Photovoltaic power station direct-current side integrated control system

Abstract

The present invention provides a photovoltaic power station direct-current side integrated control system, comprising a tracking bracket controller, used for controlling a tracking bracket to rotate and sending tracking bracket operation data to an integrated control device; a cleaning robot, used for cleaning a photovoltaic module and sending robot operation data to the integrated control device; an inverter, used for sending power generation data generated by the photovoltaic module to the integrated control device; and the integrated control device, located near the tracking bracket, communicationally connected to the tracking bracket controller, the cleaning robot, and the inverter, separately, and used for obtaining meteorological data and controlling, on the basis of the meteorological data, the tracking bracket operation data, the robot operation data, and the power generation data, the tracking bracket and the cleaning robot to work.

Description

Photovoltaic power station DC side integrated control system Technical Field

[0001] The present invention mainly relates to the field of photovoltaic technology, and in particular to a comprehensive control system for the DC side of a photovoltaic power station. Background Art

[0002] The DC side of a photovoltaic power station typically includes photovoltaic modules, inverters, trackers, and cleaning robots. PV modules are mounted on the trackers, while cleaning robots clean the modules. The inverter transmits power generation data generated by the modules to the power station's central monitoring system. The inverter, trackers, and cleaning robots each communicate with the system through independent control devices. For example, the inverter control device controls the inverter to upload power generation data to the power station's central monitoring system. The tracker control device controls tracker rotation and uploads tracker operating data to the central monitoring platform. The robot control device controls the cleaning robot's operation and uploads this data to the central monitoring platform. These three components operate independently and without coordination. When the cleaning robot needs to obtain tracker operating data, it can only obtain it from the central monitoring platform. This cumbersome architecture results in a certain delay in the acquired data, making decisions based on this data unreliable. Furthermore, the maintenance of each control device is costly. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a photovoltaic power station DC side integrated control system to solve the problem of redundant communication architecture of existing photovoltaic power station control systems.

[0004] In order to solve the above technical problems, the present invention provides a photovoltaic power station DC side integrated control system, including photovoltaic modules and tracking brackets, and also including: a tracking bracket controller, used to control the rotation of the tracking bracket and send the tracking bracket operation data to the integrated control device; a cleaning robot, used to clean the photovoltaic modules and send the robot operation data to the integrated control device; an inverter, used to send the power generation data generated by the photovoltaic modules to the integrated control device; an integrated control device, located near the tracking bracket, and respectively communicated with the tracking bracket controller, the cleaning robot and the inverter, for obtaining meteorological data, and controlling the operation of the tracking bracket and the cleaning robot according to the meteorological data, the tracking bracket operation data, the robot operation data and the power generation data.

[0005] Optionally, the system includes a plurality of tracking brackets, which are placed in rows, with the tracking brackets in each row located on the same longitude line, and adjacent tracking brackets are connected by bridges.

[0006] Optionally, the integrated control device is also used to: determine whether there is an obstruction between the tracking brackets based on the power generation data, and if so, send a reverse tracking optimization signal to the tracking bracket controller; wherein, the tracking bracket controller is also used to control the tracking bracket to rotate to an optimized angle based on the reverse tracking optimization signal.

[0007] Optionally, the integrated control device is also used to: use the power generation data of the photovoltaic components on the first row of tracking brackets as benchmark data; determine whether the deviation between the power generation data of the photovoltaic components on other tracking brackets and the benchmark data is greater than a preset threshold, and if so, there is occlusion.

[0008] Optionally, the tracking bracket controller is also used to: control the tracking bracket to rotate to a first angle according to the inverse tracking optimization signal; determine whether the deviation between the power generation data at the first angle and the benchmark data is greater than a preset threshold; if so, control the tracking bracket to continue rotating until the deviation between the power generation data and the benchmark data is less than or equal to the preset threshold, reaching the optimization angle.

[0009] Optionally, the integrated control device is also used to determine the dust accumulation status of the photovoltaic components on the tracking bracket based on the power generation data, and the dust accumulation status includes heavy and light; when the dust accumulation is light, an unclean instruction is sent to the cleaning robot; wherein, the cleaning robot is also used to stop leaving the cabin according to the unclean instruction.

