Photovoltaic panel cleaning transfer vehicle adjusting device and adjusting method thereof

Abstract

The invention provides a photovoltaic panel cleaning transfer vehicle adjusting device and method, and the method comprises the steps: obtaining photovoltaic panel data of a target photovoltaic panel array, the photovoltaic panel data at least comprising the line number L and the row number W of the photovoltaic panel array, and the length a and the width b of each photovoltaic panel in the photovoltaic panel array; according to the photovoltaic panel data, calculating to obtain a transfer vehicle translation amount Dt required by the transfer vehicle to complete the movement of one photovoltaic panel in the width direction and a cleaning vehicle translation amount Dc required by the cleaning vehicle to complete the cleaning of one photovoltaic panel in the length direction; constructing a first function based on the transfer vehicle translation amount Dt and the cleaning vehicle translation amount Dc; the cleaning number Nc of the photovoltaic panels in the single operation is calculated through a first function, the Nc is mapped into data of a charging device in the single operation, and the data of the charging device in the single operation comprises charging power P and charging time T; and intelligent matching of charging power and time is realized.

Description

Technical Field

[0001] This invention relates to an adjustment device and adjustment method for a photovoltaic panel cleaning and transfer vehicle. Background Technology

[0002] This invention relates to the field of automation control technology, and in particular to a method for adjusting the movement and charging power of a photovoltaic panel cleaning and transfer vehicle, which is mainly applied to the automated operation and maintenance of photovoltaic power plants.

[0003] Photovoltaic panel cleaning and transfer vehicles are commonly used for the routine cleaning and maintenance of large-scale photovoltaic arrays. In existing technologies, these vehicles typically rely on preset fixed movement amounts for translational operations, lacking dynamic response capabilities to the actual layout parameters of the photovoltaic panels and external environmental conditions. Simultaneously, charging strategies often employ fixed power and fixed time modes, failing to consider the energy consumption differences resulting from varying cleaning workloads, as well as the impact of environmental factors such as wind speed and pollution levels on energy consumption and charging efficiency. This leads to problems in actual operations, such as incomplete cleaning coverage, inconsistent work rhythms, and mismatches between charging time and operating cycles, reducing overall system efficiency and making it difficult to meet the high-efficiency operation and maintenance requirements of large-scale photovoltaic arrays.

[0004] Therefore, there is a need for a photovoltaic panel cleaning and transfer vehicle adjustment device and its adjustment method to address the problem in the prior art where the lack of dynamic adaptability of the charging strategy leads to difficulties in unifying the operating rhythm. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a photovoltaic panel cleaning and transfer vehicle adjustment device and method. This invention proposes a photovoltaic panel cleaning and transfer vehicle control method that can dynamically adjust the movement of the transfer vehicle and the cleaning vehicle according to the photovoltaic panel layout and environmental parameters, and achieve intelligent matching of charging power and time. This objective is achieved as follows:

[0006] This invention proposes a method for adjusting a photovoltaic panel cleaning and transfer vehicle, comprising:

[0007] S1. Obtain photovoltaic panel data of the target photovoltaic panel array, wherein the photovoltaic panel data includes at least the number of rows L, the number of rows W of the photovoltaic panel array, and the length a and width b of each photovoltaic panel in the photovoltaic panel array;

[0008] S2. Based on the photovoltaic panel data, calculate the translational distance of the transfer vehicle required to complete the movement of one photovoltaic panel width. And the amount of translational movement required for the cleaning truck to complete the cleaning of one photovoltaic panel along its length. ;

[0009] S3, Based on the translation amount of the transfer vehicle and the amount of movement of the cleaning vehicle Construct the first function;

[0010] The number of photovoltaic panels cleaned in a single operation is calculated using the first function. and the The data is mapped to single-operation charging device data, which includes charging power P and charging time T.

[0011] Furthermore, the photovoltaic panel data described in S1 also includes: the lateral gap between adjacent photovoltaic panels. Longitudinal gap with adjacent photovoltaic panels S1 also includes: collecting environmental parameters, including: the surface pollution level K of the photovoltaic panel and the wind speed V of the working environment.

