Photovoltaic cleaning device and working method thereof

Abstract

The invention relates to a photovoltaic cleaning device and a working method thereof.The photovoltaic cleaning device comprises a rack, a power source assembly, a cleaning assembly, a control assembly, a walking assembly and a line feed assembly, the line feed assembly comprises a lifting mechanism, a ferry wheel assembly and a linkage piece, the ferry wheel assembly is fixed to the linkage piece, and the lifting mechanism is in transmission connection with the linkage piece; the lifting mechanism is used for driving the linkage part to move vertically and simultaneously driving the ferry wheel assembly to move between a contraction position and an extension position, the ferry wheel assembly and the walking assembly respectively comprise a line changing wheel and a walking wheel, the line changing wheel and the walking wheel are respectively suspended when the ferry wheel assembly is in the contraction position and the extension position, and the walking direction of the walking assembly is perpendicular to that of the line changing assembly. The control assembly is in communication connection with the cleaning assembly, the walking assembly and the line changing assembly and used for controlling the cleaning assembly, the walking assembly and the line changing assembly to execute related actions. The in-place cleaning behavior and the line feed behavior can be automatically achieved when cleaning is completed, the cleaning efficiency is improved, and the working cost is saved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a photovoltaic cleaning device and a working method thereof. Background Art

[0002] Affected by various factors such as weather and environment, the surface of solar photovoltaic cells is often covered by foreign objects such as dust and fallen leaves, which causes the photovoltaic cell photoelectric conversion efficiency to decrease to varying degrees, affecting the power generation efficiency of photovoltaic power stations.

[0003] Large photovoltaic power stations generally install photovoltaic cleaning robots to automatically clean photovoltaic components and remove dust, bird droppings, sand and gravel and other stains attached to photovoltaic glass panels, keeping them clean and maintaining normal power generation.

[0004] For large-scale photovoltaic array cleaning application scenarios, most of the products currently on the market have the ability to clean by row-changing through the combination of a shuttle bus and a photovoltaic cleaning robot. In fact, they still rely on two products to achieve the row-changing cleaning function. For users, it was originally expected that only one device would be needed to achieve the cleaning function. However, in reality, a ferry device is required to achieve complete cleaning of the site, which greatly reduces the user's enthusiasm for use. A photovoltaic cleaning robot with a row-changing function is proposed. The row-changing device and the cleaning robot are integrated into one device, which can greatly reduce the transportation, construction, and operation and maintenance costs, and improve the photovoltaic cleaning efficiency by reducing the number of motion control, motion monitoring, and device communications on the device side.

[0005] In summary, there is an urgent need to provide a photovoltaic cleaning device and a working method thereof that can effectively solve the line-changing cleaning problem of a photovoltaic cleaning robot. Summary of the invention

[0006] The object of the present invention is to provide a photovoltaic cleaning device and a working method thereof which can effectively solve the line-changing cleaning problem of a photovoltaic cleaning robot.

[0007] The above-mentioned object is achieved through the following technical scheme: a photovoltaic cleaning device, comprising a frame and a power supply component, a cleaning component, a control component, a walking component and a line-changing component arranged on the frame, the power supply component is electrically connected to the cleaning component, the control component, the walking component and the line-changing component, the line-changing component comprises a lifting mechanism, a ferry wheel component and a linkage, the ferry wheel component is fixed on the linkage, the lifting mechanism is transmission-connected to the linkage, the lifting mechanism is used to drive the linkage to move vertically while driving the ferry wheel component to move between a retracted position and an extended position, the ferry wheel component and the walking component respectively comprise a line-changing wheel and a walking wheel, when the ferry wheel component is in the retracted position and the extended position, the line-changing wheel and the walking wheel are respectively suspended, the walking directions of the walking component and the line-changing component are perpendicular to each other, the control component is communication-connected to the cleaning component, the walking component and the line-changing component and is used to control the cleaning component, the walking component and the line-changing component to perform related actions.