[0010] Optionally, the integrated control device is further configured to: obtain theoretical power generation data of the photovoltaic module in a clean state; and determine the dust accumulation state of the photovoltaic module based on the power generation data and the theoretical power generation data.

[0011] Optionally, the integrated control device is further configured to: obtain historical power generation data of the photovoltaic module; and determine the dust accumulation state of the photovoltaic module based on the power generation data and the historical power generation data.

[0012] Optionally, the system includes multiple cleaning robots, each cleaning robot cleans the photovoltaic panels on a row of tracking brackets, wherein the integrated control device is also used to: determine whether there is a fault in the tracking bracket on the cleaning path of each cleaning robot based on the operating data of the tracking bracket, and if so, send a stop cleaning instruction to the cleaning robot; wherein the cleaning robot is also used to stop cleaning according to the stop cleaning instruction.

[0013] Optionally, the integrated control device is also used to: calculate the angle difference between adjacent tracking brackets on the cleaning path of each cleaning robot based on the tracking bracket operation data; and determine whether the angle difference is greater than a first threshold, and if so, there is a fault.

[0014] Optionally, a bracket-side weather station is further included, which is communicatively connected to the integrated control device. The bracket-side weather station is used to collect weather data in the area where the tracking bracket is located, and the integrated control device obtains the weather data from the bracket-side weather station.

[0015] Optionally, the meteorological data includes irradiation, and the integrated control device is further used to: judge the weather conditions based on the irradiation; send an optimal power generation angle signal to the tracking bracket controller based on the weather conditions; wherein the tracking bracket controller is further used to control the tracking bracket to rotate to an optimal power generation angle based on the optimal angle signal.

[0016] Optionally, the meteorological data includes wind speed, and the integrated control device is further used to: send a strong wind signal to the tracking bracket controller when the wind speed exceeds a second threshold; wherein the tracking bracket controller is further used to control the tracking bracket to rotate to a strong wind protection angle according to the strong wind signal.

[0017] Optionally, the integrated control device is also used to: send a strong wind signal to the cleaning robot when the wind speed exceeds a third threshold, and the third threshold is less than the second threshold; wherein the cleaning robot is also used to stop leaving the cabin according to the strong wind signal.

[0018] Optionally, the meteorological data includes rainfall, and the integrated control device is further used to: send a heavy rain signal to the cleaning robot when the rainfall exceeds a fourth threshold; wherein the cleaning robot is further used to stop leaving the cabin according to the heavy rain signal.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] The integrated control system for the DC side of a photovoltaic power station of the present invention replaces the robot communication box, the tracking bracket communication box, and the inverter communication box with an integrated control device, thereby simplifying the DC side communication architecture and enabling data from other devices to be acquired nearby, thereby ensuring the timeliness and reliability of the data. Simultaneously, the integrated control device, acting as the main control and communication device, forms a local control unit near the tracking bracket, and implements integrated data linkage control, making the system more intelligent.

[0021] Summary of the Figures

[0022] The accompanying drawings are included to provide a further understanding of the present application, are incorporated into and constitute a part of this application, illustrate embodiments of the present application, and together with this specification serve to explain the principles of the present invention. In the accompanying drawings:

[0023] Figure 1 is a diagram of the control system architecture of a conventional photovoltaic power station;

[0024] FIG2 is a system block diagram of a photovoltaic power station DC side integrated control system according to an embodiment of the present invention;

[0025] FIG3A is a schematic diagram of the tilt angles of each tracking bracket when not optimized;

[0026] FIG3B is a schematic diagram of the tilt angles of each tracking bracket after optimization in FIG3A;

[0027] FIG4 is a top view of a plurality of tracking brackets according to an embodiment of the present invention;

[0028] FIG5A is a schematic diagram of a first state of a tracking bracket on a cleaning path of a cleaning robot;

[0029] FIG5B is a schematic diagram of a second state of the tracking bracket on the cleaning path of the cleaning robot;

[0030] FIG6 is a system block diagram of a photovoltaic power station control system according to an embodiment of the present invention.

[0031] FIG7 is a schematic diagram of the control area division corresponding to the DC side control system in FIG6 .