[0012] Furthermore, in S2, based on the photovoltaic panel data, the amount of translational movement of the transfer vehicle required to complete the movement of one photovoltaic panel width is calculated. And the amount of translational movement required for the cleaning truck to complete the cleaning of one photovoltaic panel along its length. ,include: =b+ , =a+ .

[0013] Furthermore, the translation amount based on the transfer vehicle described in S3 and the amount of movement of the cleaning vehicle Constructing the first function includes: Constructing the first function The number of photovoltaic panels to be cleaned in a single operation, Nc, is calculated using a first function, and this Nc is mapped to charging device data for a single operation. This charging device data includes charging power P and charging time T, and includes calculating the total energy consumption for a single operation. The calculation formula is:

[0014] , in, for, Let 0.1V be the wind speed influence coefficient and 0.2K be the pollution level influence coefficient; calculate the charging power P: ,in, This is the maximum permissible output power of the charging device. Let be the baseline charging time under standard conditions, and 1.1 be the energy consumption fluctuation compensation coefficient; calculate the charging time T: ,in, The conversion efficiency of the charging device is 0.05V + 0.03K, and the environmental correction factor is 0.03K.

[0015] Furthermore, the photovoltaic panel cleaning and transfer vehicle adjustment method uses a photovoltaic panel cleaning and transfer vehicle adjustment device, which includes: a moving track arranged on one side of the photovoltaic panel array; a positioning track installed between the moving track and the photovoltaic panel array; a transfer vehicle assembly movably mounted on the moving track; the transfer vehicle assembly moving along the extension direction of the moving track; a cleaning vehicle assembly arranged on the upper side of the transfer vehicle assembly; the cleaning vehicle assembly including a housing, a cleaning unit, and moving wheels; two pairs of moving wheels installed on both sides of the housing, abutting against the sides of the transfer vehicle assembly to realize relative movement between the cleaning vehicle assembly and the transfer vehicle assembly; a cleaning unit installed on the lower side of the housing; a power receiving unit installed on the upper part of the housing; and a charging component movably mounted on the moving track, moving along the extension direction of the moving track; the charging component including a wireless charging unit aligned with the power receiving unit.

[0016] Compared with the prior art, the beneficial effects of the present invention are: by establishing an accurate energy consumption prediction model and dynamically adjusting the charging strategy, the energy replenishment time is matched with the operation time, forming a stable and predictable operating rhythm, reducing waiting time, improving equipment utilization, and enhancing system operating efficiency and economy.

[0017] By dynamically calculating the movement amount based on the physical dimensions and gaps of the photovoltaic panels, it is ensured that precise positioning and cleaning coverage can be achieved for photovoltaic arrays with different layouts without omissions or repetitions, thus improving the accuracy and completeness of the cleaning operation.

[0018] By incorporating wind speed and pollution level as key variables into the control model, the system can automatically adjust its operating parameters according to actual environmental conditions, ensuring efficient and stable operation under various working conditions. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of a transfer vehicle component for a photovoltaic panel cleaning and transfer vehicle adjustment device;

[0020] Figure 2 This is a three-dimensional structural diagram of an adjustment device for a photovoltaic panel cleaning and transfer vehicle.

[0021] Figure 3 This is a side structural schematic diagram of an adjustment device for a photovoltaic panel cleaning and transfer vehicle.

[0022] Figure 4 This is a three-dimensional structural diagram of a cleaning vehicle component of a photovoltaic panel cleaning and transfer vehicle adjustment device;

[0023] In the diagram: 100, transfer vehicle assembly; 200, cleaning vehicle assembly; 210, power receiving unit; 220, moving wheels; 230, cleaning unit; 240, housing; 300, moving track; 400, positioning track; 500, photovoltaic panel array; 600, charging assembly; 610, wireless charging unit. Detailed Implementation

[0024] To enhance understanding of the present invention, the present invention will be further described in detail below with reference to embodiments and accompanying drawings. These embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0025] Example 1

[0026] A method for adjusting a photovoltaic panel cleaning and transfer vehicle includes: S1, acquiring photovoltaic panel data of a target photovoltaic panel array 500, wherein the photovoltaic panel data includes at least the number of rows L, the number of rows W, and the length a and width b of each photovoltaic panel in the photovoltaic panel array 500; S2, calculating the amount of translational movement of the transfer vehicle required to complete the movement of one photovoltaic panel width based on the photovoltaic panel data. And the amount of translational movement required for the cleaning truck to complete the cleaning of one photovoltaic panel along its length. S3, Based on the translation amount of the transfer vehicle and the amount of movement of the cleaning vehicle Construct a first function; calculate the number of photovoltaic panels to be cleaned in a single operation using the first function. and will The data is mapped to single-operation charging device data, which includes charging power P and charging time T.

