Adjacent tracking support state recognition system, photovoltaic system and recognition method

Abstract

The application discloses a kind of adjacent tracking support state identification system, photovoltaic system and identification method.Therein, adjacent tracking support state identification system includes adjacent two tracking supports, state identification mechanism and transmission unit, to be used for cleaning robot walking;Adjacent two tracking supports are each equipped with state identification mechanism;Transmission unit is connected with state identification mechanism transmission, to drive state identification mechanism movement;Adjacent two tracking supports included angle is in the first preset range, and state identification mechanism is in the state that allows cleaning robot to walk;Adjacent two tracking supports included angle is in the second preset range, and state identification mechanism is in the state that prevents cleaning robot to walk.The application technical scheme can reduce the risk of cleaning robot falling or being stuck.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic technology, and in particular to an adjacent tracking bracket status identification system, a photovoltaic system using the adjacent tracking bracket status identification system, and an identification method based on the photovoltaic system. Background Technology

[0002] When a photovoltaic (PV) cleaning robot operates in a single-axis scenario, it is positioned on a bridge between two adjacent PV tracking supports and moves along this bridge to clean the adjacent PV strings. A tracking support typically consists of a main shaft and purlins mounted on the main shaft. PV modules are connected to the purlins. The main shaft rotates under the drive of a drive mechanism, which in turn rotates the purlins and the PV modules on them. Due to the lag in transmission between the two main shafts or the different drive mechanisms, adjacent tracking supports can easily have an angular difference during rotation. To mitigate this issue, some bridge structures employ a movable beam structure that is movably connected to a fixed support to prevent jamming or irreversible deformation of the tracking supports after an angular difference occurs during rotation. However, if the angular difference between two adjacent PV strings is too large, the angle between the bridge and the purlins is also too large. In this case, the cleaning robot on the bridge may be unable to pass through the bridge and risks falling or getting stuck, requiring manual intervention to restore the robot to normal operation, wasting significant manpower. Summary of the Invention

[0003] The main objective of this invention is to propose an adjacent tracking support status recognition system, which aims to improve the problem that cleaning robots are at risk of falling or getting stuck when passing over the bridge between two adjacent photovoltaic strings when there is a large angle difference between them.

[0004] To achieve the above objectives, the photovoltaic tracking bracket proposed in this invention includes:

[0005] Two adjacent tracking brackets are used for the cleaning robot to move;

[0006] The status recognition mechanism is provided on each of the two adjacent tracking brackets; and

[0007] A transmission unit is connected to the state recognition mechanism to drive the state recognition mechanism to move;

[0008] When the included angle between two adjacent tracking brackets is within a first preset range, the status recognition mechanism is in a state that allows the cleaning robot to move; when the included angle between two adjacent tracking brackets is within a second preset range, the status recognition mechanism is in a state that prevents the cleaning robot from moving.

[0009] In one embodiment, the tracking bracket includes a main shaft and a fixed bracket disposed on the main shaft;

[0010] The transmission unit includes at least two movable beams, and the at least two movable beams are respectively hinged to the fixed brackets of two adjacent tracking brackets; one end of each movable beam is provided with a swing connection component, which is used to hinge the movable beam to the fixed bracket; when the movable beam rotates, it can drive the status recognition mechanism to move.

[0011] When the included angle between two adjacent fixed supports is within a first preset range, the status recognition mechanism allows the cleaning robot to move; when the included angle between two adjacent fixed supports is within a second preset range, the status recognition mechanism prevents the cleaning robot from moving.

[0012] In one embodiment, the transmission unit further includes a connecting beam, the two ends of which are respectively connected to the other ends of two movable beams respectively disposed on two adjacent fixed supports.

[0013] In one embodiment, two movable beams are symmetrically arranged on each of the fixed supports; and the two movable beams are hinged to one end of the fixed support and are close to each other.

[0014] In one embodiment, there are two state recognition mechanisms, each mounted on one of the two fixed supports.

[0015] In one embodiment, the fixed bracket includes a purlin and a mounting bracket fixedly connected to the purlin. The purlin is connected to the main shaft, and the mounting bracket is connected to the purlin. The mounting bracket is provided with a guide groove, the extension direction of the guide groove is the same as the extension direction of the movable beam, and the movable beam is located in the guide groove and hinged to the groove wall of the guide groove.

[0016] In one embodiment, the state recognition mechanism includes:

[0017] Support member, the support member being fixedly mounted on the fixed bracket; and

[0018] The baffle body is hinged to the support member, and the movable beam rotates to drive the baffle body to rotate.

[0019] In one embodiment, at least a portion of the baffle body overlaps the movable beam.

[0020] In one embodiment, the transmission unit further includes a first cam, which is fixedly connected to one of the movable beams and is drive-connected to the status recognition mechanism;

[0021] When the movable beam rotates to an angle greater than a preset angle with the fixed bracket, the first cam drives the status recognition mechanism to rotate along the axis of the movable beam, thereby preventing the cleaning robot from moving; when the angle between the movable beam and the fixed bracket is not greater than the preset angle, the status recognition mechanism disengages from the first cam.

[0022] In one embodiment, the state recognition mechanism includes:

[0023] A first transmission component, movably connected to the fixed bracket; and

[0024] A baffle body, wherein the baffle body is throttle connected to the first transmission component;

[0025] When the movable beam rotates to an angle greater than a preset angle with the fixed bracket, the first cam abuts against the first transmission member, and the baffle body rises to prevent the cleaning robot from moving; when the angle between the movable beam and the fixed bracket is not greater than the preset angle, the first transmission member disengages from the first cam.

[0026] In one embodiment, the first cam includes a disc portion and a sector plate. The disc portion is fixedly mounted on the movable beam, and the rotation axis of the movable beam passes through the center of the disc portion. The sector plate is connected to the outer edge of the disc portion. When the movable beam rotates to an angle greater than a preset angle with the fixed bracket, the sector plate abuts against the first transmission member.

[0027] In one embodiment, the first transmission member includes:

[0028] A hinged portion, which is hinged to the fixed bracket;

[0029] A first connecting segment, one end of which is connected to the hinge portion, and the other end of which is hinged to the baffle body; and

[0030] The second connecting section has one end connected to the hinge part and the other end extending in a direction away from the first connecting section. A support post protrudes from the second connecting section. When the movable beam rotates to an angle greater than a preset angle with the fixed bracket, the fan-shaped plate abuts against the support post.

[0031] In one embodiment, two movable beams are symmetrically arranged, and the two symmetrically arranged movable beams are defined as a first movable sub-beam and a second movable sub-beam, respectively. The first cam is disposed on the first movable sub-beam. The transmission unit further includes a second cam, which is fixedly connected to the second movable sub-beam and is transmissionally connected to the status recognition mechanism.

[0032] When the second movable sub-beam rotates to an angle greater than a preset angle with the fixed bracket, the second cam drives the status recognition mechanism to rotate along the axis of the second movable sub-beam, causing the status recognition mechanism to prevent the cleaning robot from moving; when the angle between the second movable sub-beam and the fixed bracket is not greater than the preset angle, the status recognition mechanism disengages from the second cam.

[0033] In one embodiment, the state recognition mechanism further includes a second transmission member and a baffle body, wherein one end of the second transmission member is movably disposed on the fixed bracket, and the other end is connected to the baffle body in a transmission manner;

[0034] When the second movable sub-beam rotates to an angle greater than a preset angle with the fixed bracket, the second cam abuts against the second transmission member, and the baffle body rises to prevent the cleaning robot from moving; when the angle between the second movable sub-beam and the fixed bracket is not greater than the preset angle, the second transmission member disengages from the second cam.

[0035] In one embodiment, the second cam includes:

[0036] A connecting segment having a bottom end and a top end, the bottom end of the connecting segment being fixedly connected to the second movable sub-beam;

[0037] An arc-shaped support arm, wherein the arc-shaped support arm is disposed opposite to the connecting section, and the center of the arc-shaped support arm is located on the rotation axis of the second movable sub-beam; and

[0038] An extension section, the two ends of which are respectively connected to the top end of the connecting section and the top end of the arc-shaped support arm;

[0039] The second transmission component has a protruding post, which is located at the end of the second transmission component's rotating shaft away from the baffle body. When the second movable sub-beam rotates to an angle greater than a preset angle with the fixed bracket, the inner arc surface of the arc-shaped support arm abuts against the protruding post.

[0040] In one embodiment, each of the two adjacent tracking brackets includes a main shaft and a fixed bracket disposed on the main shaft, and the fixed bracket is provided with the status recognition mechanism;

[0041] The transmission unit includes a transmission shaft, one end of which is connected to the main shaft of one of the two adjacent tracking brackets, and the other end is connected to the status recognition mechanism on the fixed bracket of one of the two adjacent tracking brackets.

[0042] When the included angle between two adjacent fixed supports is within a first preset range, the status recognition mechanism allows the cleaning robot to move; when the included angle between two adjacent fixed supports is within a second preset range, the status recognition mechanism prevents the cleaning robot from moving.