[0032] Preferred embodiments of the present invention

[0033] To more clearly illustrate the technical solutions of the embodiments of this application, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0034] Figure 1 is a diagram of the control system architecture of a conventional photovoltaic power station. As shown in Figure 1, the photovoltaic power station control system 100 includes a power station master monitoring system 10, a robot communication box 111, a cleaning robot 112, a tracking bracket communication box 121, a tracking bracket controller 122, a tracking bracket 123, an inverter communication box 131, an inverter 132, and photovoltaic modules 133. The cleaning robot 112 communicates with the power station master monitoring system 10 via the robot communication box 111. The tracking bracket controller 122 collects operating data from the tracking bracket 123 and communicates with the power station master monitoring system 10 via the tracking bracket communication box 121. The inverter 132 acquires power generation data from the photovoltaic modules 133 and communicates with the power station master monitoring system 10 via the inverter communication box 131. The robot communication box 111, the tracking bracket communication box 121, and the inverter communication box 131 operate independently and without coordination. When the cleaning robot 112 needs to obtain the operating data of the tracking bracket 123, it cannot obtain it from the nearby tracking bracket communication box 121, but needs to obtain it from the power station's overall monitoring system 10. Similarly, when the tracking bracket 123 needs to obtain the power generation data of the photovoltaic module 133, it cannot obtain it from the nearby inverter communication box 131, but needs to obtain it from the power station's overall monitoring system 10. The entire communication architecture is lengthy, and there is a delay in data acquisition. The control decisions made based on the acquired data are unreliable. At the same time, the robot communication box 111, the tracking bracket communication box 121, and the inverter communication box 131 need to be maintained separately, and the maintenance cost is high.

[0035] In some embodiments, the photovoltaic power plant control system 100 further includes a weather station 141. Weather station 141 is used to collect weather data in the area where the power plant master monitoring system 10 is located. The power plant master monitoring system 10 obtains weather data from weather station 141. Due to the physical distance between the power plant master monitoring system 10 and the tracking bracket 123, there is a certain discrepancy between the weather data obtained by the power plant master monitoring system 10 and the weather data at the location of the tracking bracket 123. This can lead to misjudgments in control strategies based on this weather data.

[0036] To address the above technical issues, this application proposes an integrated control system for the DC side of a photovoltaic power station. This system replaces the robot communication box 111, the tracking bracket communication box 121, and the inverter communication box 131 with an integrated control device. The integrated control device serves as the main control and communication device, forming a local control unit near the tracking bracket. This simplifies the DC side control architecture, reduces costs, ensures data timeliness and reliability, and integrates data linkage control to make the system more intelligent.

[0037] Figure 2 is a system block diagram of a photovoltaic power station DC-side integrated control system according to one embodiment of the present invention. As shown in Figure 2, the photovoltaic power station DC-side integrated control system 200 includes an integrated control device 20, a cleaning robot 211, a tracking bracket controller 221, a tracking bracket 222, an inverter 231, and photovoltaic modules 232. The integrated control device 20 is connected to the tracking bracket controller 221, the cleaning robot 211, and the inverter 231. The communication method can adopt a common wireless communication protocol such as the LoRa protocol or the ZigBee protocol, or a common wired communication protocol such as Modbus RTU, which is not limited in this application. The integrated control device 20 is located near the tracking bracket 222, enabling local collection of relevant data and control of related equipment to ensure data timeliness and reliability. The integrated control device 20 can be the tracking bracket communication box 121 in Figure 1, or a newly developed integrated control device. The tracking bracket 222 is used to mount photovoltaic modules. The tracking bracket in this application refers to a tracking-type tracking bracket. The tracking bracket controller 221 is used to control the rotation of the tracking bracket 222 and transmit tracking bracket operation data to the integrated control device 20. The cleaning robot 211 is used to clean the photovoltaic modules and transmit robot operation data to the integrated control device 20. The inverter 231 is used to transmit power generation data generated by the photovoltaic modules 232 to the integrated control device 20. The integrated control device 20 is used to obtain meteorological data and control the tracking frame controller 221 and the cleaning robot 211 based on the meteorological data, tracking frame operation data, robot operation data, and power generation data. Optionally, the integrated control device 20 is used to obtain meteorological data for the area where the tracking frame 222 is located from a meteorological website. Preferably, the photovoltaic power station DC-side integrated control system 200 also includes a frame-side meteorological station 241. The frame-side meteorological station 241 is located near the tracking frame 222 and is used to collect meteorological data for the area where the tracking frame 222 is located. The frame-side meteorological station 241 is in communication with the integrated control device 20, and the integrated control device 20 obtains meteorological data from the frame-side meteorological station 241. Meteorological data includes, but is not limited to, wind speed, irradiance, and rainfall.