[0027] Example 2

[0028] Unlike Example 1, the photovoltaic panel data in S1 also includes the lateral gap between adjacent photovoltaic panels. Longitudinal gap with adjacent photovoltaic panels S1 also includes: collecting environmental parameters, including the surface pollution level K of the photovoltaic panel and the wind speed V in the working environment; S2 calculates the amount of translational movement of the transfer vehicle required to complete the movement of one photovoltaic panel width based on the photovoltaic panel data. And the amount of translational movement required for the cleaning truck to complete the cleaning of one photovoltaic panel along its length. ,include: =b+ , =a+ S3 is based on the translation amount of the transfer vehicle. and the amount of movement of the cleaning vehicle Constructing the first function includes: Constructing the first function The number of photovoltaic panels to be cleaned in a single operation, Nc, is calculated using the first function, and then mapped to charging device data for that single operation. This charging device data includes charging power P and charging time T, and includes: calculating the total energy consumption for a single operation. The calculation formula is:

[0029] ,

[0030] in, for, Let 0.1V be the wind speed influence coefficient and 0.2K be the pollution level influence coefficient; calculate the charging power P:

[0031] ,

[0032] in, This is the maximum permissible output power of the charging device. Let be the baseline charging time under standard conditions, and 1.1 be the energy consumption fluctuation compensation coefficient; calculate the charging time T:

[0033] ,

[0034] in, The conversion efficiency of the charging device is 0.05V + 0.03K, and the environmental correction factor is 0.03K.

[0035] In a specific implementation scenario, the cleaning component has a built-in controller that receives and stores the layout parameters of the photovoltaic array. These parameters include: number of photovoltaic panel rows L=20, number of rows W=30, length of a single photovoltaic panel a=1.95 units / meter, width b=0.99 units / meter, lateral spacing Gw=0.03 units / meter between photovoltaic panels in the same row, and longitudinal spacing Gl=0.02 units / meter between adjacent rows of photovoltaic panels. These parameters can be obtained by manually entering them into the system configuration interface or by automatically parsing them from imported photovoltaic array design drawings. Environmental parameters are obtained through an external mobile device. The environmental sensor unit of the vehicle-mounted component 100 implements real-time monitoring of the ambient wind speed V by a wind speed sensor, which uploads the data to the central controller via a bus once per second. A vision sensor periodically acquires images of the photovoltaic panel surface, analyzes the dust accumulation using a built-in image processing algorithm, and outputs a quantified pollution level K. K ranges from 0 to 10, where 0 represents completely clean and 10 represents severely polluted. For example, when a slight layer of dust is detected on the photovoltaic panel surface, K=3; when there is a thick layer of dust, K=8. Then, the controller performs the following mathematical operations: =b+ Substitute in the specific values, =0.99+0.03=1.02 meters, which means that the transfer vehicle needs to cross the width of one photovoltaic panel and a lateral gap each time it moves longitudinally, to ensure that the cleaning vehicle can accurately align with the starting cleaning position of the next row of photovoltaic panels. =a+ Substitute in the specific values, =1.95+0.02=1.97 meters, which means that the cleaning vehicle needs to cross the length of a photovoltaic panel and a longitudinal gap each time it moves laterally, to ensure that the cleaning execution module can cover the cleaning range of the entire photovoltaic panel.

[0036] Then, the number of panels to be cleaned in a single operation is calculated by the controller. Specifically, the controller stores equipment performance parameters: the maximum allowable cumulative lateral movement of the transfer vehicle St = 200 meters, the maximum allowable cumulative lateral movement of the cleaning vehicle Sc = 150 meters, and assuming the total number of photovoltaic array panels L × W = 20 × 30 = 600 panels, the central controller performs the following calculation: Calculate the maximum number of panels that can be cleaned based on the mobility of the transfer vehicle: ; Calculate the maximum number of washable panels based on the mobility of the cleaning vehicle: The cleaning quantity Nc for a single operation is the minimum of the above three values. This indicates that the system can continuously clean a maximum of 76 photovoltaic panels during this operation cycle.