[0043] In one embodiment, the drive shaft is a flexible drive shaft.

[0044] In one embodiment, the status identification mechanism includes a signal shielding device, which is mounted on the fixed bracket, and the drive shaft is connected to the signal shielding device in a driving connection.

[0045] When the included angle between two adjacent fixed supports is within a first preset range, the signal shielding device is closed to allow the cleaning robot to move; when the included angle between two adjacent fixed supports is within a second preset range, the signal shielding device is opened to transmit signals to the cleaning robot and prevent the cleaning robot from moving.

[0046] In one embodiment, the signal shielding device is an RFID tag box or a photoelectric sensor.

[0047] The present invention also proposes a photovoltaic system, including a cleaning robot and the aforementioned adjacent tracking bracket status recognition system, wherein the two sides of the cleaning robot are respectively disposed on two adjacent tracking brackets.

[0048] The present invention also proposes an identification method based on the above-mentioned photovoltaic system, wherein the cleaning robot is equipped with a sensing device, and the identification method includes:

[0049] Detect the state of the state recognition mechanism in the adjacent tracking bracket state recognition system;

[0050] The walking state is determined based on the detected state of the state recognition mechanism.

[0051] In one embodiment, the state recognition mechanism includes the aforementioned baffle body, and the step of determining the walking state based on the detected state of the state recognition mechanism includes:

[0052] The lifting / lowering state of the baffle body was detected.

[0053] When the baffle body is detected to be in the raised state, the cleaning robot stops moving; when the baffle body is detected to be in the lowered state, the cleaning robot continues moving.

[0054] In one embodiment, the state recognition mechanism includes the signal shielding device as described above, and the step of determining the walking state based on the detected state of the state recognition mechanism includes:

[0055] Detect the signal transmission status of the signal shielding device;

[0056] When the signal shielding device is detected to be in a signal shielding state, the cleaning robot continues to move; when the signal shielding device is detected to be in a signal receiving or transmitting state, the cleaning robot stops moving.

[0057] The technical solution of this invention incorporates a status recognition mechanism on the tracking bracket, with a transmission unit connected to the status recognition mechanism. This allows for advance indication of the status of two adjacent tracking brackets. When the angle between two adjacent tracking brackets is within a first preset range, the status recognition mechanism is in a state that allows the cleaning robot to move; when the angle is within a second preset range, the status recognition mechanism is in a state that prevents the cleaning robot from moving. This allows the status recognition mechanism to change based on the angle between the two adjacent tracking brackets, thus accurately indicating whether the cleaning robot can move or cannot, avoiding the risk of the cleaning robot getting stuck or falling when the angle between the two adjacent tracking brackets is too large. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram of a structure in the photovoltaic system of the present invention when the fixed supports of two adjacent photovoltaic strings rotate at the same angle;

[0060] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0061] Figure 3 This is a schematic diagram of an embodiment of the photovoltaic system of the present invention when the rotation angle difference between the fixed supports of two adjacent photovoltaic strings is greater than a preset angle;

[0062] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0063] Figure 5 This is a schematic diagram of an embodiment of the photovoltaic system of the present invention, in which a photovoltaic string is canceled when the rotation angle difference between the fixed supports of two adjacent photovoltaic strings is greater than a preset angle.

[0064] Figure 6 for Figure 5 A magnified view of a section at point C;

[0065] Figure 7 This is a schematic diagram of another embodiment of the photovoltaic system of the present invention when the rotation angle difference between the fixed supports of two adjacent photovoltaic strings is greater than a preset angle;

[0066] Figure 8 This is a schematic diagram of another embodiment of the photovoltaic system of the present invention, in which a set of photovoltaic strings is canceled when the rotation angle difference between the fixed supports of two adjacent photovoltaic strings is greater than a preset angle.

[0067] Figure 9 for Figure 8 A magnified view of a section at point D;

[0068] Figure 10 This is a schematic diagram of the structure of the first transmission component in the status recognition mechanism of the photovoltaic tracking bracket of the present invention;

[0069] Figure 11 This is a schematic diagram of the structure of the second transmission component in the status recognition mechanism of the photovoltaic tracking bracket of the present invention;

[0070] Figure 12 This is a partial structural diagram of another embodiment of the photovoltaic system of the present invention when the fixed supports of two adjacent photovoltaic strings rotate at the same angle;

[0071] Figure 13 This is a schematic diagram of another embodiment of the photovoltaic system of the present invention when the fixed supports of two adjacent photovoltaic strings rotate at the same angle;

[0072] Figure 14 for Figure 13 A magnified view of a section at point E in the middle;

[0073] Figure 15 This is a schematic diagram of another embodiment of the photovoltaic system of the present invention when the difference in rotation angle between the fixed supports of two adjacent photovoltaic strings is greater than a preset angle;

[0074] Figure 16 for Figure 15 A magnified view of a portion at point F;

[0075] Figure 17 This is a schematic flowchart illustrating the steps of an embodiment of the identification method of the present invention;

[0076] Figure 18 This is a detailed flowchart illustrating an example of step 20 in the identification method of the present invention;

[0077] Figure 19 This is a detailed flowchart illustrating another example of step 20 in the identification method of the present invention.

[0078] Explanation of icon numbers:

[0079] label name label name 100 Tracking bracket 110 spindle 120 Fixed bracket 121 purlins 122 Mounting rack 1221 Guide groove 200 Transmission unit 210 movable beam 211 First Activity Sub-beam 212 Second activity sub-beam 220 Connecting beam 300 Status recognition mechanism 310 Support components 320 baffle body 330 First transmission component 331 Hinged section 332 First connecting section 333 Second connecting section 334 Supporting column 340 Second transmission component 341 Third connecting section 342 Fourth connecting section 343 convex pillar 400 First Cam 410 Disc section 420 Sector plate 500 Second Cam 510 Connecting segment 520 Arc-shaped support arm 530 extension 600 transmission shaft 700 Signal shielding device 710 Label box 720 Cover 800 Photovoltaic panel modules

[0080] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0081] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0082] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0083] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0084] This invention proposes an adjacent tracking bracket status recognition system.

[0085] In the embodiments of the present invention, please refer to the reference. Figures 1 to 16The adjacent tracking bracket status recognition system includes two adjacent tracking brackets 100, a status recognition mechanism 300, and a transmission unit 200. The two adjacent tracking brackets 100 are used for the cleaning robot to move. Each of the two adjacent tracking brackets 100 is equipped with the status recognition mechanism 300. The transmission unit 200 is connected to the status recognition mechanism 300 to drive its movement. When the included angle between the two adjacent tracking brackets 100 is within a first preset range, the status recognition mechanism 300 is in a state that allows the cleaning robot to move; when the included angle between the two adjacent tracking brackets 100 is within a second preset range, the status recognition mechanism 300 is in a state that prevents the cleaning robot from moving.

[0086] Adjacent tracking brackets 100 refer to at least two tracking brackets 100 arranged adjacent to each other. Each tracking bracket 100 includes a main shaft 110 and a fixed bracket 120 mounted on the main shaft 110. A photovoltaic module 800 is mounted on the fixed bracket 120. When the main shaft 110 rotates under the drive of a driving component, the main shaft 110 drives the fixed bracket 120 and the photovoltaic module 800 on the fixed bracket 120 to rotate synchronously. A cleaning robot can be installed between two adjacent tracking brackets 100. One side of the cleaning robot is supported by one of the two adjacent tracking brackets 100, and the other side of the cleaning robot is supported by the other of the two adjacent tracking brackets 100. During the rotation of two adjacent tracking brackets 100, if the two adjacent main shafts 110 rotate asynchronously, a certain angle will occur between the two adjacent tracking brackets 100. If the angle between the two adjacent tracking brackets 100 is too large, the cleaning robot installed between the two adjacent tracking brackets 100 is prone to jamming or falling. By setting a state recognition mechanism 300 on the tracking bracket 100, and connecting the transmission unit 200 to the state recognition mechanism 300, when the included angle between two adjacent tracking brackets 100 is within a first preset angle range, it can be assumed that the included angle between the two adjacent tracking brackets 100 is not too large and will not affect the movement of the cleaning robot. Therefore, the state recognition mechanism can be in a state that allows the cleaning robot to move. When the included angle between two adjacent tracking brackets 100 is within a second preset range, the state recognition mechanism 300 can move under the drive of the transmission unit 200 to a state that prevents the cleaning robot from moving, thereby timely stopping the cleaning robot from continuing to move and avoiding the risk of it getting stuck or falling. It should be noted that the larger the included angle between two adjacent tracking brackets 100, the greater the risk of the cleaning robot getting stuck or falling. That is, when the included angle between two adjacent tracking brackets 100 is within a certain range, it is safe for the cleaning robot to move on the two adjacent tracking brackets 100, but after a certain range is detected, the cleaning robot will be at risk of getting stuck or falling. Therefore, the minimum value of the second preset range in this invention is greater than the maximum value of the first preset range.

