Photovoltaic cleaning device and photovoltaic system

Abstract

The present invention provides a photovoltaic cleaning device and a photovoltaic system. The photovoltaic cleaning device includes: a body adapted to be movably mounted on a photovoltaic module; a connector retractably mounted on the body; a distance sensor mounted on the body for detecting the distance of movement of the body; a tilt sensor mounted on the body for detecting the tilt of the photovoltaic module; and a controller mounted within the body, the controller connecting the distance sensor, tilt sensor, and connector and configured to: in a cleaning mode, calculate the position of the body based on the distance of movement of the body, control the movement of the body, and control the body to clean the photovoltaic module; and in a tracking mode, control the connector to deploy and insert a tracking drive motor, obtain the tilt of the photovoltaic module from the tilt sensor, and control the tracking drive motor to rotate to adjust the tilt of the photovoltaic module.

Description

Technical Field

[0001] The present invention mainly relates to the field of photovoltaics, and in particular to a photovoltaic cleaning device and a photovoltaic system. Background Art

[0002] In photovoltaic systems, the surfaces of photovoltaic modules require cleaning to prevent dust from obstructing sunlight and reducing its ability to receive sunlight. A typical practice is to deploy cleaning robots within the system to clean the panels. These robots can move between multiple panels to perform cleaning operations. In photovoltaic systems equipped with tracking mounts, the panels' tilt angles change with the direction of sunlight, and certain tilt angles may not be suitable for the cleaning robots. Therefore, the cleaning robots require a tracking device and a higher-level network controller to obtain the required tilt angle information for controlling their operating modes.

[0003] In the prior art known to the inventors, the cleaning robot and the tracking device are independent of each other, and the communication between the two is not timely, which easily causes information lag and cleaning robot control errors. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a photovoltaic cleaning device and a photovoltaic system, which can improve the communication time efficiency and the control accuracy of the cleaning robot.

[0005] In order to solve the above technical problems, the present invention provides a photovoltaic cleaning device, comprising: a main body, suitable for being movably arranged on a photovoltaic component; a connector, which can be retracted and arranged on the main body; a distance sensor, which is arranged on the main body and is used to detect the moving distance of the main body; a tilt sensor, which is arranged on the main body and is used to detect the tilt angle of the photovoltaic component; and a controller arranged in the main body, the controller is connected to the distance sensor, the tilt sensor and the connector and is configured to: in a cleaning mode, calculate the position of the main body according to the moving distance of the main body, and control the movement of the main body and control the main body to clean the photovoltaic component; and in a tracking mode, control the connector to unfold and insert a tracking drive motor, obtain the tilt angle of the photovoltaic component from the tilt sensor, and control the tracking drive motor to rotate to adjust the tilt angle of the photovoltaic component.

[0006] Optionally, the controller is further configured to control the connector to be pulled out from the tracking drive motor and stored on the body when the tracking mode ends.

[0007] Optionally, the connector includes a first pivot portion provided on the body, at least one second pivot portion provided on the first pivot portion, and a contactor retractably provided on the at least one second pivot portion; wherein the controller is configured to, in the tracking mode, control the first pivot portion to pivot outward from a first position attached to the body to a second position opposite to the tracking drive motor of the photovoltaic component, control the second pivot portion to pivot to point to the tracking drive motor, and control the contactor to extend to insert the tracking drive motor.

[0008] Optionally, the connector further comprises an image sensor, the controller is connected to the image sensor and is adapted to control the actions of the first pivoting portion, at least one second pivoting portion and / or the contactor according to an image captured by the image sensor.

[0009] Optionally, the controller is configured to output a driving voltage to the tracking drive motor through the connector.

[0010] Optionally, the controller further includes a communication module for communicating with a network controller, and the controller is configured to control the rotation of the tracking drive motor according to the network controller.

[0011] Optionally, the body further includes a driving wheel and a travel driving motor, and the controller is connected to the travel driving motor and is configured to control the travel driving motor to rotate when the cleaning mode ends, so as to drive the driving wheel to move the body to a parking position.

[0012] Optionally, the photovoltaic cleaning device also includes a locking mechanism, including a locking bracket arranged in the stop position and a locking rod arranged on the main body. The controller is connected to the locking rod and is configured to control the locking rod to rotate to cooperate with the locking bracket when the main body is in the stop position, thereby locking the main body.

