Photovoltaic module cleaning device and method

Abstract

The invention provides a photovoltaic module cleaning device and method, and relates to the technical field of photovoltaic equipment.The photovoltaic module cleaning device comprises a traversal support, the traversal support is connected to a photovoltaic module support in a rolling mode in the x direction, a cleaning mechanism mounting support is connected to the traversal support in a rolling mode, a cleaning mechanism is mounted on the cleaning mechanism mounting support, and the cleaning mechanism comprises a cleaning roller; and a cleaning mechanism mounting bracket driving assembly is arranged on the traversing bracket, and is used for driving the cleaning mechanism mounting bracket to move along the traversing bracket. The problems that the manual cleaning cost is high, the cleaning efficiency is low and the cleaning safety coefficient is low are solved, and meanwhile the problems that the photovoltaic cleaning robot is high in cleaning cost, large in occupied area, prone to falling off if the adsorption force is insufficient or the electric quantity is insufficient and low in cleaning efficiency are solved; meanwhile, the problems that the surface of the photovoltaic panel is easily damaged and the service life of the photovoltaic panel is shortened due to the fact that mechanical vehicle cleaning strength is not easy to control are solved.

Description

Technical Field

[0001] The invention belongs to the field of photovoltaic equipment, and in particular relates to a photovoltaic component cleaning device and method. Background Art

[0002] The effects of dust accumulation on solar photovoltaic modules include the following:

[0003] (1) Dust covering the photovoltaic module panel reduces the transmittance through the glass plate, hinders solar radiation, and affects the efficiency of photovoltaic power generation;

[0004] (2) Dust adheres to the panel surface and blocks the heat transfer to the outside, which may prevent the panel from releasing its own heat, causing the temperature to rise higher and higher, affecting the efficiency of photovoltaic power generation;

[0005] (3) Most existing photovoltaic power stations use silicon-based solar cells, which are very sensitive to temperature. When a certain thickness of dust accumulates on the panel surface, its heat transfer resistance will increase, which will have a heat-insulating effect on the panel, affecting its heat dissipation function and even causing hot spots that damage the components.

[0006] (4) The corrosion effect of dust accumulation on photovoltaic modules. The surface of photovoltaic panels is mostly made of glass. If wet acidic or alkaline dust adheres to the surface of the glass cover, the glass surface will be slowly corroded and the roughness will increase. The dust on the surface of the module has the function of reflecting, scattering and absorbing solar radiation, which can reduce the transmittance of the sun, resulting in a decrease in the solar radiation received by the panel and a decrease in the output power. Although the corrosion effect of dust accumulation has a small impact, it is permanent damage to photovoltaic modules and difficult to repair. Only by strengthening the correct daily cleaning and maintenance can the corrosion damage on the surface of the module be minimized;

[0007] Existing cleaning methods include manual cleaning, photovoltaic robot cleaning and mechanical vehicle cleaning. Although manual cleaning is relatively thorough, it is costly, has low cleaning efficiency and a low cleaning safety factor. Photovoltaic cleaning robots have high cleaning costs, occupy a large area, and are prone to falling if the adsorption force is insufficient or the power is insufficient, and have low cleaning efficiency. Mechanical vehicle cleaning is difficult to control and can easily damage the surface of the photovoltaic panel, reducing the service life of the photovoltaic panel. Summary of the invention

[0008] The present invention provides a photovoltaic assembly cleaning device and method, which are used to solve at least one of the technical problems mentioned above.

[0009] In order to solve the above technical problems, the present invention discloses a photovoltaic module cleaning device, comprising a traversing bracket, the traversing bracket is rollingly connected to the photovoltaic module bracket along the x direction, a cleaning mechanism mounting bracket is rollingly connected to the traversing bracket, a cleaning mechanism is mounted on the cleaning mechanism mounting bracket, the cleaning mechanism comprises a cleaning roller, a cleaning mechanism mounting bracket driving component is provided on the traversing bracket, and the cleaning mechanism mounting bracket driving component is used to drive the cleaning mechanism mounting bracket to move along the traversing bracket;

[0010] It also includes a control system and a monitoring system. The control system is electrically connected to the monitoring system, the traversal bracket, the cleaning mechanism installation bracket drive assembly and the cleaning mechanism. The monitoring system is used to monitor the surface condition of the photovoltaic panel, and the control system is used to control the operation of the cleaning mechanism based on the monitoring results of the monitoring system.