[0087] The status recognition mechanism 300 can be a mechanical obstruction structure, such as a baffle or block, used to prevent the cleaning robot from continuing to move. Specifically, when the obstruction structure is raised, the cleaning robot can recognize it, determine that there is an obstacle ahead, and thus stop moving. The cleaning robot can mechanically contact the obstruction structure to recognize the obstacle, meaning the obstruction structure substantially blocks the cleaning robot. Alternatively, the cleaning robot can use a photoelectric sensor to detect whether there is an obstruction structure ahead. When detected, it can determine that there is an obstacle, and when the obstruction structure is raised, it provides a prompt to the cleaning robot to stop, thus preventing the robot from getting stuck or falling. When the obstruction structure is lowered, the cleaning robot no longer recognizes it, and therefore continues to move on the two adjacent tracking supports 100.

[0088] Alternatively, the cleaning robot can be equipped with a sensor, and the status recognition mechanism 300 can also be a signal shielding device that connects to the sensor on the cleaning robot. When the signal shielding device is open, it can transmit signals to the cleaning robot, so that the cleaning robot will stop moving after sensing the signal shielding device's signal. That is, when the status recognition mechanism 300 is in the state of preventing the cleaning robot from moving, the signal shielding device is in the closed state. When the signal shielding device is closed, the cleaning robot cannot recognize the signal shielding device's signal, and therefore can perceive that there is no obstacle ahead, thus continuing to move. That is, when the status recognition mechanism 300 is in the state of allowing the cleaning robot to move, the signal shielding device is in the open state.

[0089] This invention, by setting a status recognition mechanism 300 on the tracking bracket 100 and connecting the transmission unit 200 to the status recognition mechanism 300, can provide advance warning of the status of two adjacent tracking brackets 100. When the angle between two adjacent tracking brackets 100 is within a first preset range, the status recognition mechanism 300 is in a state that allows the cleaning robot to move; when the angle between two adjacent tracking brackets 100 is within a second preset range, the status recognition mechanism 300 is in a state that prevents the cleaning robot from moving. This allows the status of the status recognition mechanism 300 to change according to the angle between two adjacent tracking brackets 100, thereby accurately issuing warnings to the cleaning robot to allow or prevent it from moving. This avoids the risk of the cleaning robot getting stuck or falling when the angle between two adjacent tracking brackets 100 is too large, as the robot may not be aware of this in advance.

[0090] Furthermore, in one embodiment, please refer to... Figures 1 to 9The tracking bracket 100 includes a main shaft 110 and a fixed bracket 120 disposed on the main shaft 110. The transmission unit 200 includes at least two movable beams 210, and the at least two movable beams 210 are respectively used to hinge to the fixed brackets 120 of two adjacent tracking brackets 100. One end of each movable beam 210 is provided with a swing connection component, which is used to hinge the movable beam 210 to the fixed bracket 120. When the movable beam 210 rotates, it can drive the status recognition mechanism 300 to move. When the included angle between two adjacent fixed brackets 120 is within a first preset range, the status recognition mechanism allows the cleaning robot to walk. When the included angle between two adjacent fixed brackets 120 is within a second preset range, the status recognition mechanism 300 prevents the cleaning robot from walking.

[0091] The main shaft 110 refers to the drive shaft used to rotate the entire photovoltaic module 800. The fixed bracket 120 supports the photovoltaic module 800. Specifically, the fixed bracket 120 can be a frame structure or a purlin 121, so that the main shaft 110 and the purlin 121 jointly support the photovoltaic module 800. The fixed bracket 120 may also include other mounting brackets 122 connected to one side of the purlin 121. For example, a status recognition mechanism 300 can be installed on the mounting bracket 122. The main shaft 110 needs to be connected to a drive device to achieve the effect of the drive device driving the main shaft 110 to rotate. The drive device can be a motor, a push rod, or other drive device, which drives the main shaft 110 to rotate. The main shaft 110 then drives the fixed bracket 120 and the photovoltaic module 800 mounted on the fixed bracket 120 to move synchronously, so that the photovoltaic module 800 can track the sun's position and adjust its angle in real time. Understandably, when installing a photovoltaic system, multiple photovoltaic modules 800 can be installed, with two or more photovoltaic modules 800 forming a string, and these photovoltaic modules 800 forming a photovoltaic string. When there are at least two strings of photovoltaic modules 800, the photovoltaic system has at least two photovoltaic strings. To facilitate the continuous cleaning of dust on different photovoltaic strings by the cleaning robot, a bridge frame is installed between two adjacent photovoltaic strings, so that the cleaning robot can move from the previous photovoltaic string to the next photovoltaic string by passing through the bridge frame.

[0092] In this invention, the transmission unit 200 is provided with at least two movable beams 210, which are respectively hinged to the fixed supports 120 of two adjacent tracking supports 100. One end of the movable beam 210 is provided with a swing-connecting component, thereby achieving the effect of hinged connection between the movable beam 210 and the tracking support 100. The swing-connecting component can be a pin structure acting as a pivot, or a hinged hinge, etc. When the rotation angles of two adjacent fixed supports 120 are inconsistent, and the included angle between the two adjacent fixed supports 120 is within a second preset range, the movable beam 210 on the fixed support 120 will rotate relative to the fixed support 120. This allows the movable beam 210 to drive the state recognition mechanism 300 to move, thus changing the state of the state recognition mechanism 300, allowing it to have a state that allows the cleaning robot to move and a state that prevents the cleaning robot from moving.

[0093] Specifically, to achieve the effect that the movable beam 210 can rotate relative to the fixed bracket 120 when the included angles of rotation of two adjacent fixed brackets 120 are different, the movable beam 210 can be connected to a drive assembly, such as a linkage assembly or a push rod, to achieve the effect that the movable beam 210 can rotate relative to the fixed bracket 120. Alternatively, two movable beams 210 respectively set on two adjacent fixed brackets 120 can be arranged opposite each other and both are sleeve structures. The two sleeves are nested and fitted together, and the opposite ends of the two sleeves are respectively hinged to the two fixed brackets 120. Thus, when the included angle between two adjacent fixed brackets 120 is greater than or equal to a preset angle, the two sleeves disengage from each other, and then the two movable beams 210 move relative to the fixed brackets 120 to further drive the state recognition mechanism 300 to move.

[0094] Alternatively, in order to achieve the effect that the movable beam 210 can rotate relative to the fixed support 120 when the rotation angles of two adjacent fixed supports 120 are different, a connector can be provided between the movable beams 210 on the two adjacent fixed supports 120. The connector is connected to the two movable beams 210 respectively, so that when the rotation angles of the two adjacent fixed supports 120 are not synchronized, the movable beam 210 on one fixed support 120 will drive the other movable beam 210 to rotate relative to the other fixed support 120 through the connector, thereby achieving the effect that the other movable beam 210 drives the state recognition mechanism 300 to move.

[0095] The technical solution of this invention involves setting up a movable beam 210, which is hinged to a fixed bracket 120. When the included angle between two adjacent fixed brackets 120 is within a first preset range, the movable beam 210 does not rotate relative to the fixed bracket 120 or the relative angle with the fixed bracket 120 is small. This keeps the status recognition mechanism 300 in a state that allows the cleaning robot to move, facilitating normal cleaning of the photovoltaic modules 800 on the tracking bracket 100. When the included angle between two adjacent tracking brackets 100 is within a second preset range, the movable beam 210 rotates at a larger angle relative to the fixed bracket 120. In this case, the movable beam 210 drives the status recognition mechanism 300 to move, causing the status recognition mechanism 300 to be in a state that prevents the cleaning robot from moving. This allows the status recognition mechanism 300 to provide a warning signal to the cleaning robot, avoiding the risk of the cleaning robot falling or getting stuck, and reducing manual maintenance costs.

[0096] Furthermore, please refer to the following: Figures 1 to 9 The transmission unit 200 also includes a connecting beam 220, the two ends of which are respectively connected to the other ends of two movable beams 210 mounted on two adjacent fixed supports 120.

[0097] With this configuration, when there is an angular difference between two adjacent fixed supports 120, one fixed support 120 will have a larger rotation angle, while the other fixed support 120 will have a smaller rotation angle. The movable beam 210 on the fixed support 120 with the larger rotation angle can drive the movable beam 210 on the fixed support 120 with the smaller rotation angle to rotate via the connecting beam 220. This causes the movable beam 210 on the fixed support 120 with the smaller rotation angle to drive the state recognition mechanism 300 to move, and to move to a state that prevents the cleaning robot from moving. This allows the state recognition structure to provide a warning signal to the cleaning robot, reducing the risk of the cleaning robot getting stuck or falling when it continues to move when the angle between two adjacent fixed supports 120 is large.