[0038] Optionally, the integrated control device 20 is further configured to send meteorological data, tracking bracket operation data, robot operation data, and power generation data to the power station overall monitoring system.

[0039] Optionally, the integrated control device 20 is further configured to determine whether there is obstruction between the tracking brackets based on the power generation data. If so, it sends a reverse tracking optimization signal to the tracking bracket controller; the tracking bracket controller is further configured to control the tracking brackets to rotate to the optimized angle based on the reverse tracking optimization signal. Figure 3A is a schematic diagram of the tilt angles of each tracking bracket before optimization. As shown in Figure 3A, due to the undulating terrain, bracket 1 is located higher than bracket 2, resulting in a terrain difference between brackets 1 and 2. During the reverse tracking phase, when brackets 1 and 2 are both rotated according to the reverse tracking angle (20°) for flat ground, the shadow S cast by bracket 1 will obstruct the photovoltaic modules on bracket 2. In strong direct radiation weather, instantaneous power loss can reach 40%. The integrated control device 20 of the present application determines whether there is obstruction between the tracking brackets based on the power generation data. Optionally, the integrated control device 20 uses the power generation data of the photovoltaic modules on the first row of tracking brackets as the baseline data and determines whether the deviation between the power generation data of the photovoltaic modules on the other tracking brackets and the baseline data exceeds a preset threshold. If so, obstruction exists. Deviations within a certain range in the power generation data of the photovoltaic modules on each row of tracking brackets are considered normal. The first row of tracking brackets will usually not be obstructed. If the photovoltaic modules on the other rows of tracking brackets are obstructed, the power generation power will decrease. The present invention determines whether there is obstruction by judging whether the deviation between the power generation data of the photovoltaic modules on the other tracking brackets and the benchmark data is greater than a preset threshold. The preset threshold can be a certain proportion of the benchmark data. For example, 5% of the benchmark data can be used as the preset threshold. When the deviation between the power generation data of the photovoltaic modules on the other tracking brackets and the benchmark data is greater than 5% of the benchmark data, it is considered that the photovoltaic modules on the other rows of tracking brackets are obstructed; conversely, if the deviation between the power generation data of the photovoltaic modules on the other tracking brackets and the benchmark data is within 5%, it is considered that the photovoltaic modules on the other rows of tracking brackets are not obstructed.

[0040] If the photovoltaic modules on the tracking brackets in other rows are blocked, the integrated control device 20 sends a reverse tracking optimization signal to the tracking bracket controllers in that row.

[0041] Optionally, the tracking bracket controller is further configured to control the tracking bracket to rotate to a first angle based on the reverse tracking optimization signal; determine whether the deviation between the power generation data and the baseline data at the first angle is greater than a preset threshold; if so, control the tracking bracket to continue rotating until the deviation between the power generation data and the baseline data is less than or equal to the preset threshold, thereby reaching the optimized angle. Figure 3B is a schematic diagram of the tilt angles of each tracking bracket after optimization in Figure 3A. As shown in Figure 3B, when the integrated control device determines based on the power generation data that the photovoltaic modules on bracket 2 are obstructed, it sends a reverse tracking optimization signal to the tracking bracket controller of bracket 2. Based on the reverse tracking optimization signal, the tracking bracket controller of bracket 2 controls bracket 2 to reduce the reverse tracking angle. For example, the reverse tracking angle of bracket 2 is reduced to 19°. When the reverse tracking angle is 19°, it is determined whether the deviation between the power generation data of the photovoltaic modules on bracket 2 and the baseline data is greater than a preset threshold. If the deviation is still greater than the preset threshold, bracket 2 is controlled to further reduce the reverse tracking angle and determine whether the deviation between the power generation data of the photovoltaic modules on bracket 2 and the baseline data is greater than a preset threshold. The above steps are repeated until the deviation is less than or equal to the preset threshold, thereby reaching the optimized angle. As shown in FIG. 3B , in this embodiment, the optimized angle of the bracket 2 is 13°. When the reverse tracking angle of the bracket 2 is 13°, the shadow generated by the bracket 1 will not block the photovoltaic components on the bracket 2 .