[0008] The present invention is used for cleaning the surface of solar photovoltaic cells. During normal cleaning work, the lifting mechanism drives the line-changing component to retract to the retracted position, the line-changing wheel is suspended, the walking wheel contacts the walking surface, and the control component controls the walking component to drive the photovoltaic cleaning device to perform cleaning operations; after completing the cleaning operation of the current row, at a predetermined position, the walking component stops moving, the lifting mechanism drives the line-changing component to extend to the extended position, the walking wheel is suspended, the line-changing wheel contacts the line-changing surface, and the control component controls the ferry wheel component to drive the photovoltaic cleaning device to perform line-changing operations. After the line-changing operation is completed, the lifting mechanism drives the line-changing component to retract to the retracted position, the line-changing wheel is suspended, the walking wheel contacts the walking surface, and the walking component is controlled to drive the photovoltaic cleaning device to perform the cleaning operation of the next row of photovoltaic components; the device is provided with a lifting mechanism in the photovoltaic cleaning device, so that the device has two states: the walking wheel is close to the ground when operating and the walking wheel is suspended when changing lines. In specific application, the photovoltaic cleaning device is provided with a sensing system and a sensed part is provided at a predetermined track line-changing position, so as to realize the cleaning behavior of the photovoltaic cleaning device in place and the line-changing behavior when cleaning is completed. In summary, the photovoltaic cleaning device can have both a cleaning function and a line-changing function.

[0009] A further technical solution is that the line-changing components are arranged on both sides of the frame, and the traveling components are arranged at both ends of the frame. This arrangement has a compact structure, high space utilization, and the two do not interfere with each other.

[0010] A further technical solution is that a plurality of line-changing wheels are fixed in parallel on the linkage member, the plurality of line-changing wheels include a driven wheel and a driving wheel assembly, the driving wheel assembly includes a line-changing driving member, a driving wheel, a connecting seat and a bearing seat, the driving wheel is transmission-connected to the line-changing driving member via the bearing seat, the bearing seat is fixedly connected to the connecting seat, and the connecting seat is connected to the frame.

[0011] A further technical solution is that the lifting mechanism includes a lifting drive and a screw, the lifting drive is fixed to the frame through a base, one end of the screw is connected to the lifting drive through a coupling, and the other end passes through the linkage and is rotatably connected to the bearing base of the frame, and the screw is threadedly connected to the linkage. In this way, the lifting drive controls the rotation direction of the screw to control the linkage to drive the overall lifting of the line-changing wheel.

[0012] A further technical solution is that a positioning detection member is provided on the linkage member, and the positioning detection member is used to detect the position of the ferry assembly. The positioning detection member is communicated with the controller and transmits the detection signal to the controller, and the controller controls the start and stop and rotation direction of the lifting drive member according to the received signal.

[0013] A further technical solution is that the support is provided with a crossbeam, and a buffer is provided between the crossbeam and the linkage member. Thus, by providing the buffer, the ferry assembly is prevented from contacting the photovoltaic panel during the descent process and causing damage to the photovoltaic panel.

[0014] A further technical solution is that the travel assembly further includes a travel drive, a bearing base and a transmission shaft, the bearing base is fixedly connected to the frame, the travel drive is fixed to the bearing base and is transmission-connected to the travel wheel through the transmission shaft. In the specific application process, a four-wheel drive travel mode is adopted in the forward and backward directions of cleaning, the travel drive is connected to the transmission shaft through a coupling, and the transmission shaft is connected to the frame through a bearing flange.

[0015] A further technical solution is that the cleaning assembly includes a fixing seat, a cleaning drive and a spiral cleaning roller brush, the spiral cleaning roller brush is arranged at the bottom of the frame, one end of the connecting shaft of the spiral cleaning roller brush is rotationally connected to the frame, and the other end is transmission-connected to the cleaning drive, and the cleaning drive is fixed to the frame through the fixing seat. The cleaning assembly is used to clean impurities on the photovoltaic panel, and the spiral cleaning roller brush and the cleaning drive can be connected in the form of a coupling, a direct connection with a connecting rod, etc.

[0016] A further technical solution is that the frame is provided with a correcting wheel assembly corresponding to the position where the first driving wheel assembly and the second driving wheel assembly are provided, and the correcting wheel assembly includes a mounting seat, a connecting bracket and a roller, the mounting seat is fixed on the frame, one end of the connecting bracket is connected to the mounting seat, and the other end is provided with the roller, the roller is hinged to the connecting bracket and the rotation direction is horizontal.