[0013] Optionally, the locking rod includes a first rod portion provided on the main body, a second rod portion provided on the first rod portion, and a push rod telescopically provided on the second rod portion; wherein the controller is configured to control the first rod portion to pivot outward from a first position attached to the main body to a second position opposite to the locking bracket when the main body is in the parking position, control the second rod portion to pivot to point to the locking bracket, and control the push rod to extend to insert into the fixing hole on the locking bracket.

[0014] Optionally, the photovoltaic cleaning device further includes a photovoltaic panel arranged on the main body, a charging module connected to the photovoltaic panel, and a battery connected to the charging module, wherein the controller is connected to the charging module.

[0015] The present application also proposes a photovoltaic system, comprising a tracking bracket having a tracking drive motor; a photovoltaic assembly, which is arranged on the tracking bracket and can change its inclination angle under the drive of the tracking drive motor; and the photovoltaic cleaning device as described above.

[0016] Compared to existing technologies, the present invention uses a controller within the photovoltaic cleaning device to control both the cleaning device and the tracking drive motor. This improves communication efficiency between the cleaning and tracking devices and reduces the chance of control errors. Furthermore, by using a single controller, components are saved and system costs are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the present application, are incorporated into and constitute a part of this application, illustrate embodiments of the present application, and together with this specification serve to explain the principles of the present invention. In the accompanying drawings:

[0018] Figure 1 Schematic diagram of a photovoltaic system with a cleaning device according to an embodiment of the present application.

[0019] Figure 2 yes Figure 1 Schematic diagram of a photovoltaic system in cleaning mode.

[0020] Figure 3 yes Figure 1 Schematic diagram of a photovoltaic system in tracking mode.

[0021] Figure 4 This is a structural block diagram of a cleaning device according to an embodiment of the present application.

[0022] Figure 5-6 Schematic diagram of a locking mechanism according to an embodiment of the present application.

[0023] Figure 7-8 This is a schematic diagram of the connector structure of an embodiment of the present application.

[0024] Figure 9-11 This is a schematic diagram of the connector opening process according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0026] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0027] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0028] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0029] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0030] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. Furthermore, while the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may have been selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of this description. Furthermore, this application should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0031] It should be understood that when a component is referred to as being “on another component,” “connected to another component,” “coupled to another component,” or “contacting another component,” it can be directly on, connected to, coupled to, or contacting the other component, or intervening components may be present. In contrast, when a component is referred to as being “directly on another component,” “directly connected to,” “directly coupled to,” or “directly contacting” another component, there are no intervening components. Similarly, when a first component is referred to as being “electrically in contact with” or “electrically coupled to” a second component, an electrical path exists between the first and second components that allows current to flow. This electrical path may include capacitors, coupled inductors, and / or other components that allow current to flow, even without direct contact between the conductive components.

[0032] Figure 1 This is a schematic diagram of a photovoltaic system with a cleaning device according to an embodiment of the present application. Figure 1As shown, the photovoltaic system 100 includes tracking brackets 110 arranged in multiple columns (only one of which is shown in the figure), and multiple photovoltaic modules 120 are installed on each column of tracking brackets 110 (only two of which are shown in the figure). Each column of tracking brackets 110 has multiple columns 111, beams 112 and tracking drive motors 123 (see reference to FIG. Figure 2 Each photovoltaic module 120 in each row is mounted on a crossbeam 112, and the photovoltaic modules 120 are connected by a bridge 121. These photovoltaic modules 120 can be rotated to change the inclination angle under the drive of a tracking drive motor 123. It should be noted that the tracking bracket structure shown in this diagram is for illustration only, and any known suitable tracking bracket can be used in the embodiments of this application.

[0033] like Figure 1 As shown, there is a gap 122 between adjacent photovoltaic modules 120, and the photovoltaic cleaning device 130 is set in this gap and serves as the position where it is placed when it stops working, that is, the shutdown position. Figure 3 As shown, the photovoltaic system 100 includes a locking mechanism 140, which includes a locking bracket 141 and a locking rod 142 (refer to Figure 4 ), used to lock the photovoltaic cleaning device 130 when needed, which will be described later.

