Automatic deviation rectifying method and automatic deviation rectifying system for advancement of solar panel cleaning vehicle

Abstract

The invention discloses an automatic deviation rectifying method for the advancement of a solar panel cleaning vehicle. The automatic deviation rectifying method comprises the following steps of using ultrasonic range finder sensors arranged at the head and the tail of one side of a vehicle body to respectively measure the distance between a measuring point vertical line of the head and the lower edge of a photovoltaic array panel and the distance between a measuring point vertical line of the tail and the lower edge of the photovoltaic array panel; calculating the average distance between a measuring point vertical surface and the lower edge of the photovoltaic array panel and an included angle between the measuring point vertical surface and the trend of a photovoltaic array according to the distances; calculating the distance deviation of the average distance relative to a preset value; when the distance deviation and the parallelism exceed the control tolerance limit, generating a chassis advancement steering operating instruction; controlling a driving link of a chassis advancement steering driving device to realize steering deviation rectification of a crawler chassis in the advancing process. The invention also provides an automatic deviation rectifying system which can implement the method. According to the deviation rectifying method and the deviation rectifying system disclosed by the invention, automatic deviation rectification of the cleaning vehicle in the advancing process is realized by using intrinsic characteristics of the photovoltaic array and an ultrasonic range finding method, and the reform on the photovoltaic array is unnecessary; the deviation rectifying process is realized quickly, accurately and stably, and the cleaning quality can be improved while the working intensity of a driver is reduced.

Description

technical field [0001] The invention relates to an automatic deviation correction method and a corresponding automatic deviation correction system when a solar panel cleaning vehicle is moving. 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 solar panels will be covered with dust within 1 to 2 weeks, which will seriously affect their photoelectric conversion efficiency and even damage the panels. Cleaning has become an essential part of the daily operation and maintenance of photovoltaic power plants. [0003] Foreign countries, especially Italy and other European countries, realized the mechanized cleaning of solar panels of photovoltaic power plants earlier. By 2011, there have been many different types...

AI Technical Summary

Problems solved by technology

For a large-scale photovoltaic field, this solution needs to set a large number of different electronic tags on its photovoltaic array. On the other hand, since the path indication information of the electronic tag is pre-stored, it is not affected by the relative position of the photovoltaic array when the cleaning vehicle reads its content. and attitude, so it cannot be used for chassis correction

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