[0011] Preferably, the traversing bracket comprises a rectangular bracket frame, a driving roller group is installed at one end of the rectangular bracket frame, and a driven roller group is installed at the other end;

[0012] The active roller group includes two symmetrically arranged x-direction shift motors, the output end of the x-direction shift motor is fixedly connected with a side active roller and a bevel gear 1, one end of the rectangular bracket frame is fixedly connected with two symmetrically arranged mounting tubes, the bevel gear 1 is located in the mounting tube, a driven shaft is rotatably connected in the mounting tube, the driven shaft is fixedly connected with a bevel gear 2 and a surface active roller, the bevel gear 1 and the bevel gear 2 are meshed with each other, the top of the photovoltaic module bracket is composed of two symmetrically arranged x-transverse support rods and two symmetrically arranged y-longitudinal support rods, one of the x-transverse support rods is provided with a fixed rack 1 on the upper surface and a fixed rack 2 on the side, the surface active roller is meshed with the fixed rack 1, and the side active roller is meshed with the fixed rack 2;

[0013] The driven roller group includes a mounting frame, which is fixedly connected to the other end of the rectangular bracket frame. Two symmetrically arranged surface driven rollers and side driven rollers are rotatably connected to the mounting frame. The surface driven rollers and the side driven rollers are respectively meshed with fixed rack three and fixed rack four on another x-transverse support rod.

[0014] Preferably, the cleaning mechanism mounting bracket comprises a front plate, a rear plate, a left plate and a right plate, the front plate and the rear plate are respectively rotatably connected with two groups of symmetrically arranged y-direction rollers, the y-direction rollers are rollingly connected to the traversal bracket, and the front plate and the rear plate are connected to the cleaning mechanism mounting bracket driving assembly;

[0015] The front plate body, the rear plate body, the left plate body and the right plate body are all liftable plate bodies.

[0016] Preferably, the cleaning mechanism mounting bracket driving assembly includes two pulley connecting plates, which are respectively bolted to the two ends of the traversal bracket, and the two pulley connecting plates are respectively rotatably connected with electric pulley one and electric pulley two, which are connected by a power transmission belt, and the power transmission belt is provided with two L-shaped connecting parts, one end of the L-shaped connecting part is connected to the power transmission belt, and the other end of the L-shaped connecting part is respectively bolted to the front plate body and the rear plate body.

[0017] Preferably, the cleaning roller rotates between the left plate body and the right plate body, and the cleaning mechanism also includes a cleaning drive motor, which is mounted on the left plate body, and a sprocket one is provided at the output end of the cleaning drive motor, a sprocket shaft is rotatably connected to the left plate body, and sprocket two, sprocket three and sprocket four are fixedly connected to the sprocket shaft, and sprocket five and sprocket six are coaxially mounted on the two cleaning rollers, respectively, sprocket one and sprocket two are connected by chain one, sprocket three and sprocket five are connected by chain two, and sprocket four and sprocket six are connected by chain three.

[0018] Preferably, the cleaning mechanism further comprises two groups of hollow brackets, the hollow brackets are bolted to the front plate body, an electric hollow rotating shaft is rotatably connected to the hollow brackets, a plurality of groups of spray nozzles are evenly mounted on the electric hollow rotating shaft, a spray medium inlet is provided on the hollow brackets, and an image acquisition device is provided on the top of the hollow brackets;

[0019] A driving belt is rotatably connected to the image acquisition device.

[0020] Preferably, it also includes an electric flap, which is rotatably connected to the lower left corner of the photovoltaic component support. A cleaning roller friction block is provided in the electric flap, and the cleaning roller friction block is used to assist the cleaning roller in self-cleaning.