[0034] Figure 4 This is a structural block diagram of a cleaning device according to an embodiment of the present application. Figure 1 and Figure 4 As shown, the photovoltaic cleaning device 130 includes a body 131 equipped with multiple rollers (not shown), at least some of which are drive wheels. Driven by a body drive motor 134 within the body, the body 131 moves over the photovoltaic modules 120 and between the modules 120 via the bridge 121. The body 131 is also equipped with one or more brushes (not shown), driven by a brush drive motor 135 within the body to clean the photovoltaic modules. A controller 132 is located within the body 131 to control the overall operation of the photovoltaic cleaning device 130 and its coordination with the tracking bracket.

[0035] The controller 132 may include a communication module 132a, a positioning module 132b, a cleaning device drive unit 132c, and a tracking system drive unit 132d. The communication module 132a is capable of communicating with the photovoltaic power plant's Network Control Unit (NCU) and receiving instructions from the NCU. The controller 132 is configured to control the operation of the photovoltaic cleaning device 130 and the tracking system according to the instructions from the NCU. The communication module may be a Lora wireless communication module or a ZigBee wireless communication module. The positioning module 132b is connected to a plurality of sensors 133a-133c to obtain various positioning information. These sensors include a tilt sensor 133a, a distance sensor 133b, and an image sensor 134c. The tilt sensor 133a is used to measure the tilt of the photovoltaic module 120 and the photovoltaic cleaning device 130. The distance sensor 133b, such as a laser ranging sensor or an infrared ranging sensor, is used to detect the movement distance of the body. The distance sensors 133b may be located on the long and short sides of the body 131 to detect lateral and longitudinal distances, respectively. The image sensor 134 c is disposed on the connector 136 and is configured to capture images of the environment surrounding the connector 136 .

[0036] The controller 132, as the brain of the device, can obtain instructions from the communication module 132a, obtain positioning information from various sensors, and send instructions to the cleaning device drive unit 132c and the tracking drive unit 132d, allowing the latter to further control the actions of each motor 134, 135, 143a / 143b, 123. The controller 132 can also detect the working voltage and working current of the drive unit. The cleaning device drive unit 132c is used to control the overall operation of the photovoltaic cleaning device 130. Specifically, the photovoltaic cleaning device 130 has a cleaning mode, and the cleaning device drive unit 132c is responsible for controlling the rotation of the brush drive motor 135 in the cleaning mode, driving the brush on the body 131 to rotate to clean the photovoltaic components, such as Figure 2 On the other hand, the controller 132 calculates the position of the main body 131 based on the moving distance (including lateral and longitudinal distances) of the main body 131 detected by the distance sensor 133b, and instructs the cleaning device drive unit 132c to drive the travel drive motor 134 to move the main body 131 of the photovoltaic cleaning device 130 to various positions of the tracking bracket 110 to achieve the cleaning effect.

[0037] At the end of the cleaning mode, the cleaning device drive unit 132c drives the travel drive motor 134 to rotate, driving the drive wheel to return the body 131 of the photovoltaic cleaning device 130 to the parking position 122 (such as Figure 3 shown).

[0038] When the photovoltaic cleaning device 130 switches from the cleaning mode to the tracking mode, since the body 131 needs to rotate with the bridge 121, in order to ensure that the internal tilt sensor 133a can recognize the angle normally, the body 131 needs to be in a stable state and will not slide as the angle of the bridge 121 changes. For this reason, an embodiment of the present application provides a locking mechanism 140. Figure 3 and 4 As shown, the locking bracket 141 is set on the bridge 121 in the parking position. The locking rod 142 is set at the bottom of the body 131 and fits with the bottom of the body 131 in the cleaning mode. Figure 5 As shown, the locking rod 142 further includes a first locking motor 142a, a first rod portion 142b, a second locking motor 142c, a second rod portion 142d, a push rod motor (not shown), and a push rod 142e. When the main body is in the parking position 122, the controller 132 controls the cleaning drive unit 132c to drive the first locking motor 142a to rotate 90 degrees, driving the first rod portion 142b on its output shaft to pivot outward from the first position attached to the main body 131 to the second position opposite to the locking bracket 141. Then, as shown in FIG. Figure 6 As shown, controller 132 controls cleaning drive unit 132c to drive second locking motor 142c to rotate 90°, causing second rod 142d on its output shaft to pivot toward locking bracket 141. Finally, controller 132 controls cleaning drive unit 132c to drive push rod motor 142e to rotate, extending second rod 142d to insert into fixing hole 141a on locking bracket 141, thereby locking body 131. After locking, body 131 waits for tracking mode.