[0017] To achieve the above object, the present invention also provides a working method of any of the above photovoltaic cleaning devices, comprising the following steps:

[0018] S1, the lifting mechanism drives the line change assembly to retract to the retracted position, the line change wheel is suspended in the air, and the travel wheel is in contact with the travel surface;

[0019] S2, the control component controls the movement of the walking component to drive the photovoltaic cleaning device to perform cleaning operations;

[0020] S3, the photovoltaic cleaning device moves as a whole to the line-changing guide rail, the travel assembly stops moving, the lifting mechanism drives the line-changing assembly to extend to the extended position, the travel wheel is suspended, and the line-changing wheel contacts the line-changing surface;

[0021] S4, the control component controls the ferry component to drive the photovoltaic cleaning device to change lines;

[0022] S5, after completing the line break, go to step S1.

[0023] During specific application, during normal cleaning work, the lifting mechanism drives the line change assembly to retract to the retracted position, the line change wheel is suspended, the walking wheel is in contact with the walking surface, and the control component controls the walking component to drive the photovoltaic cleaning device to perform cleaning operations; when the cleaning operation of this row is completed, at the predetermined position, the walking component stops moving, the lifting mechanism drives the line change assembly to extend to the extended position, the walking wheel is suspended, the line change wheel is in contact with the line change surface, and the control component controls the ferry wheel assembly to drive the photovoltaic cleaning device to change lines. After the line change is completed, the lifting mechanism drives the line change assembly to retract to the retracted position, the line change wheel is suspended, the walking wheel is in contact with the walking surface, and the walking component is controlled to drive the photovoltaic cleaning device to perform the cleaning operation of the next row of photovoltaic components; during specific application, by setting a sensing system on the photovoltaic cleaning device and setting the sensed parts at the predetermined track line change position, the photovoltaic cleaning device can be in place for cleaning and line change when cleaning is completed. In summary, the photovoltaic cleaning device can have both cleaning and line change functions.

[0024] Compared with the prior art, the application of the technical solution of the present invention enables the photovoltaic cleaning device to automatically achieve in-place cleaning behavior and line change behavior when cleaning is completed, thereby improving cleaning efficiency and saving work costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0026] Figure 1 This is a schematic structural diagram of a photovoltaic cleaning device according to an embodiment of the present invention;

[0027] Figure 2 A schematic structural diagram of a photovoltaic cleaning device according to an embodiment of the present invention from another perspective;

[0028] Figure 3 It is a structural schematic diagram of a photovoltaic cleaning device when the ferry assembly involved in one embodiment of the present invention is in a retracted position;

[0029] Figure 4 It is a structural schematic diagram of a photovoltaic cleaning device when a ferry assembly is in an extended position according to an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of the assembly structure of a line feed assembly according to an embodiment of the present invention;

[0031] Figure 6 It is a structural schematic diagram of a driving wheel assembly involved in one embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the assembly structure of a lifting mechanism involved in one embodiment of the present invention;

[0033] Figure 8 It is a structural schematic diagram of a walking assembly involved in one embodiment of the present invention;

[0034] Fig. 9 This is a schematic structural diagram of a cleaning component involved in one embodiment of the present invention;

[0035] Fig.10 A schematic structural diagram of a positioning detection component involved in one embodiment of the present invention;

[0036] Fig.11 This is a schematic structural diagram of a deviation-correcting wheel assembly involved in one embodiment of the present invention;

[0037] Fig.12 The present invention is a schematic diagram of the working process of a photovoltaic cleaning device involved in one embodiment of the present invention.

[0038] 1 power supply assembly 2 cleaning assembly 3 walking assembly 4 line change assembly

[0039] 5 frame 6 control assembly 7 linkage 8 driven wheel

[0040] 10 driving wheel assembly 10 line feed driving member 11 driving wheel 12 connecting seat

[0041] 13 bearing seat 14 lifting drive 15 deviation correction wheel assembly 16 buffer

[0042] 17 screw rod 18 positioning detection part 19 cross beam 20 travel drive part

[0043] 21 bearing base 22 transmission shaft 23 travel wheel 24 coupling

[0044] 25 fixing seat 26 cleaning drive member 27 spiral cleaning roller brush 28 mounting seat

[0045] 29 connecting bracket 30 roller 31 sensor 32 mounting bracket

[0046] 33 bearing flange 34 bearing base 35 line guide 36 photovoltaic module DETAILED DESCRIPTION

[0047] The present invention is described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the scope of protection of the present invention. In addition, those skilled in the art can make corresponding combinations of the features in the embodiments and in different embodiments in this document based on the description of this document.