[0037] The controller internally stores basic energy consumption coefficients calibrated through prior experiments: the transfer vehicle's basic energy consumption coefficient Etransfer = 120 joules / meter, representing the basic energy consumed by the transfer vehicle for every meter it moves; the cleaning vehicle's basic energy consumption coefficient Ecleaning = 180 joules / meter, representing the basic energy consumed by the cleaning vehicle for every meter it moves, including the energy consumption of the cleaning execution module; environmental impact factors are reflected through weighting coefficients: wind resistance coefficient α = 0.08, indicating that for every 1 m / s increase in wind speed, the transfer vehicle's energy consumption increases by 8%; pollution resistance coefficient β = 0.15, indicating that for every 1 level increase in pollution level, the cleaning vehicle's energy consumption increases by 15%. These coefficients were obtained through regression analysis of extensive experimental data under different wind speeds and pollution conditions; the formula for calculating the total estimated energy consumption Eg is:

[0038] ,

[0039] Substituting specific values: The energy consumption of the transfer vehicle is as follows: , The energy consumption of the cleaning truck is Total estimated energy consumption This demonstrates that this step improves the accuracy of energy consumption prediction;

[0040] The controller's internal preset parameters are: maximum allowable output power of the charging device Pmax = 5000 watts, reference charging time Tg = 1800 seconds, safety factor γ = 1.12, where γ is a coefficient that considers unforeseen factors such as line loss and changes in battery charging efficiency. The formula for calculating the charging power P is:

[0041] ,

[0042] Substituting specific values: Theoretical power required: Comparison of maximum permissible output power: This indicates that the charging power set for this operation cycle is P=34.69 watts. This calculation ensures that charging is performed at the most suitable power within the equipment's capabilities, avoiding both insufficient power leading to excessively long charging times and excessive power affecting battery life.

[0043] The charging time calculation is performed by the controller to determine the actual required charging time. The controller's internal parameters include: charging device conversion efficiency η = 0.88, representing the AC to DC conversion efficiency; wind speed influence coefficient δ = -0.04, indicating that for every 1 m / s increase in wind speed, the charging efficiency decreases by 4%; and pollution influence coefficient ε = -0.02, indicating that for every 1 level increase in pollution level, the charging efficiency decreases by 2%. These coefficients, determined experimentally, reflect the impact of environmental conditions on the charging process. The formula for calculating the actual charging time T is:

[0044]

[0045] Substitute specific values: Denominator: Charging time: This indicates that these calculations comprehensively consider the actual energy required, charging power, and the impact of the environment on charging efficiency, resulting in more accurate charging time requirements.

[0046] Since the charging power and time are precisely calculated based on the energy consumption of this actual operation, the charging time is about 44 minutes and the operation time is about 2 hours, achieving intelligent matching between charging power and time to achieve a stable operating rhythm.

[0047] Example 3

[0048] This embodiment proposes a photovoltaic panel cleaning and transfer vehicle adjustment device, which includes: a moving track 300 arranged on one side of the photovoltaic panel array 500; a positioning track 400 installed between the moving track 300 and the photovoltaic panel array 500; a transfer vehicle assembly 100 movably mounted on the moving track 300; the transfer vehicle assembly 100 moving along the extension direction of the moving track 300; and a cleaning vehicle assembly 200 arranged on the upper side of the transfer vehicle assembly 100. The cleaning vehicle assembly 200 includes a housing 240, a cleaning unit 230, and a moving... Two pairs of movable wheels 220 are installed on both sides of the housing 240, which abut against the side of the transfer vehicle assembly 100 to realize the relative movement of the cleaning vehicle assembly 200 and the transfer vehicle assembly 100. A cleaning unit 230 is installed on the lower side of the housing 240, and a power receiving unit 210 is installed on the upper part of the housing 240. A charging assembly 600 can also be movably installed on the moving track 300. The charging assembly 600 moves along the extension direction of the moving track 300. The charging assembly 600 includes a wireless charging unit 610, which is aligned with the power receiving unit 210.