[0039] In tracking mode, controller 132 instructs tracking system drive unit 132d to control connector 136 to expand and insert tracking drive motor 123. Here, controller 132 is configured to output a drive voltage to tracking drive motor 123 via connector 136. Controller 132 then obtains the tilt angle of PV module 120 from tilt sensor 133a and controls tracking drive motor 123 to rotate to adjust the tilt angle of PV module 120. For example, controller 132 may obtain the desired tilt angle of PV module 120 from a network controller, control tracking drive motor 123 rotation via tracking system drive unit 132d, and compare the tilt angle detected by tilt sensor 133a with the desired tilt angle to determine whether tracking drive motor 123 has rotated to the desired tilt angle.

[0040] Figure 7-8 This is a schematic diagram of the connector structure of an embodiment of the present application. Figure 7-8As shown, connector 136 includes a first pivot portion 136a disposed on body 131. One end of first pivot portion 136a is connected to the output shaft of motor 136b and is rotatable when driven by motor 136b. Connector 136 also includes second pivot portions 136c and 136f disposed on first pivot portion 136a. One end of second pivot portions 136c and 136f is connected to the output shafts of motors 136d and 136g, respectively, and is rotatable when driven by motors 136d and 136g. Contactors 136e and 136h are retractably disposed on second pivot portions 136c and 136f, respectively. For example, push rod motors (not shown) are disposed within second pivot portions 136c and 136f to drive contactors 136e and 136h to extend from or retract from second pivot portions 136c and 136f. It should be noted that the number of the second pivoting parts here is only an example and can be changed according to the number of contactors required.

[0041] refer to Figure 9 As shown, the controller 132 is configured to drive the motor 136b to rotate through the tracking system driving unit 132d in the tracking mode, driving the first pivoting portion 136a to pivot outward from the first position attached to the body 131 to the second position opposite to the tracking driving motor 123 of the photovoltaic module. Figure 10 As shown, the tracking system driving unit 132d drives the motors 136d and 136g to rotate, driving the second pivoting parts 136c and 136f to pivot toward the tracking driving motor 123. At this time, the second pivoting parts 136c and 136f can contact the interface 123a of the tracking driving motor 123. Figure 11 As shown, the tracking system driving unit 132 d controls the contactors 136 e and 136 h to extend so as to be inserted into the interface 123 a of the tracking driving motor 123 .

[0042] In one embodiment, the aforementioned image sensor 134c is disposed on the connector 136 to capture images of the connector's surroundings. For example, it is disposed at the end of one of the second pivot portions 136c of the connector 136. The controller 132 controls the operation (e.g., rotation angle) of each motor based on the image captured by the image sensor 134c, thereby controlling the movement of the first pivot portion 136a, the second pivot portions 136c and 136f, and / or the contactors 136e and 136h.

[0043] When the tracking mode ends, the controller 132 controls the connector 136 to be pulled out from the connector 123a of the tracking drive motor 123 and stored in the body 131. Figure 9-11 The process is the opposite and will not be expanded here.

[0044] In some embodiments, the controller 132 may be implemented as a single chip microcomputer. In some embodiments, each drive unit uses a full-bridge drive circuit. In some embodiments, each motor uses a DC brushless drive motor.

[0045] refer to Figure 4 As shown, in one embodiment, photovoltaic cleaning device 130 further includes a photovoltaic panel 137, a charging module 138, and a battery 139. Photovoltaic panel 137 is mounted on the surface of body 131 to receive sunlight and convert it into electrical energy. Charging module 138 is connected to photovoltaic panel 137 and utilizes the electrical energy from photovoltaic panel 137 to power controller 132 and / or charge battery 139. This embodiment, equipped with photovoltaic panels, can convert solar energy into electrical energy, providing sustainable, self-powered power for the entire device.

[0046] In some embodiments, the photovoltaic panel 137 has a power of 100W or greater. In some embodiments, the charging module 138 is a 60W isolated buck-boost charging module with a constant voltage and constant current output. In some embodiments, the battery is a 6.7AH lithium iron phosphate battery with a rated output of 28VDC.

[0047] The basic concepts have been described above. It will be apparent to those skilled in the art that the above disclosures are merely illustrative and do not constitute limitations on this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and amendments to this application. Such modifications, improvements, and amendments are suggested in this application and remain within the spirit and scope of the exemplary embodiments of this application.