[0042] Preferably, the integrated control device 20 is further configured to determine the dust accumulation status of the photovoltaic modules on the tracking bracket based on power generation data. Dust accumulation status can be classified as heavy or light. Optionally, the integrated control device 20 obtains theoretical power generation data for the cleaned photovoltaic modules and determines the dust accumulation status of the photovoltaic modules based on actual power generation data and theoretical power generation data obtained from the inverter 231. For example, when the difference between the actual power generation data and the theoretical power generation data exceeds a preset threshold, the dust accumulation status is considered heavy; otherwise, the dust accumulation status is considered light. Optionally, the integrated control device 20 obtains historical power generation data for the photovoltaic modules and determines the dust accumulation status of the photovoltaic modules based on the power generation data and historical power generation data. The preset threshold can be a certain percentage of baseline data. For example, when the difference between the historical power generation data and the power generation data exceeds a preset threshold, the dust accumulation status is considered heavy; otherwise, the dust accumulation status is considered light. Historical power generation data refers to power generation data within a cleaning cycle. For example, within a cleaning cycle, power generation efficiency is highest immediately after cleaning. After a period of time, as dust accumulates on the photovoltaic modules, power generation efficiency gradually decreases. The dust accumulation status of the photovoltaic panels on the tracking bracket can be determined by combining power generation data with historical power generation data within the cleaning cycle. If the integrated control device 20 determines that the dust accumulation is light, it sends a "no cleaning" instruction to the cleaning robot 211. The cleaning robot 211 is also configured to stop exiting the cabin according to the "no cleaning" instruction.

[0043] Optionally, the integrated control system 200 for the DC side of a photovoltaic power station includes multiple tracking brackets arranged in rows, with the tracking brackets in each row located on the same longitude line, and adjacent tracking brackets connected by bridges. Figure 4 is a top view of multiple tracking brackets according to one embodiment of the present invention. As shown in Figure 4, the multiple tracking brackets are arranged in rows, with the tracking brackets in each row located on the same longitude line.

[0044] Preferably, the integrated control system 200 for the DC side of a photovoltaic power station includes multiple cleaning robots. To save costs, each cleaning robot cleans photovoltaic modules on tracking brackets located on the same longitude. The integrated control device 20 is further configured to determine, based on tracking bracket operating data, whether a tracking bracket in each cleaning robot's cleaning path is faulty. If so, it sends a stop-cleaning command to the cleaning robot. The cleaning robot is further configured to stop cleaning in response to the stop-cleaning command. Figure 5A is a schematic diagram of a first state of a tracking bracket in a cleaning robot's cleaning path. As shown in Figure 5A, the cleaning path of cleaning robot No. 20 includes tracking brackets No. 32 and No. 33. Tracking brackets No. 32 and No. 33 are located on the same longitude. Tracking brackets No. 32 and No. 33 are connected by a bridge. Typically, tracking brackets on the same longitude have the same rotation angle, with the angle difference between brackets not exceeding ±1°. However, if the angle difference between brackets is too large due to a fault or maintenance, the bridge between the brackets may automatically fall off. If the cleaning robot continues to operate, there is a risk of the bridge falling, causing damage to the cleaning robot. Figure 5B is a schematic diagram of the second state of the tracking brackets along the cleaning robot's cleaning path. As shown in Figure 5B, the bridge between tracking brackets 32 and 33 has fallen off. When cleaning robot 20 finishes cleaning tracking bracket 32 ​​and continues cleaning tracking bracket 33, due to the bridge falling off, cleaning robot 20 is at risk of falling when passing over the bridge, causing damage to the cleaning robot. During cleaning, the present application uses an integrated control device to determine whether a fault exists in each tracking bracket along the cleaning robot's cleaning path. If so, a command to stop cleaning is sent to the cleaning robot. Optionally, the integrated control device 20 is further configured to calculate the angular difference between adjacent tracking brackets along each cleaning robot's cleaning path based on the tracking bracket operating data; determine whether the angular difference exceeds a first threshold; if so, a fault exists. The first threshold can be 5°, which is not limited in the present application. For example, the tracking bracket cleaning time period is typically set at night. The tracking brackets rotate to a cleaning angle, stop rotating, and maintain the cleaning angle. In this case, each tracking bracket should maintain a uniform cleaning angle, such as 10°. However, at some point, Tracking Bracket 33's rotation angle was set to 0° for regular maintenance. At this point, the rotation angle of Tracking Bracket 33 differed by 10° from the cleaning angle of Tracking Bracket 32. Therefore, the bridge between Tracking Brackets 32 and 33 may have become detached. To prevent the cleaning robot from falling, the integrated control device 20 instructs Cleaning Robot 20, whose cleaning path includes Tracking Bracket 33, to stop cleaning. When Tracking Bracket 33 resumes normal operation and maintenance personnel verify the bridge connection, Cleaning Robot 20 resumes cleaning.

