the existing cleaning vehicle cleaning terminal is complicated, and some degrees of freedom are redundant and The coupling is seriously inconvenient for quick adjustment, or there is a dead zone for adjustment due to the lack of some necessary degrees of freedom, or it cannot take into account the left side cleaning, right side cleaning and proper storage of the cleaning terminal under non-working conditions.

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