[0049] When this device is in operation, the transfer vehicle assembly 100 moves to the positioning track 400 and stops. The cleaning vehicle assembly 200 then starts operating, moving on the positioning track 400 and the photovoltaic panel array 500 via the moving wheels 220. During this time, the cleaning unit 230 rotates and cleans. The cleaning unit 230 is made of a soft, wear-resistant material, such as polyester fiber or rubber. In this embodiment, it is made of mop bristles. The cleaning unit 230 is driven to rotate by the built-in motor of the cleaning vehicle assembly 200 for cleaning. During cleaning, the water tank built into the cleaning unit 230 provides water. The water replenishment frequency is consistent with the charging frequency. The water replenishment and spraying are common solutions in the prior art.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for adjusting a photovoltaic panel cleaning and transfer vehicle, characterized in that, include: S1. Obtain photovoltaic panel data of the target photovoltaic panel array, wherein the photovoltaic panel data includes at least the number of rows L, the number of rows W of the photovoltaic panel array, and the length a and width b of each photovoltaic panel in the photovoltaic panel array; S2. Based on the photovoltaic panel data, calculate the translational distance of the transfer vehicle required to complete the movement of one photovoltaic panel width. And the amount of translational movement required for the cleaning truck to complete the cleaning of one photovoltaic panel along its length. ; S3, Based on the translation amount of the transfer vehicle and the translation amount of the cleaning vehicle Construct the first function; The number of photovoltaic panels cleaned in a single operation is calculated using the first function. and the The data is mapped to single-operation charging device data, which includes charging power P and charging time T.

2. The method for adjusting a photovoltaic panel cleaning and transfer vehicle according to claim 1, characterized in that, The photovoltaic panel data mentioned in S1 also includes: the lateral gap between adjacent photovoltaic panels. Longitudinal gap with adjacent photovoltaic panels S1 also includes: collecting environmental parameters, including: the surface pollution level K of the photovoltaic panel and the wind speed V of the working environment.

3. The method for adjusting a photovoltaic panel cleaning and transfer vehicle according to claim 2, characterized in that, In S2, based on the photovoltaic panel data, the translational distance of the transfer vehicle required to complete the movement of one photovoltaic panel width is calculated. And the amount of translational movement required for the cleaning truck to complete the cleaning of one photovoltaic panel along its length. ,include: =b+ , =a+ .

4. The method for adjusting a photovoltaic panel cleaning and transfer vehicle according to claim 3, characterized in that, S3 is based on the translation amount of the transfer vehicle. and the translation amount of the cleaning vehicle Constructing the first function includes: Constructing the first function The number of photovoltaic panels to be cleaned in a single operation, Nc, is calculated using a first function, and this Nc is mapped to charging device data for a single operation. This charging device data includes charging power P and charging time T, and includes calculating the total energy consumption for a single operation. The calculation formula is: ， in, for, Let 0.1V be the wind speed influence coefficient and 0.2K be the pollution level influence coefficient; calculate the charging power P: ,in, This is the maximum allowable output power of the charging device. Let be the baseline charging time under standard conditions, and 1.1 be the energy consumption fluctuation compensation coefficient; calculate the charging time T: ,in, The conversion efficiency of the charging device is 0.05V + 0.03K, and the environmental correction factor is 0.03K.

5. The method for adjusting a photovoltaic panel cleaning and transfer vehicle according to claim 4, characterized in that, The photovoltaic panel cleaning and transfer vehicle adjustment method uses a photovoltaic panel cleaning and transfer vehicle adjustment device, which includes: a moving track arranged on one side of the photovoltaic panel array; a positioning track installed between the moving track and the photovoltaic panel array; a transfer vehicle assembly movably mounted on the moving track; the transfer vehicle assembly moving along the extension direction of the moving track; a cleaning vehicle assembly arranged on the upper side of the transfer vehicle assembly; the cleaning vehicle assembly including a housing, a cleaning unit, and moving wheels; two pairs of moving wheels installed on both sides of the housing, abutting against the sides of the transfer vehicle assembly to realize relative movement between the cleaning vehicle assembly and the transfer vehicle assembly; a cleaning unit installed on the lower side of the housing; a power receiving unit installed on the upper part of the housing; and a charging component movably mounted on the moving track, moving along the extension direction of the moving track; the charging component including a wireless charging unit aligned with the power receiving unit.

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