[0048] The embodiments of the present invention are as follows, referring to Figures 1 to 5 A photovoltaic cleaning device comprises a frame 5 and a power supply assembly 1, a cleaning assembly 2, a control assembly 6, a walking assembly 3 and a line-changing assembly 4 arranged on the frame 5, the power supply assembly 1 is electrically connected to the cleaning assembly 2, the control assembly 6, the walking assembly 3 and the line-changing assembly 4, the line-changing assembly 4 comprises a lifting mechanism, a ferry assembly and a linkage 7, the ferry assembly is fixed on the linkage 7, the lifting mechanism is transmission-connected with the linkage 7, the lifting mechanism is used to drive the linkage 7 to move vertically while driving the ferry assembly to move between a retracted position and an extended position, the ferry assembly and the walking assembly 3 respectively comprise a line-changing wheel and a walking wheel 23, when the ferry assembly is in the retracted position and the extended position, the line-changing wheel and the walking wheel 23 are respectively suspended, the walking directions of the walking assembly 3 and the line-changing assembly 4 are perpendicular to each other, the control assembly 6 is communication-connected with the cleaning assembly 2, the walking assembly 3 and the line-changing assembly 4 and is used to control the cleaning assembly 2, the walking assembly 3 and the line-changing assembly 4 to perform related actions.

[0049] The present invention is used for cleaning the surface of solar photovoltaic cells, such as Fig.12During normal cleaning work, the lifting mechanism drives the line change assembly 4 to retract to the retracted position, the line change wheel is suspended, the walking wheel 23 is in contact with the walking surface, and the control component 6 controls the walking component 3 to drive the photovoltaic cleaning device to perform cleaning operations; when the cleaning operation of the row is completed, at the predetermined position, the walking component 3 stops moving, the lifting mechanism drives the line change assembly 4 to extend to the extended position, the walking wheel 23 is suspended, the line change wheel is in contact with the line change surface, and the control component 6 controls the ferry wheel assembly to drive the photovoltaic cleaning device to change rows. After the line change is completed, the lifting mechanism drives the line change assembly 4 to retract to the retracted position, and the line change wheel is suspended. The walking wheel 23 is in contact with the walking surface, and the walking component 3 is controlled to move to drive the photovoltaic cleaning device to perform the cleaning operation of the next row of photovoltaic components 36; the device sets a lifting mechanism in the photovoltaic cleaning device, so that the equipment has two states: the walking wheel 23 is close to the ground when working and the walking wheel 23 is suspended when changing lines. In specific applications, a sensing system is set in the photovoltaic cleaning device and a sensed part is set at the predetermined track changing position to realize the cleaning behavior of the photovoltaic cleaning device in place and the changing line behavior when cleaning is completed. In summary, the photovoltaic cleaning device can have both cleaning function and line changing function.

[0050] Based on the above embodiment, in another embodiment of the present invention, Figure 1 , the line-changing assembly 4 is arranged on both sides of the frame 5, and the traveling assembly 3 is arranged at both ends of the frame 5. Such arrangement has a compact structure, high space utilization, and the two do not interfere with each other.

[0051] Based on the above embodiment, in another embodiment of the present invention, Figure 5 and Figure 6 , multiple line-changing wheels are fixed in parallel on the linkage member 7, the multiple line-changing wheels include a driven wheel 8 and a driving wheel assembly 9, the driving wheel assembly 9 includes a line-changing driving member 10, a driving wheel 11, a connecting seat 12 and a bearing seat 13, the driving wheel 11 is transmission-connected to the line-changing driving member 10 through the bearing seat 13, the bearing seat 13 is fixedly connected to the connecting seat 12, and the connecting seat 12 is connected to the frame 5.