[0045] During the operation of a tracking bracket, if a tracking bracket fails and the integrated control device 20 detects that the angle difference between adjacent tracking brackets exceeds a first threshold, indicating that the connecting bridge between the tracking bracket and the adjacent tracking bracket may fall off, the integrated control device 2 will send a stop cleaning command to the cleaning robot whose cleaning path includes the tracking bracket. After the operation and maintenance personnel have checked that everything is correct, normal cleaning operations will resume.

[0046] Optionally, the integrated control device 20 is further configured to determine whether the cleaning robot is faulty based on the robot's operating data. If so, it sends a stop-cleaning command to the cleaning robot; the cleaning robot is further configured to stop cleaning in response to the stop-cleaning command. Robot operating data includes, but is not limited to, the robot's real-time position, the robot's motor current, and the remaining battery power. For example, if the robot remains stationary and the robot's motor current is excessive during cleaning, the integrated control device 20 may preliminarily determine that the robot has self-locked, send a stop-cleaning command to the cleaning robot, and promptly report the fault information to operations and maintenance personnel for prompt action.

[0047] Optionally, the integrated control device 20 is further configured to determine weather conditions based on irradiance and, based on the weather conditions, transmit an optimal power generation angle signal to the tracking bracket controller. Weather conditions can be categorized as sunny, cloudy, or overcast. The direct radiation percentage is calculated based on the irradiance. A direct radiation percentage of 0-0.19 indicates overcast weather, 0.2-0.49 indicates overcast weather, and 0.5 or higher indicates sunny weather. Each weather condition has a corresponding optimal power generation angle signal. The tracking bracket controller is further configured to control the tracking bracket to rotate to the optimal power generation angle based on the optimal angle signal.

[0048] Optionally, the integrated control device 20 is also used to send a high wind signal to the tracking bracket controller when the wind speed exceeds a second threshold. The second threshold is set according to different project situations and can be 10m / s. When the wind speed exceeds 10m / s, the integrated control device sends a high wind signal to the tracking bracket controller. In some embodiments, the integrated control device 20 is also used to send a high wind signal to the tracking bracket controller when the wind speed exceeds the second threshold and lasts for a period of time. For example, when the wind speed exceeds 10m / s and lasts for more than 5 minutes, the integrated control device sends a high wind signal to the tracking bracket controller. In some embodiments, the integrated control device 20 is also used to send a high wind signal to the tracking bracket controller when the number of times the wind speed exceeds the second threshold within a period of time reaches a preset value. For example, in this embodiment, when the wind speed collected exceeds 10m / s three times within half an hour, the integrated control device sends a high wind signal to the tracking bracket controller. The tracking bracket controller is also used to control the tracking bracket to rotate to a high wind protection angle according to the high wind signal. The value of the high wind protection angle can be set according to the project site, manufacturer and wind speed. For example, the high wind protection angle can be set to 30°, and this application does not limit this.

[0049] Optionally, the integrated control device 20 is further configured to send a high wind signal to the cleaning robot when the wind speed exceeds a third threshold, where the third threshold is less than the second threshold. For example, in this embodiment, the tracking bracket's minimum wind speed protection threshold is 10 m / s, and the robot's wind speed threshold should be lower than the tracking bracket's minimum wind speed protection threshold. The cleaning robot is further configured to stop exiting the cabin in response to the high wind signal.