[0021] Preferably, the control system is used to control the operation of the photovoltaic module cleaning device, and the control system includes:

[0022] Tension sensor 1, the tension sensor 1 is installed on the tight side of the power transmission belt, and is used to detect the tension of the tight side of the power transmission belt;

[0023] Tension sensor 2: The tension sensor 2 is installed on the loose side of the power transmission belt and is used to detect the tension of the loose side of the power transmission belt;

[0024] An inclination sensor is arranged on the cleaning mechanism mounting bracket and is used to detect the inclination of the cleaning mechanism mounting bracket;

[0025] A pressure sensor is arranged on the cleaning roller and is used to detect the squeezing force exerted on the cleaning roller;

[0026] The controller is electrically connected to the tension sensor 1, the tension sensor 2, the tilt sensor and the pressure sensor. The controller controls the photovoltaic module cleaning device based on the tension sensor 1, the tension sensor 2, the tilt sensor and the pressure sensor, including the following steps:

[0027] S1. Calculate the traction force of the power transmission belt at the i-th moment based on the tension sensor 1 and the tension sensor 2:

[0028] F qi =T 1i -T 2i (1);

[0029] Among them, F qi is the traction of the power transmission belt at the i-th moment, T 1i is the detection value of tension sensor 1 at the i-th moment, T 2i is the detection value of the tension sensor 2 at the i-th moment;

[0030] S2: Based on the detection values ​​of the inclination sensor and the pressure sensor in step S1, the preset squeezing force between the cleaning roller and the photovoltaic panel at the i+1th moment and the preset height to which the cleaning roller needs to move at the i+1th moment are calculated:

[0031]

[0032] Among them, F s(i+1) is the preset squeezing force between the cleaning roller and the photovoltaic panel at the i+1th moment, γ i+1 is the degree of cleaning of the photovoltaic panel surface swept by the cleaning roller from the i+1th moment to the i+2th moment, F0 is the reference compensation resistance during the forward movement of the cleaning roller, μ is the surface friction coefficient of the photovoltaic panel, m is the mass of the cleaning roller, g is the gravitational acceleration, b is the angle between the gravity of the cleaning roller and the supporting force it receives, that is, the detection value of the inclination sensor, cosb is the cosine value of b, Δh (i+1) is the preset height that the cleaning roller needs to move to at the i+1th moment, is the actual squeezing force between the cleaning roller and the photovoltaic panel at the i-th moment, that is, the detection value of the pressure sensor at the i-th moment, and δ is the incremental value of the squeezing force exerted on the cleaning roller per unit distance of the cleaning roller's upward and downward movement;

[0033] Based on the calculated Δh (i+1) The height of the cleaning roller is adjusted by the value of Δh. (i+1) If it is a positive number, the bottom of the front plate, the rear plate, the left plate and the right plate will extend, driving the cleaning roller to move downward Δh at the i+1th moment. (i+1) , if Δh (i+1) If it is a negative number, the bottom of the front plate, rear plate, left plate and right plate will shorten and drive the cleaning roller to move upward by Δh at the i+1th moment. (i+1) ;

[0034] S3: After the height of the cleaning roller is adjusted at the i+1th time, it is determined whether the cleaning roller needs to be returned to the bin for self-cleaning:

[0035] If the adjustment is completed, Then the cleaning roller can continue to work;

[0036] Otherwise, the cleaning mechanism mounting bracket driving assembly drives the cleaning roller back to the bin, and the cleaning roller friction block cleans the surface thereof.

[0037] Preferably, the method further includes calculating the degree of cleaning of the photovoltaic panel surface swept by the cleaning roller from the i+1th moment to the i+2th moment. i+1 :

[0038]

[0039] Among them, γ i+1 is the cleaning degree coefficient of the photovoltaic panel surface swept by the cleaning roller from the i+1th moment to the i+2th moment, ε is the photoelectric conversion efficiency of the photovoltaic panel at the standard temperature and current irradiance, S i+1 is the surface area of ​​the photovoltaic panel swept by the cleaning roller from the i+1th moment to the i+2th moment, is the current solar irradiance, σ is the surface transmittance of the photovoltaic panel swept by the cleaning roller from the i+1th moment to the i+2th moment, P0 is the reference power generation power of the photovoltaic panel swept by the cleaning roller from the i+1th moment to the i+2th moment, e is a natural number with a value of 2.71, and τ is the evaluation value of the degree of cleaning of the surface of the photovoltaic panel swept by the cleaning roller from the i+1th moment to the i+2th moment by the image acquisition device.