[0052] Based on the above embodiment, in another embodiment of the present invention, Figure 5 and Figure 7 The lifting mechanism includes a lifting drive member 14 and a screw rod 17. The lifting drive member 14 is fixed to the frame through a base. One end of the screw rod 17 is connected to the lifting drive member 14 through a coupling 24, and the other end passes through the linkage member 7 and is rotatably connected to the bearing base 34 of the frame 5. The screw rod 17 is threadedly connected to the linkage member 7. In this arrangement, the lifting drive member 14 controls the rotation direction of the screw rod 17 to control the linkage member 7 to drive the overall lifting of the line-changing wheel.

[0053] Based on the above embodiment, in another embodiment of the present invention, Figure 1 The linkage member 7 is provided with a positioning detection member 18, which is used to detect the position of the ferry assembly. The positioning detection member 18 is connected to the controller for communication and transmits the detection signal to the controller. The controller controls the start and stop and the rotation direction of the lifting drive member 14 according to the received signal. Fig.10 The positioning detection member 18 includes a sensor 31 and a mounting bracket 32. The sensor 31 can also be set as a contact sensor element. The sensor 31 is fixed on the frame 5 through the bracket.

[0054] Based on the above embodiment, in another embodiment of the present invention, Figure 5 The bracket is provided with a cross beam 19, and a buffer 16 is provided between the cross beam 19 and the linkage member 7. In this way, by providing the buffer 16, the ferry assembly is prevented from contacting with the photovoltaic panel during the descent process to cause damage to the photovoltaic panel.

[0055] Based on the above embodiment, in another embodiment of the present invention, Figure 8 The walking assembly 3 further includes a walking drive 20, a bearing base 21 and a transmission shaft 22. The bearing base 21 is fixedly connected to the frame 5. The walking drive 20 is fixed to the bearing base 21 and is connected to the walking wheel 23 through the transmission shaft 22. In the specific application process, the four-wheel drive walking mode is adopted in the forward and backward directions of cleaning. The walking drive 20 is connected to the transmission shaft 22 through a coupling 24, and the transmission shaft 22 is connected to the frame 5 through a bearing flange 33.

[0056] Based on the above embodiment, in another embodiment of the present invention, Fig. 9 The cleaning assembly 2 includes a fixing seat 25, a cleaning drive 26 and a spiral cleaning roller brush 27. The spiral cleaning roller brush 27 is arranged at the bottom of the frame 5. One end of the connecting shaft of the spiral cleaning roller brush 27 is rotationally connected to the frame 5, and the other end is transmission-connected to the cleaning drive 26. The cleaning drive 26 is fixed to the frame 5 through the fixing seat 25. The cleaning assembly 2 is used to clean impurities on the photovoltaic panel. The spiral cleaning roller brush 27 and the cleaning drive 26 can be connected in the form of a coupling 24, a connecting rod direct connection, etc.

[0057] Based on the above embodiment, in another embodiment of the present invention, Figure 1 and Fig.11The frame 5 is provided with a correcting wheel assembly 15 at the positions where the first driving wheel assembly 9 and the second driving wheel assembly 9 are provided. The correcting wheel assembly 15 includes a mounting seat 28, a connecting bracket 29 and a roller 30. The mounting seat 28 is fixed on the frame 5. One end of the connecting bracket 29 is connected to the mounting seat 28, and the other end is provided with the roller 30. The roller 30 is hinged to the connecting bracket 29 and the rotation direction is horizontal.

[0058] The present invention also provides a working method of any of the above-mentioned photovoltaic cleaning devices, the embodiment of which is as follows, comprising the following steps:

[0059] S1, the lifting mechanism drives the line change assembly 4 to retract to the retracted position, the line change wheel is suspended, and the walking wheel 23 is in contact with the walking surface;

[0060] S2, the control component 6 controls the movement of the walking component 3 to drive the photovoltaic cleaning device to perform cleaning operations;

[0061] S3, the photovoltaic cleaning device moves as a whole to the line-changing guide rail 35, the travel assembly 3 stops moving, the lifting mechanism drives the line-changing assembly 4 to extend to the extended position, the travel wheel 23 is suspended, and the line-changing wheel contacts the line-changing surface;

[0062] S4, the control component 6 controls the ferry component to drive the photovoltaic cleaning device to change lines;

[0063] S5, after completing the line break, go to step S1.