[0098] Furthermore, please refer to the following: Figures 3 to 9 Two movable beams 210 are symmetrically arranged on each fixed bracket 120; and the two movable beams 210 are hinged to the fixed bracket 120 at close proximity to each other.

[0099] When two adjacent fixed supports 120 rotate at different angles, the rotation direction of one fixed support 120 relative to the other fixed support 120 can be clockwise or counterclockwise. For example, let's define two adjacent fixed supports 120 as the left fixed support 120 and the right fixed support 120. The left fixed support 120 remains horizontal. When the right fixed support 120 rotates clockwise relative to the left fixed support 120, the two symmetrically arranged movable beams 210 on the left fixed support 120 are the first movable sub-beams 211. The right fixed support 120 drives the first movable sub-beams 211 of the left fixed support 120 to rotate together, while the second movable sub-beams 212 on the left fixed support 120 do not rotate. At this time, there is a certain angle between the first movable sub-beams 211 and the left fixed support 120, which drives the status recognition mechanism 300 on the left fixed support 120 to move, thereby preventing the cleaning robot from moving. In addition, when the left fixed bracket 120 remains horizontal and the right fixed bracket 120 rotates counterclockwise relative to the left fixed bracket 120, the right fixed bracket 120 drives the second movable sub-beam 212 of the left fixed bracket 120 to rotate together through the connecting rod, while the first movable sub-beam 211 on the left fixed bracket 120 does not rotate. At this time, the second movable sub-beam 212 has a certain angle with the left fixed bracket 120, and drives the status recognition mechanism 300 to move to prevent the cleaning robot from walking. That is, no matter how the right fixed bracket 120 rotates relative to the left fixed bracket 120, it can drive one of the movable beams 210 on the left fixed bracket 120 to rotate relative to the left fixed bracket 120. When the angle formed between the right fixed bracket 120 and the left fixed bracket 120 is greater than the preset angle, the status recognition mechanism 300 on the left fixed bracket 120 prevents the cleaning robot from walking. It is understood that both the left and right fixed brackets 120 can be equipped with status recognition mechanisms 300. When the right fixed bracket 120 moves relative to the left fixed bracket 120, an angle is formed between the first movable sub-beam 211 and the second movable sub-beam 212 on the right fixed bracket 120. This can drive the status recognition mechanism 300 on the right fixed bracket 120 to move and prevent the cleaning robot from moving. That is, as long as the right fixed bracket 120 moves relative to the left fixed bracket 120, both the status recognition mechanism 300 on the right fixed bracket 120 and the status recognition mechanism 300 on the left fixed bracket 120 can move to prevent the cleaning robot from moving.

[0100] Of course, the movable beams 210 on the two adjacent fixed supports 120 each include a first movable sub-beam 211 and a second movable sub-beam 212. When the right fixed support 120 remains horizontal and the left fixed support 120 rotates clockwise relative to the right fixed support 120, the left fixed support 120 drives the first movable sub-beam 211 of the right fixed support 120 to rotate together through the connecting rod, while the second movable sub-beam 212 on the right fixed support 120 does not rotate. At this time, the first movable sub-beam 211 on the right fixed support 120 has a certain angle with the right fixed support 120, and can drive the status recognition mechanism 300 on the right fixed support 120 to move to prevent the cleaning robot from walking. In addition, when the right fixed bracket 120 remains horizontal and the left fixed bracket 120 rotates counterclockwise relative to the right fixed bracket 120, the left fixed bracket 120 drives the second movable sub-beam 212 on the right fixed bracket 120 to rotate together via the connecting rod group 220, while the first movable sub-beam 211 on the right fixed bracket 120 does not rotate. At this time, the second movable sub-beam 212 on the right fixed bracket 120 has a certain angle with the right fixed bracket 120, and drives the status recognition mechanism 300 to move to prevent the cleaning robot from walking. That is, no matter how the left fixed bracket 120 rotates relative to the right fixed bracket 120, it can drive one of the rods of the movable beam 210 on the right fixed bracket 120 to rotate relative to the right fixed bracket 120. When the angle formed between the left fixed bracket 120 and the right fixed bracket 120 is greater than the preset angle, the status recognition mechanism 300 on the right fixed bracket 120 prevents the cleaning robot from walking. It is understood that both the left and right fixed brackets 120 can be equipped with status recognition mechanisms 300. When the left fixed bracket 120 moves relative to the right fixed bracket 120, an angle is formed between the first movable sub-beam 211 and the second movable sub-beam 212 on the left fixed bracket 120. This can drive the status recognition mechanism 300 on the left fixed bracket 120 to move and prevent the cleaning robot from moving. That is, as long as the left fixed bracket 120 moves relative to the right fixed bracket 120, both the status recognition mechanism 300 on the right fixed bracket 120 and the status recognition mechanism 300 on the left fixed bracket 120 can move to prevent the cleaning robot from moving.

[0101] Furthermore, please refer to the following: Figure 3 , Figure 5 , Figure 7 as well as Figure 8 There are two status recognition mechanisms 300, and the two status recognition mechanisms 300 are respectively mounted on two fixed supports 120.

[0102] It is understandable that each of the two adjacent fixed supports 120 is hinged with a first movable sub-beam 211 and a second movable sub-beam 212. When one of the fixed supports 120 (e.g., Figure 3 When the right-hand fixed bracket 120 rotates relative to the other fixed bracket 120, a large angle is formed between the first movable sub-beam 211 on the right-hand fixed bracket 120 and the right-hand fixed bracket 120. This causes the first movable sub-beam 211 on the right-hand fixed bracket 120 to simultaneously lift the status recognition mechanism 300 on the right-hand fixed bracket 120, preventing the cleaning robot from moving from the right-hand fixed bracket 120 to the left-hand fixed bracket 120. Simultaneously, a large angle is formed between the first movable sub-beam 211 on the left-hand fixed bracket 120 and the left-hand fixed bracket 120. This causes the first movable sub-beam 211 on the left-hand fixed bracket 120 to simultaneously lift the status recognition mechanism 300 on the left-hand fixed bracket 120, preventing the cleaning robot from moving from the left-hand fixed bracket 120 to the right-hand fixed bracket 120. That is, by setting two status recognition mechanisms 300, it is possible to prevent the cleaning robot from moving from the left fixed bracket 120 to the right fixed bracket 120, and it is also possible to prevent the cleaning robot from moving from the right fixed bracket 120 to the left fixed bracket 120.

[0103] In one example, please refer to the reference. Figures 1 to 6 The fixed bracket 120 includes a purlin 121 and a mounting bracket 122 fixedly connected to the purlin 121. The purlin 121 is connected to the main shaft 110, and the mounting bracket 122 is connected to the purlin 121. The mounting bracket 122 is provided with a guide groove 1221. The extension direction of the guide groove 1221 is the same as the extension direction of the movable beam 210, and the movable beam 210 is located in the guide groove 1221 and is hinged to the groove wall of the guide groove 1221.

[0104] The fixed support 120 includes a purlin 121 and a mounting bracket 122 fixedly connected to the purlin 121. The photovoltaic module 800 is mounted on the purlin 121. The mounting bracket 122 is used to mount the movable beam 210 and / or the status recognition mechanism 300. By providing a guide groove 1221 on the mounting bracket 122, and ensuring that the extension direction of the guide groove is the same as the extension direction of the movable beam 210, the movable beam 210 has a guiding effect when rotating relative to the fixed support 120, preventing the movable beam 210 from twisting in the horizontal direction.

[0105] Specifically, in one embodiment, please refer to the reference Figures 1 to 6 The status recognition mechanism 300 includes a support member 310 and a baffle body 320. The support member 310 is fixedly mounted on the fixed bracket 120. The baffle body 320 is hinged to the support member 310. The rotation of the movable beam 210 drives the baffle body 320 to rotate.

[0106] This configuration allows the baffle body 320 to rotate relative to the support member 310 when hinged to it, enabling it to rotate to either a horizontal or vertical position. By simultaneously rotating the movable beam 210 and driving the baffle body 320 to rotate synchronously, the cleaning robot is prevented from moving. This eliminates the need for additional drive devices to independently drive the state recognition mechanism 300, simplifying the components of the photovoltaic tracking bracket 100 and improving the efficiency of preventing the cleaning robot from moving.

[0107] Furthermore, in one example, please refer to the reference. Figures 1 to 6 At least a portion of the baffle body 320 overlaps the movable beam 210.

[0108] By attaching at least a portion of the baffle body 320 to the movable beam 210, the movable beam 210 can simultaneously rotate the baffle body 320 to change its state, thereby providing timely warnings to the cleaning robot and preventing the risk of the cleaning robot getting stuck or falling.