[0048] At the same time, this application uses specific terms to describe the embodiments of this application. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "one embodiment," "an embodiment," or "an alternative embodiment" mentioned twice or multiple times in different locations in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application may be appropriately combined.

[0049] Some aspects of the present application can be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software can be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs...), smart cards, and flash memory devices (e.g., cards, sticks, key drives...).

[0050] A computer-readable medium may include a propagated data signal embodying computer program code, for example, in baseband or as part of a carrier wave. The propagated signal may be in a variety of forms, including electromagnetic, optical, etc., or a suitable combination thereof. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium that can be connected to an instruction execution system, apparatus, or device to communicate, propagate, or transmit the program for use. The program code on the computer-readable medium may be transmitted via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above.

[0051] Similarly, it should be noted that, in order to simplify the presentation of this application and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this application sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the subject matter of this application requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single embodiment disclosed above.

[0052] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0053] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions can be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A photovoltaic cleaning device, comprising: A body adapted to be movably arranged on a photovoltaic module; A connector, retractably mounted on the body; a distance sensor, provided on the body, for detecting the moving distance of the body; a tilt sensor, provided on the body, for detecting the tilt of the photovoltaic module; and A controller is provided in the body, the controller is connected to the distance sensor, the tilt sensor and the connector and is configured as follows: In a cleaning mode, the position of the body is calculated according to the movement distance of the body, and the movement of the body is controlled to clean the photovoltaic assembly; In the tracking mode, the connector is controlled to be unfolded and inserted into the tracking drive motor, the inclination angle of the photovoltaic assembly is obtained from the inclination sensor, and the tracking drive motor is controlled to rotate to adjust the inclination angle of the photovoltaic assembly; as well as When the tracking mode ends, the connector is controlled to be pulled out from the tracking drive motor and stored on the body.

2. The photovoltaic cleaning device according to claim 1, characterized in that: The connector includes a first pivot portion provided on the body, at least one second pivot portion provided on the first pivot portion, and a contactor telescopically provided on the at least one second pivot portion; The controller is configured to control the first pivoting portion to pivot outward from a first position attached to the body to a second position opposite to the tracking drive motor of the photovoltaic component in the tracking mode, control the second pivoting portion to pivot toward the tracking drive motor, and control the contactor to extend to insert the tracking drive motor.

3. The photovoltaic cleaning device according to claim 2, characterized in that: The connector further includes an image sensor, the controller is connected to the image sensor, and is adapted to control actions of the first pivoting portion, at least one second pivoting portion, and / or the contactor according to an image captured by the image sensor.

4. The photovoltaic cleaning device according to claim 1 or 2, characterized in that: The controller is configured to output a driving voltage to the tracking driving motor through the connector.

5. The photovoltaic cleaning device according to claim 1, characterized in that: The controller further includes a communication module for communicating with a network controller, and the controller is configured to control the tracking drive motor to rotate according to the network controller.

6. The photovoltaic cleaning device according to claim 1, characterized in that: The body further includes a driving wheel and a travel driving motor. The controller is connected to the travel driving motor and is configured to control the travel driving motor to rotate when the cleaning mode ends, so as to drive the driving wheel to move the body to a parking position.

7. The photovoltaic cleaning device according to claim 6, characterized in that: It also includes a locking mechanism, including a locking bracket arranged at the stop position and a locking rod arranged on the main body. The controller is connected to the locking rod and is configured to control the locking rod to rotate to cooperate with the locking bracket when the main body is in the stop position, thereby locking the main body.

8. The photovoltaic cleaning device according to claim 7, characterized in that: The locking rod includes a first rod portion provided on the body, a second rod portion provided on the first rod portion, and a push rod telescopically provided on the second rod portion; The controller is configured to control the first rod portion to pivot outward from a first position attached to the body to a second position opposite to the locking bracket when the body is in the parking position, control the second rod portion to pivot to point to the locking bracket, and control the push rod to extend to insert into the fixing hole on the locking bracket.

9. The photovoltaic cleaning device according to claim 1, characterized in that: It also includes a photovoltaic panel arranged on the body, a charging module connected to the photovoltaic panel, and a battery connected to the charging module, wherein the controller is connected to the charging module.

10. A photovoltaic system comprising: A tracking bracket having a tracking drive motor; A photovoltaic module is mounted on the tracking bracket and can change its inclination angle when driven by the tracking drive motor; as well as The photovoltaic cleaning device according to any one of claims 1 to 9.

Images