[0040] A photovoltaic module cleaning method comprises the following steps:

[0041] Step 1: The monitoring system monitors the surface condition of the photovoltaic panel in real time. If the coverage of the photovoltaic panel surface is greater than the preset coverage, or there are birds resting on the photovoltaic panel surface, the control system controls the cleaning mechanism to start working, clean the photovoltaic panel surface, or drive away the birds;

[0042] Step 2: The cleaning mechanism is installed. The driving assembly of the bracket drives the cleaning mechanism to move in the y direction to clean the surface of the photovoltaic panel. After the bracket moves in the reverse direction of the x direction for a preset unit distance, the cleaning mechanism is installed. The driving assembly of the bracket drives the cleaning mechanism to move in the reverse direction of the y direction, and the cycle is repeated until the entire photovoltaic panel is cleaned;

[0043] Step 3: During the operation of the cleaning mechanism, the control system controls and monitors the status of the cleaning roller in real time. When the cleaning roller is in poor condition, the cleaning mechanism installs a bracket driving assembly to drive the cleaning roller back to the warehouse and cleans its surface through the cleaning roller friction block.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention avoids the problems of high manual cleaning cost, low cleaning efficiency and low cleaning safety factor. It also avoids the problems of high cleaning cost, large floor space occupied, easy falling due to insufficient adsorption force or insufficient power and low cleaning efficiency of photovoltaic cleaning robots. It also solves the problem that mechanical vehicles cannot control the cleaning force well and easily damage the surface of photovoltaic panels, thereby reducing the service life of photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0047] Figure 1 Schematic diagram of the cleaning mechanism structure of the present invention Figure 1 ;

[0048] Figure 2 A schematic diagram of the installation of the cleaning mechanism of the present invention;

[0049] Figure 3 This is a schematic diagram of the rectangular support frame structure of the present invention;

[0050] Figure 4 Schematic diagram of the cleaning mechanism structure of the present invention Figure 2 ;

[0051] Figure 5 For the present invention Figure 4 A local enlarged view of point A;

[0052] Figure 6 It is a force diagram of the cleaning mechanism of the present invention.

[0053] In the figure: 1. traversing bracket; 100. photovoltaic module bracket; 1000. x-lateral support rod; 1001. y-longitudinal support rod; 101. rectangular bracket frame; 102. x-axis shifting motor; 1020. side active roller; 1021. bevel gear one; 1022. mounting cylinder; 1023. driven shaft; 1024. bevel gear two; 1025. fixed rack one; 1026. surface active roller; 1027. fixed rack two; 1028. mounting frame; 1029. surface driven roller; 103. side driven roller; 1030. fixed rack three; 1031. fixed rack four; 104. photovoltaic panel; 2. cleaning mechanism mounting bracket; 200. cleaning mechanism mounting bracket driving assembly; 2000. pulley connecting plate; 200 1. Electric pulley 1; 2002. Electric pulley 2; 2003. Power transmission belt; 2004. L-shaped connector; 201. Front plate; 202. Rear plate; 203. Left plate; 204. Right plate; 205. Y-direction roller; 3. Cleaning mechanism; 300. Cleaning roller; 3000. Hollow bracket; 3001. Electric hollow shaft; 3002. Image acquisition device; 3003. Spray medium inlet; 301. Cleaning drive motor; 302. Sprocket 1; 303. Sprocket shaft; 304. Sprocket 2; 305. Sprocket 3; 306. Sprocket 4; 307. Sprocket 5; 308. Sprocket 6; 309. Chain 1; 3090. Chain 2; 3091. Chain 3; 4. Electric flip cover; 400. Cleaning roller friction block. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0055] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0056] The present invention provides the following embodiments

[0057] Example 1

[0058] The present invention provides a photovoltaic module cleaning device and method. Figure 1-6 As shown, it includes a traversing bracket 1, which is rollingly connected to a photovoltaic module bracket 100 along the x direction, and a cleaning mechanism mounting bracket 2 is rollingly connected to the traversing bracket 1, and a cleaning mechanism 3 is mounted on the cleaning mechanism mounting bracket 2. The cleaning mechanism 3 includes a cleaning roller 300, and a cleaning mechanism mounting bracket driving component 200 is provided on the traversing bracket 1. The cleaning mechanism mounting bracket driving component 200 is used to drive the cleaning mechanism mounting bracket 2 to move along the traversing bracket 1;

[0059] It also includes a control system and a monitoring system. The control system is electrically connected to the monitoring system, the traversal bracket 1, the cleaning mechanism installation bracket drive component 200 and the cleaning mechanism 3. The monitoring system is used to monitor the surface condition of the photovoltaic panel 104, and the control system is used to control the operation of the cleaning mechanism 3 based on the monitoring results of the monitoring system.