[0064] During specific application, during normal cleaning work, the lifting mechanism drives the line change component 4 to retract to the retracted position, the line change wheel is suspended, the walking wheel 23 is in contact with the walking surface, and the control component 6 controls the walking component 3 to drive the photovoltaic cleaning device to perform cleaning operations; when the cleaning operation of this row is completed, at the predetermined position, the walking component 3 stops moving, the lifting mechanism drives the line change component 4 to extend to the extended position, the walking wheel 23 is suspended, the line change wheel is in contact with the line change surface, and the control component 6 controls the ferry wheel component to move and drive the photovoltaic cleaning device to change lines. After the line change is completed, the lifting mechanism drives the line change component 4 to retract to the retracted position, the line change wheel is suspended, and the walking wheel 23 is in contact with the walking surface, and the walking component 3 is controlled to move and drive the photovoltaic cleaning device to perform the cleaning operation of the next row of photovoltaic components 36; during specific application, by setting a sensing system on the photovoltaic cleaning device and setting a sensed part at a predetermined track line change position, the photovoltaic cleaning device can be in place for cleaning and line change when cleaning is completed. In summary, the photovoltaic cleaning device can have both cleaning function and line change function.

[0065] In order to better understand the technical solution of the present invention, a working process control principle is also provided in a specific embodiment, and the embodiments are as follows:

[0066] The initial position and final position of the robot remain consistent. The robot is in the walking state when it changes lines in the initial posture position, that is, the ferry mechanism is in the generated state.

[0067] 1. Power on the robot:

[0068] By installing an irradiator in a photovoltaic power station, mathematical and logical operations can be performed through the following formula to obtain the ratio of the actual power generation to the theoretical power generation of the power station as the basis for the comprehensive efficiency coefficient. According to the formula:

[0069] EP=HA×PAZ / ES×K

[0070] Among them, EP represents the theoretical power generation of the photovoltaic power station, unit (Kw·h); HA represents the total solar radiation, unit (Kw·h / m 2 , peak hours); PAZ represents the installed capacity of the components, unit (kWp); ES represents the preset irradiance, which can be taken as a constant = 1Kw·h / m 2 ; K represents the comprehensive efficiency coefficient.

[0071] 2. Self-inspection before cleaning:

[0072] When the comprehensive efficiency coefficient is lower than the preset value, the photovoltaic cleaning device starts the cleaning self-test mode, in which the self-test includes meteorological detection, self-power detection, self-mechanical structure detection, and initial position detection. If the self-test passes, the photovoltaic cleaning device enters the next round of cleaning mode. If the self-test fails, an error signal of the corresponding stage will be sent to the cloud. The initial position detection is essentially realized by the contact signal between the photovoltaic cleaning device in-place sensing component and the sensing object set on the photovoltaic cleaning device's walking track.

[0073] 3. Cleaning mode motion control:

[0074] When entering the cleaning mode, the lifting mechanism first retracts from the initial position, and the lifting drive mechanism of the photovoltaic cleaning device contracts at the same time. When the ferry wheel assembly rises to its position and the line-changing wheel is suspended in the air, the positioning detection component 18 detects the preset position and generates an in-position signal feedback, stops rising, and at this time the photovoltaic cleaning device walking component 3 and the cleaning component 2 start working.

[0075] 4. Line break mode control:

[0076] When entering the line-changing mode, the lifting mechanism extends at the most initial position, and the lifting mechanism of the photovoltaic cleaning device extends at the same time, and the walking wheel 23 is suspended in the air. When the ferry wheel assembly descends into place and the positioning detection component 18 detects the preset position, it generates an in-place signal feedback and stops rising. At this time, the line-changing drive component 10 starts working to change lines.

[0077] 5. Return:

[0078] When the photovoltaic cleaning device completes cleaning the last row, it moves to the initial position by returning to the above-mentioned row-changing mode.