[0050] Optionally, the integrated control device 20 is further configured to send a heavy rain signal to the cleaning robot when the rainfall exceeds a fourth threshold value within a cleaning cycle. The cleaning robot is further configured to stop exiting the cabin in response to the heavy rain signal. The fourth threshold value is set based on different project scenarios and may be 10 mm. In this embodiment, for example, with a cleaning cycle of one day, when the monitored rainfall exceeds 10 mm, the integrated control device sends a heavy rain signal to the cleaning robot, as rainwater erosion can significantly reduce dust accumulation. The cleaning robot stops exiting the cabin in response to the heavy rain signal and may not clean that day.

[0051] The integrated control system for the DC side of a photovoltaic power station of the present invention replaces the robot communication box, the tracking bracket communication box, and the inverter communication box with an integrated control device, thereby simplifying the DC side communication architecture and enabling data from other devices to be acquired nearby, thereby ensuring the timeliness and reliability of the data. Simultaneously, the integrated control device, acting as the main control and communication device, forms a local control unit near the tracking bracket, and implements integrated data linkage control, making the system more intelligent.

[0052] Figure 6 is a system block diagram of a photovoltaic power station control system according to one embodiment of the present invention. As shown in Figure 6, the photovoltaic power station control system 600 includes a power station master monitoring system 60 and multiple photovoltaic power station DC-side integrated control systems (hereinafter referred to as DC-side control systems). In this embodiment, the multiple DC-side control systems include a DC-side control system 611 and a DC-side control system 612. This application does not limit the number of DC-side control systems. The integrated control device in each DC-side control system is communicatively connected to the power station master monitoring system 60. The power station master monitoring system 60 is used to obtain meteorological data, tracking support operation data, robot operation data, and power generation data from each integrated control device. Each DC-side control system in the photovoltaic power station control system 600 is a local control unit that controls the tracking supports and cleaning robots within a specific area. This application divides the areas based on terrain, wind speed differences, communication distance, communication equipment upper limit, cleaning robot travel path, inverter capacity ratio, and other factors. This avoids situations where there is a lack of coordination between components, or where the robot cleaning path or inverter string wiring spans two tracking support sub-areas. Figure 7 is a schematic diagram of the control area division corresponding to the DC-side control system in Figure 6. As shown in Figure 7 , multiple rows of tracking brackets are divided into a left area 71 and a right area 72. The DC-side control system 611 in Figure 6 can control the left area 71, while the DC-side control system 612 can control the right area 72. Because a single robot can clean multiple tracking brackets on the same longitude line (north-south direction), this area division ensures that all tracking brackets along the robot's cleaning path are controlled by the same integrated control device, improving cleaning efficiency.

[0053] The basic concepts have been described above. It will be apparent to those skilled in the art that the above disclosures are merely illustrative and do not constitute limitations on this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and amendments to this application. Such modifications, improvements, and amendments are suggested in this application and remain within the spirit and scope of the exemplary embodiments of this application.

[0054] At the same time, this application uses specific terms to describe the embodiments of this application. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "one embodiment," "an embodiment," or "an alternative embodiment" mentioned twice or multiple times in different locations in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application may be appropriately combined.

[0055] Some aspects of the present application can be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software can be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs...), smart cards, and flash memory devices (e.g., cards, sticks, key drives...).

[0056] Similarly, it should be noted that, in order to simplify the presentation of this application and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this application sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the subject matter of this application requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single embodiment disclosed above.

[0057] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions can be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A photovoltaic power station DC side integrated control system, comprising a tracking bracket and a photovoltaic module installed on the tracking bracket, characterized in that: Also includes: A tracking support controller, used for controlling the rotation of the tracking support and sending the tracking support operation data to the integrated control device; A cleaning robot, used for cleaning the photovoltaic module and sending robot operation data to the integrated control device; An inverter, used to send power generation data generated by the photovoltaic assembly to the integrated control device; An integrated control device is located near the tracking bracket and is respectively connected to the tracking bracket controller, the cleaning robot and the inverter for acquiring meteorological data and controlling the operation of the tracking bracket and the cleaning robot according to the meteorological data, the tracking bracket operation data, the robot operation data and the power generation data.

2. The system according to claim 1, characterized in that It includes a plurality of tracking brackets arranged in rows, wherein the tracking brackets in each row are located on the same longitude line, and adjacent tracking brackets are connected by bridge frames.

