Walking control method of tractor traction type solar cleaning machine

Abstract

The invention discloses a walking control method of a tractor traction type solar cleaning machine. The cleaning machine comprises a cleaning machine body and a tractor connected with the cleaning machine body in a traction mode. The cleaning machine comprises a leveling device. An operation platform of the cleaning machine is connected with a chassis of the cleaning machine through a universal hinge joint, a left leveling oil cylinder and a right leveling oil cylinder. A working device is mounted on the working platform; a tractor tri-antenna RTK GNSS is arranged on the tractor chassis. A cleaning machine tri-antenna RTK GNSS is arranged on the cleaning machine chassis. Tri-antenna RTK GNSS is used for high-precision navigation, so that the tractor traction type solar cleaning machine isdriven to walk along a specified route, and the distance and parallel operation of the operation unit and the solar panel are ensured; meanwhile, the tri-antenna RTK GNSS high-precision attitude measurement of the tractor is used for sensing the terrain and pre-controlling the leveling device of the cleaning machine in advance, so that the lag problem of feedback control can be solved, the leveling effect of the cleaning machine is greatly improved, and the operation effect of the cleaning machine can be guaranteed more effectively.

Description

technical field [0001] The invention mainly relates to the technical field related to engineering vehicles, in particular to a walking control method of a tractor-drawn solar cleaning machine. Background technique [0002] The power generation loss of solar panels, if not cleaned, can range up to 25%. In some areas, according to reports from some European countries' renewable energy laboratories, individual solar power stations have lost up to 30%. According to my country's 2014 installed capacity The estimated capacity is 12GW, and the loss is as high as 1.5 billion yuan. Photovoltaic solar power plants in my country are mostly located in the desert areas of Northwest China, which belong to the plateau climate, with strong wind and sand, constant sunlight, little rain, and dry climate. At present, there are mainly two cleaning methods for cleaning solar power plants: manual cleaning and mechanical cleaning; the most commonly used method is manual cleaning, but this method h...

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