[0060] A photovoltaic module cleaning method comprises the following steps:

[0061] Step 1: The monitoring system monitors the surface condition of the photovoltaic panel 104 in real time. If the coverage degree of the photovoltaic panel 104 surface is greater than the preset coverage degree, or there are birds resting on the surface of the photovoltaic panel 104, the control system controls the cleaning mechanism 3 to start working, cleans the surface of the photovoltaic panel 104, or drives away the birds;

[0062] Step 2: The cleaning mechanism mounting bracket driving component 200 drives the cleaning mechanism 3 to move in the y direction to clean the surface of the photovoltaic panel 104. After the bracket 1 moves in the reverse direction of the x direction for a preset unit distance, the cleaning mechanism mounting bracket driving component 200 drives the cleaning mechanism 3 to move in the reverse direction of the y direction, and the cycle is repeated until the entire photovoltaic panel 104 is cleaned;

[0063] Step three: During the operation of the cleaning mechanism 3, the control system controls and monitors the state of the cleaning roller 300 in real time. When the cleaning roller 300 is in a bad state, the cleaning mechanism mounting bracket driving assembly 200 drives the cleaning roller 300 back to the warehouse and cleans its surface through the cleaning roller friction block 400.

[0064] The working principle and beneficial effects of the above technical solution are as follows: when working, the monitoring system monitors the surface condition of the photovoltaic panel 104 in real time. If the coverage degree of the surface of the photovoltaic panel 104 is greater than the preset coverage degree, or when birds are resting on the surface of the photovoltaic panel 104, the control system controls the cleaning mechanism 3 to start working, cleans the surface of the photovoltaic panel 104, or drives away the birds. The cleaning and driving methods are both achieved by changing the spatial position of the cleaning mechanism mounting bracket 2.

[0065] Specifically, during cleaning, the cleaning mechanism mounting bracket driving assembly 200 drives the cleaning mechanism 3 to move in the y direction to clean the surface of the photovoltaic panel 104, and then after traversing the bracket 1 to move in the x reverse direction for a preset unit distance, the cleaning mechanism mounting bracket driving assembly 200 drives the cleaning mechanism 3 to move in the y reverse direction, and the cycle is repeated until the entire photovoltaic panel 104 is cleaned;

[0066] Specifically, when driving away birds, the cleaning mechanism 3 is driven to move toward the coordinates where the birds are resting by the traversal bracket 1 and the cleaning mechanism mounting bracket driving assembly 200, thereby driving away the birds;

[0067] During the working process of the cleaning mechanism 3, the control system controls and monitors the state of the cleaning roller 300 in real time. When the cleaning roller 300 is in a bad state, the cleaning mechanism mounting bracket driving assembly 200 drives the cleaning roller 300 back to the warehouse, and cleans its surface through the cleaning roller friction block 400. The design of the traversal bracket 1 and the cleaning mechanism mounting bracket driving assembly 200 ensures that the cleaning mechanism 3 will not fall and ensures the stability of the movement of the cleaning mechanism 3.

[0068] The present invention avoids the problems of high manual cleaning cost, low cleaning efficiency and low cleaning safety factor. It also avoids the problems of high cleaning cost, large floor space occupied, easy falling due to insufficient adsorption force or insufficient power and low cleaning efficiency of photovoltaic cleaning robots. It also solves the problem that mechanical vehicles cannot control the cleaning force well and easily damage the surface of photovoltaic panels, thereby reducing the service life of photovoltaic panels.