3. The system according to claim 2, characterized in that The integrated control device is also used for: Determine whether there is any shielding between the tracking brackets according to the power generation data, and if so, send a reverse tracking optimization signal to the tracking bracket controller; Wherein, the tracking bracket controller is further used to control the tracking bracket to rotate to an optimized angle according to the reverse tracking optimization signal.

4. The system according to claim 3, characterized in that The integrated control device is also used for: The power generation data of the photovoltaic modules on the first row of tracking brackets is used as the benchmark data; It is determined whether the deviation between the power generation data of the photovoltaic modules on other tracking brackets and the reference data is greater than a preset threshold value. If so, it is determined that there is shielding.

5. The system according to claim 4, characterized in that The tracking support controller is also used for: Controlling the tracking bracket to rotate to a first angle according to the reverse tracking optimization signal; Determine whether the deviation between the power generation data at the first angle and the reference data is greater than a preset threshold. If so, control the tracking bracket to continue rotating until the deviation between the power generation data and the reference data is less than or equal to the preset threshold, and the optimization angle is reached.

6. The system according to claim 1, characterized in that The integrated control device is also used for: Determine the dust accumulation state of the photovoltaic components on the tracking bracket according to the power generation data, wherein the dust accumulation state includes heavier and lighter; When the dust accumulation is light, a non-cleaning instruction is sent to the cleaning robot; Wherein, the cleaning robot is also used to stop leaving the cabin according to the unclean instruction.

7. The system according to claim 6, characterized in that The integrated control device is also used for: Obtain theoretical power generation data of PV panels in a clean state; The dust accumulation state of the photovoltaic module is determined according to the power generation data and the theoretical power generation data.

8. The system according to claim 6, characterized in that The integrated control device is also used for: Obtain historical power generation data of photovoltaic modules; The dust accumulation state of the photovoltaic module is determined according to the power generation data and the historical power generation data.

9. The system according to claim 2, characterized in that The invention comprises a plurality of cleaning robots, each cleaning robot cleaning a row of photovoltaic modules on a tracking bracket, wherein the integrated control device is further used to: determine whether there is a fault in the tracking bracket on the cleaning path of each cleaning robot according to the running data of the tracking bracket, and if so, send a stop cleaning instruction to the cleaning robot; Wherein, the cleaning robot is also used to stop cleaning according to the stop cleaning instruction.

10. The system according to claim 9, characterized in that The integrated control device is also used for: Calculate the angle difference between adjacent tracking brackets on the cleaning path of each cleaning robot according to the tracking bracket operation data; It is determined whether the angle difference is greater than a first threshold, and if so, a fault exists.

11. The system according to claim 1, characterized in that It also includes a bracket side meteorological station, which is communicatively connected to the integrated control device, and is used to collect meteorological data in the area where the tracking bracket is located. The integrated control device obtains the meteorological data from the bracket side meteorological station.

12. The system according to any one of claims 1 to 11, characterized in that: The meteorological data includes radiation, and the integrated control device is further used for: judging weather conditions according to the irradiance; Sending an optimal power generation angle signal to the tracking bracket controller according to the weather conditions; The tracking bracket controller is further used to control the tracking bracket to rotate to an optimal power generation angle according to the optimal angle signal.

13. The system according to any one of claims 1 to 11, characterized in that: The meteorological data includes wind speed, and the integrated control device is further used for: When the wind speed exceeds a second threshold, sending a high wind signal to the tracking bracket controller; Wherein, the tracking bracket controller is also used to control the tracking bracket to rotate to a strong wind protection angle according to the strong wind signal.

14. The system of claim 13, wherein: The integrated control device is also used for: When the wind speed exceeds a third threshold, sending a high wind signal to the cleaning robot, the third threshold being less than the second threshold; Wherein, the cleaning robot is also used to stop leaving the cabin according to the strong wind signal.

15. The system according to any one of claims 1 to 11, characterized in that: The meteorological data includes rainfall, and the integrated control device is further used for: When the rainfall exceeds a fourth threshold value during a cleaning cycle, a heavy rain signal is sent to the cleaning robot; Wherein, the cleaning robot is also used to stop leaving the cabin according to the heavy rain signal.

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