Walking device, photovoltaic system and walking deviation rectifying method thereof

Abstract

The invention provides a walking device, a photovoltaic system and a walking deviation rectifying method thereof. The walking device comprises four walking driving assemblies, a walking frame, a rotating shaft and an angle sensor, wherein each walking driving assembly comprises a mounting frame assembly, a driving wheel and a positioning wheel, the driving wheel and the positioning wheel are rotationally arranged on the mounting frame assembly, the axial direction of the positioning wheel is perpendicular to the axial direction of the driving wheel, the positioning wheel is located on the axial side of the driving wheel, the walking frame comprises four supports, the head ends and the tail ends of the four supports are sequentially hinged to form four hinge positions, one mounting frame assembly is hinged to at least one support through a rotating shaft, one walking driving assembly is close to one hinge position, the rotating axial direction of the mounting frame assembly is parallelto the rotating axial direction of the support, and the angle sensor is connected between the support and the rotating shaft. The deviation condition is obtained through the angle sensor, then the four driving wheels can be controlled to walk correspondingly, control over the walking frame is achieved, and the walking stability is further improved.

Description

technical field [0001] The invention relates to the field of photovoltaic power generation equipment, in particular to a walking device, a photovoltaic system and a walking deviation correction method thereof. Background technique [0002] Photovoltaic is the abbreviation of solar photovoltaic power generation system. It is a photovoltaic panel made of battery semiconductor materials for photovoltaic effect, radiating sunlight to the photovoltaic panel, and then the photovoltaic panel can generate electricity. And the classification of solar photovoltaic power generation systems, one is centralized, such as large-scale Northwest ground photovoltaic power generation systems, and the other is distributed, such as industrial and commercial enterprise factory roofs or residential roof photovoltaic power generation systems. [0003] In the large-scale Northwest ground photovoltaic power generation system, in order to cooperate with better light radiation, the photovoltaic panels ...

AI Technical Summary

Problems solved by technology

[0004] When there is a drop or dislocation between adjacent photovoltaic strings, the existing connecting bridge only makes a straight line connection between the corresponding vertices of adjacent components between the photovoltaic strings, so that the walking device on the photovoltaic strings cannot walk The wheel surface and the bridge surface cannot be fully fitted, and the walking direction of the traveling wheel is inconsistent with the direction of the connecting bridge, and even the upper and lower bridges are not in the same plane.

[0005] The front and rear traveling wheels of the existing walking device cannot turn independently, so that the traveling wheels do not keep the same direction as the track path during the walking process of the device, which leads to difficulty in walking or even jamming when the walking device passes through the turning path

[0006] Not only the photovoltaic panels need to be arranged offset through the connecting bridge, but also the photovoltaic panels also need to be arranged at an inclination angle, which makes the walking posture of the walking device difficult to control, affecting the walking stability and related cleaning performance

Images