[0109] Furthermore, when the movable beam 210 includes a symmetrically arranged first movable sub-beam 211 and second movable sub-beam 212, a portion of the baffle body 310 can overlap the first movable sub-beam 211, and another portion can overlap the second movable sub-beam 212. Therefore, when either the first movable sub-beam 211 or the second movable sub-beam 212 rotates relative to the fixed bracket 120 and one end moves away from the fixed bracket 120, it can cause the baffle body 320 to flip upwards. This causes the baffle body 320 to flip around the support member 310 from a horizontal state to a vertical state, thereby raising the baffle body 320 to prevent the cleaning robot from moving. Additionally, when either the first movable sub-beam 211 or the second movable sub-beam 212 rotates relative to the fixed bracket 120 and one end approaches the fixed bracket 120, the baffle body 320, due to gravity, flips relative to the support member 310 and falls back to a horizontal state to overlap the first movable sub-beam 211 and the second movable sub-beam 212.

[0110] In another embodiment, please refer to the reference. Figures 7 to 12 The transmission unit 200 also includes a first cam 400, which is fixedly connected to a movable beam 210 and is connected to the status recognition mechanism 300 in a transmission manner. When the movable beam 210 rotates to an angle greater than a preset angle with the fixed bracket 120, the first cam 400 drives the status recognition mechanism 300 to rotate along the axis of the movable beam 210, thereby preventing the cleaning robot from moving. When the angle between the movable beam 210 and the fixed bracket 120 is not greater than the preset angle, the status recognition mechanism 300 disengages from the first cam 400.

[0111] By fixing a first cam 400 to the movable beam 210, when the movable beam 210 rotates, it drives the first cam 400 to rotate synchronously. The first cam is connected to the status recognition mechanism 300 through a transmission connection. Therefore, when the first cam 400 rotates, it will cause the status recognition mechanism 300 to move, thereby changing the state of the status recognition mechanism 300. Then, when the movable beam 210 rotates to an angle with the fixed bracket 120 greater than a preset angle, the first cam 400 drives the status recognition mechanism 300 to rotate along the axis of the movable beam 210, so that the status recognition mechanism 300 can prevent the cleaning robot from walking; or when the movable beam 210 rotates to an angle with the fixed bracket 120 less than a preset angle, the first cam 400 drives the status recognition mechanism 300 to rotate along the axis of the movable beam 210 at a smaller angle, so that the first cam 400 does not contact the status recognition mechanism 300 or the rotation angle of the status recognition mechanism is small, so that the status recognition mechanism 300 is in a state that allows the cleaning robot to walk.

[0112] In one example, please refer to the reference. Figures 7 to 12 The status recognition mechanism 300 includes a first transmission member 330 and a baffle body 320. The first transmission member 330 is hinged to the fixed bracket 120. The baffle body 320 is tractively connected to the first transmission member 330. When the movable beam 210 rotates to an angle with the fixed bracket 120 greater than a preset angle, the first cam 400 abuts against the first transmission member 330, and the baffle body 320 rises to prevent the cleaning robot from moving. When the angle between the movable beam 210 and the fixed bracket 120 is not greater than the preset angle, the first transmission member 330 disengages from the first cam 400.

[0113] By including a first transmission member 330 and a baffle body 320 in the status recognition mechanism 300, and the first transmission member 330 is hinged to the fixed bracket 120, and the baffle body 320 is hinged to the first transmission member 330, and when the movable beam 210 rotates relative to the fixed bracket 120, the first cam 400 on the movable beam 210 also rotates accordingly. Thus, during the rotation of the first cam 400, the end of the first cam 400 away from the center can abut against the first transmission member 330. During the rotation of the first cam 400, the first cam 400 drives the first transmission member 330 to move, and can make the baffle body 320 on the first transmission member 330 rise to achieve the effect of preventing the cleaning robot from walking.

[0114] Specifically, please refer to the following: Figures 7 to 12The first cam 400 includes a disc portion 410 and a sector plate 420. The disc portion 410 is fixedly mounted on the movable beam 210, and the rotation axis of the movable beam 210 passes through the center of the disc portion 410. The sector plate 420 is connected to the outer edge of the disc portion 410. When the movable beam 210 rotates to an angle with the fixed bracket 120 greater than a preset angle, the sector plate 420 abuts against the first transmission member 330.

[0115] The first cam 400 includes a disc portion 410 and a sector plate 420. The disc portion 410 is fixedly mounted on the movable beam 210, and the rotation axis of the movable beam 210 passes through the center of the disc portion 410, so that the rotation axis of the first cam 400 coincides with the rotation axis of the movable beam 210, thereby ensuring that the first cam 400 rotates around its own disc center. The sector plate 420 is connected to the outer edge of the disc portion 410, and the sector plate 420 is the far end away from the center of the first cam 400. Therefore, when the first cam 400 rotates, the sector plate 420 can abut against the first transmission member 330 to drive the first transmission member 330 to rotate and drive the baffle body 320 to rise.

[0116] Of course, in other embodiments, the first cam 400 can also be hook-shaped, that is, it is only necessary to ensure that the first cam 400 can resist the rotation of the first transmission member 330 and make the baffle body 320 rise during the rotation process.

[0117] Furthermore, please refer to the following: Figure 9 and Figure 10 The first transmission component 330 includes a hinge portion 331, a first connecting section 332, and a second connecting section 333. The hinge portion 331 is hinged to the fixed bracket 120. One end of the first connecting section 332 is connected to the hinge portion 331, and the other end is hinged to the baffle body 320. One end of the second connecting section 333 is connected to the hinge portion 331, and the other end extends in a direction away from the first connecting section 332. A supporting post 334 protrudes from the second connecting section 333. When the movable beam 210 rotates to an angle with the fixed bracket 120 greater than a preset angle, the fan-shaped plate 420 abuts against the supporting post 334.

[0118] By making the first transmission member 330 include a first connecting section 332 and a second connecting section 333, and both the first connecting section 332 and the second connecting section 333 are connected to the hinge portion 331 and extend in opposite directions, the first transmission member 330 is equivalent to a lever. The first connecting section 332 is hinged to the baffle body 320, and the second connecting section 333 is provided with a supporting post 334. During the rotation of the first cam 400, the sector plate 420 can support the supporting post 334. When the sector plate 420 supports the supporting post 334 and rotates downward, the first connecting section 332 rotates upward, thereby driving the baffle body 320 to rise, so as to achieve the effect of hindering the movement of the cleaning robot. In addition, by providing a supporting post 334 on the second connecting section 333, it is convenient for the sector plate 420 to support the first transmission member 330, and it is also convenient for the supporting post 334 to slide on the surface where the sector plate 420 is connected to the disc portion 410.

[0119] In addition, in this example, the second connecting segment 333 is located between the shaft of the first transmission member 330 and the shaft of the first cam 400. It can be understood that when the movable beam 210 is not at an angle to the fixed bracket 120, the first connecting segment 332 of the first transmission member 330 extends away from the first cam 400, the second connecting segment 333 extends towards the first cam 400 and disengages from the fan-shaped plate 420, and the baffle body 320 is in a fallen state. When the movable beam 210 rotates relative to the fixed bracket 120 that is hinged to it, the sector plate 420 gradually approaches the abutment post 334 on the second connecting section 333 and further abuts the abutment post 334 on the second connecting section 333. During this process, the abutment post 334 slides along the side wall of the sector plate 420 until the second connecting section 333 rotates under the abutment action of the sector plate 420 and abuts the end face of the sector plate 420 away from the axis of the first cam 400. Then the first transmission member 330 remains in this state and does not change. At this time, the first transmission member 330 drives the baffle body 320 to move to a state that can stop the cleaning robot, that is, the baffle body 320 is in the raised state. Even if the sector plate 420 continues to rotate, the first transmission component 330 will only slide on the end face of the sector plate 420 away from the axis of the first cam 400. This ensures that when the movable beam 210 rotates to an angle greater than the preset angle with the fixed bracket 120, the baffle body 320 will remain in a state that prevents the cleaning robot from falling or getting stuck when it continues to move.

[0120] Furthermore, please refer to the following: Figures 9 to 12Two movable beams 210 are symmetrically arranged, defined as a first movable sub-beam 211 and a second movable sub-beam 212. A first cam 400 is disposed on the first movable sub-beam 211. The transmission unit 200 also includes a second cam 500, which is fixedly connected to the second movable sub-beam 212 and is transmittedly connected to the status recognition mechanism 300. When the second movable sub-beam 212 rotates to an angle with the fixed bracket 120 greater than a preset angle, the second cam 500 drives the status recognition mechanism 300 to rotate along the axis of the second movable sub-beam 212, thereby preventing the cleaning robot from moving. When the angle between the second movable sub-beam 212 and the fixed bracket 120 is not greater than the preset angle, the status recognition mechanism 300 disengages from the second cam 500.