[0079] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A photovoltaic cleaning device, characterized in that: It includes a frame and a power supply component, a cleaning component, a control component, a walking component and a line change component arranged on the frame, the power supply component is electrically connected to the cleaning component, the control component, the walking component and the line change component, the line change component includes a lifting mechanism, a ferry wheel component and a linkage, the ferry wheel component is fixed on the linkage, the lifting mechanism is transmission-connected with the linkage, the lifting mechanism is used to drive the linkage component to move vertically while driving the ferry wheel component to move between the retracted position and the extended position, the ferry wheel component and the walking component respectively include a line change wheel and a travel wheel, when the ferry wheel component is in the retracted position and the extended position, the line change wheel and the travel wheel are respectively suspended, the travel directions of the travel component and the line change component are perpendicular to each other, the control component is communication-connected with the cleaning component, the walking component and the line change component and is used to control the cleaning component, the walking component and the line change component to perform related actions.

2. The photovoltaic cleaning device according to claim 1, characterized in that: The line-changing components are arranged on both sides of the frame, and the traveling components are arranged on both ends of the frame.

3. The photovoltaic cleaning device according to claim 1, characterized in that: A plurality of line-changing wheels are fixed in parallel on the linkage member, the plurality of line-changing wheels include a driven wheel and a driving wheel assembly, the driving wheel assembly includes a line-changing driving member, a driving wheel, a connecting seat and a bearing seat, the driving wheel is transmission-connected to the line-changing driving member via the bearing seat, the bearing seat is fixedly connected to the connecting seat, and the connecting seat is connected to the frame.

4. The photovoltaic cleaning device according to claim 1, characterized in that: The lifting mechanism includes a lifting drive and a screw rod. The lifting drive is fixed to the frame through a base. One end of the screw rod is connected to the lifting drive through a coupling, and the other end passes through the linkage and is rotatably connected to the bearing base of the frame. The screw rod is threadedly connected to the linkage.

5. The photovoltaic cleaning device according to claim 4, characterized in that: The linkage member is provided with a positioning detection member, and the positioning detection member is used to detect the position of the ferry assembly. The positioning detection member is communicated with the controller and transmits the detection signal to the controller. The controller controls the start and stop and the rotation direction of the lifting drive member according to the received signal.

6. The photovoltaic cleaning device according to claim 4, characterized in that: The bracket is provided with a crossbeam, and a buffer is provided between the crossbeam and the linkage member.

7. The photovoltaic cleaning device according to any one of claims 1 to 6, characterized in that: The travel assembly further comprises a travel drive, a bearing base and a transmission shaft. The bearing base is fixedly connected to the frame. The travel drive is fixed on the bearing base and is transmission-connected to the travel wheel via the transmission shaft.

8. The photovoltaic cleaning device according to claim 7, characterized in that: The cleaning assembly includes a fixed seat, a cleaning drive and a spiral cleaning roller brush. The spiral cleaning roller brush is arranged at the bottom of the frame. One end of the connecting shaft of the spiral cleaning roller brush is rotatably connected to the frame, and the other end is transmission-connected to the cleaning drive. The cleaning drive is fixed to the frame through the fixed seat.

9. The photovoltaic cleaning device according to claim 7, characterized in that: The frame is provided with a correcting wheel assembly corresponding to the position where the first driving wheel assembly and the second driving wheel assembly are provided. The correcting wheel assembly includes a mounting seat, a connecting bracket and a roller. The mounting seat is fixed on the frame, one end of the connecting bracket is connected to the mounting seat, and the other end is provided with the roller. The roller is hinged to the connecting bracket and rotates in a horizontal direction.

10. The working method of the photovoltaic cleaning device according to any one of claims 1 to 9, characterized in that: The steps include: S1, the lifting mechanism drives the line change assembly to retract to the retracted position, the line change wheel is suspended in the air, and the travel wheel is in contact with the travel surface; S2, the control component controls the movement of the walking component to drive the photovoltaic cleaning device to perform cleaning operations; S3, the photovoltaic cleaning device moves as a whole to the line-changing guide rail, the travel assembly stops moving, the lifting mechanism drives the line-changing assembly to extend to the extended position, the travel wheel is suspended, and the line-changing wheel contacts the line-changing surface; S4, the control component controls the ferry component to drive the photovoltaic cleaning device to change lines; S5, after completing the line break, go to step S1.

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