[0121] By setting a first cam 400 on the first movable sub-beam 211 and fixing a second cam 500 on the second movable sub-beam 212, and driving the second cam 500 to be connected to the status recognition mechanism 300, the status recognition mechanism 300 can be driven to move regardless of whether the angle between the first movable sub-beam 211 and the fixed bracket 120 or the angle between the second movable sub-beam 212 and the fixed bracket 120 is too large, so as to play an early warning role for the cleaning robot. Specifically, when the second movable sub-beam 212 rotates, it drives the second cam 500 to rotate synchronously. The second cam 500 is connected to the status recognition mechanism 300 through a transmission. Therefore, when the second cam 500 rotates, it will cause the status recognition mechanism 300 to move, thereby changing the state of the status recognition mechanism 300. Then, when the movable beam 210 rotates to an angle with the fixed bracket 120 greater than a preset angle, the second cam 500 drives the status recognition mechanism 300 to rotate along the axis of the movable beam 210, so that the status recognition mechanism 300 can prevent the cleaning robot from walking. Alternatively, when the movable beam 210 rotates to an angle with the fixed bracket 120 less than a preset angle, the second cam 500 drives the status recognition mechanism 300 to rotate along the axis of the movable beam 210 at a smaller angle, so that the second cam 500 does not contact the status recognition mechanism 300 or the rotation angle of the status recognition mechanism is smaller, so that the status recognition mechanism 300 is in a state that allows the cleaning robot to walk.

[0122] In one example, please refer to the reference. Figure 9 , Figure 11 and Figure 12The status recognition mechanism 300 also includes a second transmission member 340 and a baffle body 320. One end of the second transmission member 340 is movably mounted on the fixed bracket 120, and the other end is connected to the baffle body 320. When the second movable sub-beam 212 rotates to an angle with the fixed bracket 120 greater than a preset angle, the second cam 500 abuts against the second transmission member 340, and the baffle body 320 rises to prevent the cleaning robot from moving. When the angle between the second movable sub-beam 212 and the fixed bracket 120 is not greater than the preset angle, the second transmission member 340 disengages from the second cam 500.

[0123] Furthermore, based on the scheme where the state recognition mechanism 300 includes a first transmission member 330 and a second transmission member 340, both the first transmission member 330 and the second transmission member 340 are swing arms or swing blocks. When both the first transmission member 330 and the second transmission member 340 are swing arms, they can be arranged in parallel, and the baffle body 320 connected to the first transmission member 330 and the baffle body 320 connected to the second transmission member 340 can be the same baffle body 320. This arrangement forms a parallel four-bar linkage between the state recognition mechanism 300 and the fixed bracket 120, meaning that the movement of the first transmission member 330 will drive the second transmission member 340 to move synchronously, and vice versa. The structure of the second transmission member 340 can be the same as that of the first transmission member 330, i.e., refer to the structure of the first transmission member 330 described above, and will not be elaborated further here. It is understandable that if the first transmission member 330 and the second transmission member 340 are arranged in parallel, and the second transmission member 340 has a third connecting segment 341 that is parallel and equal to the first connecting segment 332 and a fourth connecting segment 342 that is parallel and equal to the second connecting segment 333, and based on the fact that the second connecting segment 333 of the first transmission member 330 is located between the rotating shaft of the first transmission member 330 and the rotating shaft of the first cam 400, then the fourth connecting segment 342 of the second transmission member 340 is located on the side of the rotating shaft of the second transmission member 340 that is away from the rotating shaft of the second cam 500. Therefore, in order for the second cam 500 to drive the fourth connecting section 342 of the second transmission member 340 to rotate, and for the fourth connecting section 342 to rotate in a direction closer to the axis of rotation of the second cam 500, the second cam 500 needs to have a clearance opening to avoid the fourth connecting section 342. This allows the fourth connecting section 342 to move into the clearance opening during the rotation of the second cam 500, thus avoiding interference with the second cam 500 or preventing the fourth connecting section 342 from getting stuck during rotation.

[0124] Furthermore, please refer to the following: Figure 9 , Figure 11 as well as Figure 12The second cam 500 includes a connecting section 510, an arc-shaped support arm 520, and an extension section 530. The connecting section 510 has a bottom end and a top end, and the bottom end of the connecting section 510 is fixedly connected to the second movable sub-beam 212. The arc-shaped support arm 520 is arranged opposite to the connecting section 510, and the center of the arc-shaped support arm 520 is located on the rotation axis of the second movable sub-beam 212. The two ends of the extension section 530 are respectively connected to the top end of the connecting section 510 and the top end of the arc-shaped support arm 520. The second transmission member 340 is provided with a protruding post 343, which is located at the end of the rotation axis of the second transmission member 340 away from the baffle body 320. When the second movable sub-beam 212 rotates to an angle with the fixed bracket 120 greater than a preset angle, the inner arc surface of the arc-shaped support arm 520 abuts against the protruding post 343.

[0125] By providing a protruding post 343 on the second transmission member 340, the second cam 500 can abut against the protruding post 343 during rotation, thereby facilitating the oscillation of the second transmission member 340. Furthermore, by including a connecting section 510 and an arc-shaped support arm 520 oppositely arranged in the second cam 500, and with the two ends of the extension section 530 connected to the connecting section 510 and the arc-shaped support arm 520 respectively, a certain clearance space is formed between the connecting section 510 and the arc-shaped support arm 520. Understandably, based on the aforementioned scheme where the first cam 400 includes a disc portion 410 and a sector plate 420, if the first cam 400 can drive the first transmission member 330 to swing, then the second connecting section 333 of the first transmission member 330 needs to be located between the rotation axis of the first transmission member 330 and the rotation axis of the first cam 400. Since the second transmission member 340 is arranged parallel to the first transmission member 330, the portion of the second transmission member 340 parallel to the second connecting section 333 is located on the rotation axis of the second transmission member 340, away from the second cam. On one side of the shaft of 500, when the second transmission member 340 rotates and the baffle can be raised, the part of the second transmission member 340 parallel to the second connecting section 333 needs to rotate towards the axis of the second cam 500. During this process, this part will inevitably have a moment when it coincides with the trajectory of the second cam 500 when it rotates one revolution. In this embodiment, by forming a clearance space between the connecting section 510 and the arc-shaped support arm 520, the interference of the second cam 500 on the rotation process of the second transmission member 340 can be avoided.

[0126] Specifically, when the baffle body 320 is not raised and the second movable sub-beam 212 is not at an angle to the fixed bracket 120, a gap is formed between the second transmission member 340 and the arc-shaped support arm 520; when the second movable sub-beam 212 rotates relative to the fixed bracket 120, the arc-shaped support arm 520 of the second cam 500 gradually approaches the protrusion 343 on the second transmission member 340 until it abuts against the protrusion 343; when the second movable sub-beam 212 continues to rotate, the arc-shaped support arm 520... The drive pin 343 moves together in a direction away from the main body of the baffle. Simultaneously, the pin 343 slides on the end face of the arc-shaped support arm 520 away from the extension section 530 and towards the axis of the second cam 500. When the arc-shaped support arm 520 drives the pin 343 to move together and the pin 343 contacts the inner wall surface of the arc-shaped support arm 520, the arc-shaped support arm 520 and the pin 343 become tangent, thus preventing any change in the state of the pin 343 and the second transmission member 340. Even if the second movable sub-beam 212 continues to rotate so that the arc-shaped support arm 520 continues to rotate, the pin 343 merely slides on the inner wall surface of the arc-shaped support arm 520, and the angle of the second transmission member 340 no longer changes. Therefore, when the second movable sub-beam 212 rotates to an angle greater than a preset angle with the fixed bracket 120, the baffle body 320 will remain in a state that prevents the cleaning robot from falling or getting stuck when passing through the bridge frame 200.

[0127] In yet another embodiment, please refer to the reference. Figures 13 to 15 Each of the two adjacent tracking brackets 100 includes a main shaft 110 and a fixed bracket 120 disposed on the main shaft 110. The fixed bracket 120 is provided with the status recognition mechanism 300. The transmission unit 200 includes a transmission shaft 600. One end of the transmission shaft 600 is connected to the main shaft 110 of one of the two adjacent tracking brackets 100, and the other end is connected to the status recognition mechanism 300 on the fixed bracket 120 of one of the two adjacent tracking brackets 100. When the included angle between the two adjacent fixed brackets 120 is within a first preset range, the status recognition mechanism 300 allows the cleaning robot to move. When the included angle between the two adjacent fixed brackets 120 is within a second preset range, the status recognition mechanism 300 prevents the cleaning robot from moving.

[0128] By connecting one end of the drive shaft 600 to the main shaft 110 of one of the two adjacent tracking brackets 100, and the other end to the status recognition mechanism 300 on the fixed bracket 120 of the other of the two adjacent tracking brackets 100, when there is an angle between the two adjacent tracking brackets 100, the main shaft 110 can rotate at different angles. The status recognition mechanism 300 can be driven directly by the drive shaft 600, thereby avoiding the need to use the fixed bracket 120 and the movable beam 210 on the fixed bracket 120 to achieve the transmission effect of the status recognition mechanism 300.

[0129] When the included angle between two adjacent fixed supports 120 is within a first preset range, the status recognition mechanism 300 allows the cleaning robot to move; when the included angle between two adjacent fixed supports 120 is within a second preset range, the status recognition mechanism 300 prevents the cleaning robot from moving. This ensures that when the rotation angles of two adjacent main shafts 110 are inconsistent, the status recognition mechanism 300 can directly provide a warning to the cleaning robot, thereby avoiding the risk of the cleaning robot falling or getting stuck.

[0130] Furthermore, please refer to the following: Figures 13 to 15 The drive shaft 600 is a flexible drive shaft.

[0131] By setting the drive shaft 600 as a flexible drive shaft, the drive shaft 600 will bend and deform when it rotates with the main shaft 110 in the tracking bracket 100, thereby changing its position or angle with different rotation angles of the main shaft 110 in the tracking bracket 100, thus avoiding the risk of jamming during rotation when two adjacent main shafts 110 have different rotation angles.

[0132] Furthermore, please refer to the following: Figures 13 to 15 The status recognition mechanism 300 includes a signal shielding device 700, which is mounted on the fixed bracket 120. The drive shaft 600 is connected to the signal shielding device 700. When the included angle between two adjacent fixed brackets 120 is within a first preset range, the signal shielding device 700 is closed to allow the cleaning robot to move. When the included angle between two adjacent fixed brackets 120 is within a second preset range, the signal shielding device 700 is opened to transmit signals to the cleaning robot and prevent the cleaning robot from moving.

[0133] It is understandable that when the rotation angles of the main shafts 110 of two adjacent tracking brackets 100 are different, the angles of the fixed brackets 120 on the two adjacent tracking brackets 100 are also different. At this time, when the included angle of the two adjacent fixed brackets 120 is within the second preset range, the transmission shaft 600 connected to the main shaft 110 will also be twisted, thereby causing the other end of the transmission shaft 600 to drive the signal shielding device 700 to open, so that the signal shielding device 700 no longer shields the signal, thus enabling signal transmission with the cleaning robot, so that the cleaning robot can stop walking after sensing the signal, avoiding the risk of falling or getting stuck.

[0134] When the included angle between two adjacent fixed supports 120 is within the first preset range, the degree of twist of the transmission shaft 600 connected to the main shaft 110 is small, which makes it impossible for the other end of the transmission shaft 600 to drive the signal shielding device 700 to open. That is, the signal shielding device 700 is still in the closed state. At this time, the signal shielding effect is achieved, and the robot cannot transmit signals. At this time, the robot assumes that there are no obstacles in front and does not provide any warning. Therefore, the robot can be guided to continue walking on the two adjacent tracking supports 100.

[0135] Specifically, please refer to the following: Figures 13 to 15 The signal shielding device 700 is an RFID tag box or a photoelectric sensor.

[0136] The signal shielding device 700 can be an RFID tag box. When the signal shielding device 700 is open, it can transmit or receive RFID signals transmitted by the cleaning robot. After the cleaning robot establishes a signal connection with the signal shielding device 700, the signal shielding device 700 provides a warning to the cleaning robot, indicating that there is an obstacle ahead, thereby preventing the cleaning robot from continuing to move and avoiding the risk of the cleaning robot falling or getting stuck. Specifically, the RFID tag box can include a tag box body 710 and a cover 720. The cover 720 is movably disposed on the tag box body 710 to open or close the opening of the tag box body 710. The cover 720 is drive-connected to the drive shaft 600.

[0137] The signal shielding device 700 can also be a photoelectric sensor. When the photoelectric sensor is in the open state, it can emit photoelectric signals to the cleaning robot, and then connect with the cleaning robot's sensing device to provide a warning signal to the cleaning robot to prevent it from continuing to move forward.

[0138] This invention also proposes a photovoltaic system, please refer to the following references. Figure 1 , Figure 3 , Figure 5 , Figure 7 , Figure 8 , Figure 13 as well as Figure 15 The photovoltaic system includes a cleaning robot and an adjacent tracking bracket status recognition system. The specific structure of the adjacent tracking bracket status recognition system is as described in the above embodiments. Since this photovoltaic system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. The cleaning robot is mounted on two adjacent tracking brackets 100 on both sides.

[0139] By mounting the cleaning robot on two adjacent tracking brackets 100 on both sides, the cleaning robot can clean the photovoltaic modules 800 on both tracking brackets 100.

[0140] This invention also provides a method for identifying photovoltaic systems; please refer to the following references. Figures 1 to 17 The specific structure of the photovoltaic system is as described in the above embodiments. Since the identification method of this photovoltaic system adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here. The cleaning robot is equipped with a sensing device, and the identification method of the photovoltaic system includes:

[0141] Step 10: Detect the state of the state recognition mechanism 300 in the adjacent tracking bracket state recognition system;

[0142] Step 20: Determine the walking state based on the detected state of the state recognition mechanism 300.

[0143] The state recognition mechanism 300 has at least two states, including a state that allows the cleaning robot to continue moving and a state that prevents the cleaning robot from continuing to move. When the cleaning robot detects that the state recognition mechanism 300 is in the state that allows the cleaning robot to continue moving, it determines that the cleaning robot will continue moving. When the cleaning robot detects that the state recognition mechanism 300 is in the state that prevents the cleaning robot from continuing to move, it determines that the cleaning robot will stop.

[0144] Specifically, the cleaning robot can use photoelectric sensors to detect whether there is an obstruction in front of it. When an obstruction is detected, it can determine that there is an obstacle ahead. If the obstruction rises, it will alert the cleaning robot to stop, preventing it from getting stuck or falling. When the obstruction falls, the cleaning robot cannot detect it and continues to move along the two adjacent tracking supports 100. Alternatively, the cleaning robot can be equipped with a sensor, and the status recognition mechanism 300 can also be a signal shielding device 700 that connects to the sensor on the cleaning robot. When the signal shielding device 700 is open, it can transmit signals with the cleaning robot. Upon sensing the signal from the signal shielding device 700, the cleaning robot will stop moving. In other words, when the status recognition mechanism 300 is in a state that prevents the cleaning robot from moving, the signal shielding device 700 is in a closed state. When the signal shielding device 700 is closed, the cleaning robot cannot detect the signal from the signal shielding device 700, thus recognizing that there is no obstacle ahead and continuing to move. When the status recognition mechanism 300 is in a state that allows the cleaning robot to move, it means that the signal shielding device 700 is in an open state.

[0145] The technical solution of this invention allows the cleaning robot to first detect the state of the state recognition mechanism 300, and then determine its own walking state based on the detected state of the state recognition mechanism 300. This enables the cleaning robot to predict the road conditions ahead in advance, and thus accurately know whether the road conditions ahead allow the cleaning robot to walk or prevent the cleaning robot from walking. This avoids the risk of the cleaning robot getting stuck or falling when the angle between two adjacent tracking brackets 100 is too large.

[0146] Furthermore, in one example, please refer to the reference. Figures 1 to 9 ,as well as Figure 18 The state recognition mechanism 300 includes the aforementioned baffle body 320. Step 20: Determining the walking state based on the detected state of the state recognition mechanism 300 includes the following specific steps:

[0147] Step 21: Detect the lifting and lowering state of the baffle body 320;

[0148] Step 22: When the baffle body 320 is detected to be in the raised state, the cleaning robot stops moving; when the baffle body 320 is detected to be in the lowered state, the cleaning robot continues moving.

[0149] When the status recognition mechanism 300 includes the aforementioned baffle body 320, the status recognition mechanism 300 is a mechanical blocking structure used to prevent the cleaning robot from continuing to move; or when the sensing device on the cleaning robot is a photoelectric sensing device, the baffle body 320 is a sensor that reflects the signal emitted by the cleaning robot. Specifically, when the baffle body 320 is raised, the cleaning robot can detect the baffle body 320, determine that there is an obstacle in front, and thus stop moving. The cleaning robot can mechanically contact the baffle body 320 to detect the obstacle in front, meaning the baffle body 320 substantially blocks the cleaning robot. Alternatively, the cleaning robot can use a photoelectric sensor to sense whether there is a baffle body 320 in front. When detected, it can determine that there is an obstacle in front, and when the baffle body 320 is raised, it provides a prompt to the cleaning robot to stop its movement, thus preventing the cleaning robot from getting stuck or falling. When the baffle body 320 falls, the cleaning robot cannot recognize the baffle body 320, so the cleaning robot continues to walk on the two adjacent tracking brackets 100.

[0150] In another example, please refer to the reference. Figures 13 to 16 ,as well as Figure 19 The state recognition mechanism 300 includes the signal shielding device 700 described above. The step of determining the walking state based on the detected state of the state recognition mechanism 300 includes:

[0151] Step 20a: Detect the signal transmission status of the signal shielding device 700;

[0152] Step 20b: When the signal shielding device 700 is detected to be in a signal shielding state, the cleaning robot continues to move; when the signal shielding device 700 is detected to be in a signal receiving or transmitting state, the cleaning robot stops moving.

[0153] The signal shielding device 700 has two states. When the signal shielding device 700 is open, it can connect with the sensors on the cleaning robot. When the cleaning robot senses the signal from the signal shielding device 700, it determines that there is a warning ahead and stops moving. When the cleaning robot does not sense the signal from the signal shielding device 700, it determines that there is no warning ahead and continues moving to clean the photovoltaic modules 800 on the two adjacent tracking brackets 100.

[0154] Specifically, the signal shielding device 700 can be an RFID tag box, which may include a tag box body 710 and a cover 720. The cover 720 is movably disposed on the tag box body 710 to open or close the opening of the tag box body 710. The cover 720 is driven by the drive shaft 600. When the included angle between the main shafts 110 or fixed brackets 120 of two adjacent tracking brackets 100 is greater than a preset angle, the drive shaft 600, which is driven by the main shaft 110, drives the cover 720 to move, thereby opening the opening of the tag box body 710. This causes the signal shielding device 700 to be in an open state, allowing it to transmit or receive RFID signals transmitted by the cleaning robot. After the cleaning robot establishes a signal connection with the signal shielding device 700, the signal shielding device 700 provides a warning to the cleaning robot, indicating that there is an obstacle ahead, thus preventing the cleaning robot from continuing to move and avoiding the risk of the cleaning robot falling or getting stuck. Specifically, the signal shielding device 700 can also be a photoelectric sensor. When the photoelectric sensor is in the open state, it can emit photoelectric signals to the cleaning robot, and then connect with the cleaning robot's sensing device to provide a warning signal to the cleaning robot to prevent it from continuing to move forward.

[0155] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A system for identifying the status of adjacent tracking supports, characterized in that, include: Two adjacent tracking brackets are used for the cleaning robot to move. The tracking bracket includes a main shaft and a fixed bracket disposed on the main shaft. The status recognition mechanism is provided on each of the two adjacent tracking brackets; and A transmission unit is connected to the state recognition mechanism to drive the state recognition mechanism to move. The transmission unit includes at least two movable beams and a connecting beam, and the at least two movable beams are respectively hinged to the fixed brackets of two adjacent tracking brackets. One end of each movable beam is provided with a swing connecting component, which is used to hinge the movable beam to the fixed bracket. When the movable beam rotates, it can drive the state recognition mechanism to move. The two ends of the connecting beam are respectively connected to the other ends of the two movable beams respectively provided on the two adjacent fixed brackets. The status recognition mechanism is provided in two parts, and the two status recognition mechanisms are respectively provided on the two fixed supports; two movable beams are symmetrically arranged on each fixed support; and the two movable beams are hinged to the fixed support at one end and are close to each other. When the included angle between two adjacent fixed supports is within a first preset range, the state recognition mechanism is in a state that allows the cleaning robot to move; when the included angle between two adjacent fixed supports is within a second preset range, the state recognition mechanism is in a state that prevents the cleaning robot from moving. When the rotation angles of two adjacent fixed supports are not synchronized, the movable beam on one of the fixed supports drives the other movable beam to rotate relative to the other fixed support through the connecting beam, so that the other movable beam drives the state recognition mechanism to move.

2. The adjacent tracking bracket status recognition system as described in claim 1, characterized in that, The fixed support includes a purlin and a mounting bracket fixedly connected to the purlin. The purlin is connected to the main shaft, and the mounting bracket is connected to the purlin. The mounting bracket is provided with a guide groove. The extension direction of the guide groove is the same as the extension direction of the movable beam, and the movable beam is located in the guide groove and is hinged to the groove wall of the guide groove.

3. The adjacent tracking bracket status identification system as described in any one of claims 1 or 2, characterized in that, The status recognition mechanism includes: Support member, the support member being fixedly mounted on the fixed bracket; and The baffle body is hinged to the support member, and the movable beam rotates to drive the baffle body to rotate.

4. The adjacent tracking bracket status recognition system as described in claim 3, characterized in that, At least a portion of the baffle body overlaps the movable beam.

5. The adjacent tracking bracket status identification system as described in any one of claims 1 or 2, characterized in that, The transmission unit further includes a first cam, which is fixedly connected to a movable beam and is drive-connected to the status recognition mechanism. When the movable beam rotates to an angle greater than a preset angle with the fixed bracket, the first cam drives the status recognition mechanism to rotate along the axis of the movable beam, thereby preventing the cleaning robot from moving; when the angle between the movable beam and the fixed bracket is not greater than the preset angle, the status recognition mechanism disengages from the first cam.

6. The adjacent tracking bracket status recognition system as described in claim 5, characterized in that, The status recognition mechanism includes: A first transmission component, movably connected to the fixed bracket; and A baffle body, wherein the baffle body is throttle connected to the first transmission component; When the movable beam rotates to an angle greater than a preset angle with the fixed bracket, the first cam abuts against the first transmission member, and the baffle body rises to prevent the cleaning robot from moving; when the angle between the movable beam and the fixed bracket is not greater than the preset angle, the first transmission member disengages from the first cam.

7. The adjacent tracking bracket status recognition system as described in claim 6, characterized in that, The first cam includes a disc portion and a sector plate. The disc portion is fixedly mounted on the movable beam, and the rotation axis of the movable beam passes through the center of the disc portion. The sector plate is connected to the outer edge of the disc portion. When the movable beam rotates to an angle greater than a preset angle with the fixed bracket, the sector plate abuts against the first transmission member.

8. The adjacent tracking bracket status recognition system as described in claim 7, characterized in that, The first transmission component includes: A hinged portion, which is hinged to the fixed bracket; A first connecting segment, one end of which is connected to the hinge portion, and the other end of which is hinged to the baffle body; and The second connecting section has one end connected to the hinge part and the other end extending in a direction away from the first connecting section. A support post protrudes from the second connecting section. When the movable beam rotates to an angle greater than a preset angle with the fixed bracket, the fan-shaped plate abuts against the support post.

9. The adjacent tracking bracket status recognition system as described in claim 5, characterized in that, The movable beam is symmetrically arranged in two parts, and the two symmetrically arranged movable beams are defined as a first movable sub-beam and a second movable sub-beam, respectively. The first cam is disposed on the first movable sub-beam. The transmission unit also includes a second cam, which is fixedly connected to the second movable sub-beam and is transmittedly connected to the status recognition mechanism. When the second movable sub-beam rotates to an angle greater than a preset angle with the fixed bracket, the second cam drives the status recognition mechanism to rotate along the axis of the second movable sub-beam, causing the status recognition mechanism to prevent the cleaning robot from moving; when the angle between the second movable sub-beam and the fixed bracket is not greater than the preset angle, the status recognition mechanism disengages from the second cam.

10. The adjacent tracking bracket status recognition system as described in claim 9, characterized in that, The status recognition mechanism further includes a second transmission component and a baffle body. One end of the second transmission component is movably disposed on the fixed bracket, and the other end is connected to the baffle body in a transmission manner. When the second movable sub-beam rotates to an angle greater than a preset angle with the fixed bracket, the second cam abuts against the second transmission member, and the baffle body rises to prevent the cleaning robot from moving; when the angle between the second movable sub-beam and the fixed bracket is not greater than the preset angle, the second transmission member disengages from the second cam.

11. The adjacent tracking bracket status recognition system as described in claim 10, characterized in that, The second cam includes: A connecting segment having a bottom end and a top end, the bottom end of the connecting segment being fixedly connected to the second movable sub-beam; An arc-shaped support arm, wherein the arc-shaped support arm is disposed opposite to the connecting section, and the center of the arc-shaped support arm is located on the rotation axis of the second movable sub-beam; and An extension section, the two ends of which are respectively connected to the top end of the connecting section and the top end of the arc-shaped support arm; The second transmission component has a protruding post, which is located at the end of the second transmission component's rotating shaft away from the baffle body. When the second movable sub-beam rotates to an angle greater than a preset angle with the fixed bracket, the inner arc surface of the arc-shaped support arm abuts against the protruding post.

12. A photovoltaic system, characterized in that, The system includes a cleaning robot and an adjacent tracking bracket status recognition system as described in any one of claims 1 to 11, wherein the cleaning robot is mounted on two adjacent tracking brackets on both sides.

13. A method for identifying a photovoltaic system as described in claim 12, characterized in that, The cleaning robot is equipped with a sensing device, and the identification method includes: Detect the state of the state recognition mechanism in the adjacent tracking bracket state recognition system; The walking state is determined based on the detected state of the state recognition mechanism.

14. The identification method as described in claim 13, characterized in that, The state recognition mechanism includes a baffle body as described in any one of claims 3, 6, 7, 8, 10, and 11, and the step of determining the walking state based on the detected state of the state recognition mechanism includes: The lifting / lowering state of the baffle body was detected. When the baffle body is detected to be in the raised state, the cleaning robot stops moving; when the baffle body is detected to be in the lowered state, the cleaning robot continues moving.

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