[0069] Example 2

[0070] On the basis of Example 1, the traversing bracket 1 includes a rectangular bracket frame 101, a driving roller group is installed at one end of the rectangular bracket frame 101, and a driven roller group is installed at the other end;

[0071] The driving roller group includes two symmetrically arranged x-direction shift motors 102, the output end of the x-direction shift motor 102 is fixedly connected to a side driving roller 1020 and a bevel gear 1 1021, one end of the rectangular bracket frame 101 is fixedly connected to two symmetrically arranged mounting cylinders 1022, the bevel gear 1 1021 is located in the mounting cylinder 1022, a driven shaft 1023 is rotatably connected in the mounting cylinder 1022, and a bevel gear 2 1024 and a surface driving roller 102 are fixedly connected to the driven shaft 1023 6. Bevel gear 1 1021 and bevel gear 2 1024 mesh with each other. The top of the photovoltaic module support 100 is composed of two symmetrically arranged x-transverse support rods 1000 and two symmetrically arranged y-longitudinal support rods 1001. A fixed rack 1 1025 is provided on the upper surface of one of the x-transverse support rods 1000 and a fixed rack 2 1027 is provided on the side. The surface active roller 1026 meshes with the fixed rack 1 1025, and the side active roller 1020 meshes with the fixed rack 2 1027.

[0072] The driven roller group includes a mounting frame 1028, which is fixedly connected to the other end of the rectangular bracket frame 101. Two symmetrically arranged surface driven rollers 1029 and side driven rollers 103 are rotatably connected to the mounting frame 1028. The surface driven rollers 1029 and the side driven rollers 103 are respectively meshed with a fixed rack three 1030 and a fixed rack four 1031 on another x-lateral support rod 1000.

[0073] The working principle and beneficial effects of the above technical solution are as follows: when working, the x-axis shift motor 102 is started to drive the bevel gear 1 1021 and the side active roller 1020 to rotate, the bevel gear 1 1021 drives the bevel gear 2 1024 to rotate, the rotation of the bevel gear 2 1024 drives the surface active roller 1026 to rotate, the surface active roller 1026 and the side active roller 1020 are respectively meshed with the fixed rack 1 1025 and the fixed rack 2 1027, thereby driving the rectangular bracket frame 101 to move in the x direction, and during the movement of the rectangular bracket frame 101, the surface driven roller 1029 and the side driven roller 103 respectively cooperate with the fixed rack 3 1030 and the fixed rack 4 1031 to achieve stable movement of the rectangular bracket frame 101.

[0074] Example 3

[0075] On the basis of Example 2, the cleaning mechanism mounting bracket 2 includes a front plate 201, a rear plate 202, a left plate 203 and a right plate 204, and the front plate 201 and the rear plate 202 are respectively rotatably connected with two groups of symmetrically arranged y-direction rollers 205, and the y-direction rollers 205 are rollingly connected to the traversing bracket 1, and the front plate 201 and the rear plate 202 are connected to the cleaning mechanism mounting bracket driving assembly 200;

[0076] The front plate 201, the rear plate 202, the left plate 203 and the right plate 204 are all liftable plates;

[0077] The cleaning mechanism mounting bracket driving assembly 200 includes two pulley connecting plates 2000, and the two pulley connecting plates 2000 are respectively bolted to the two ends of the traversal bracket 1, and the two pulley connecting plates 2000 are respectively rotatably connected with an electric pulley 1 2001 and an electric pulley 2 2002, and the electric pulley 1 2001 and the electric pulley 2 2002 are connected by a power transmission belt 2003, and the power transmission belt 2003 is provided with two L-shaped connecting members 2004, one end of the L-shaped connecting member 2004 is connected to the power transmission belt 2003, and the other end of the L-shaped connecting member 2004 is respectively bolted to the front plate body 201 and the rear plate body 202.

[0078] The working principle and beneficial effects of the above technical solution are as follows: when the cleaning mechanism mounting bracket 2 moves along the y direction, the electric pulley 1 2001 and the electric pulley 2 2002 rotate to drive the power transmission belt 2003, and the power transmission belt 2003 drives the cleaning mechanism mounting bracket 2 to move along the y direction, thereby realizing the movement of the cleaning mechanism mounting bracket 2.

[0079] Example 4

[0080] On the basis of Example 3, the cleaning roller 300 is rotatably connected between the left plate body 203 and the right plate body 204, and the cleaning mechanism 3 also includes a cleaning drive motor 301, which is installed on the left plate body 203. A sprocket 1 302 is provided at the output end of the cleaning drive motor 301. A sprocket shaft 303 is rotatably connected to the left plate body 203, and a sprocket 2 304, a sprocket 3 305 and a sprocket 4 306 are fixedly connected to the sprocket shaft 303. Sprocket 5 307 and sprocket 6 308 are coaxially installed on the two cleaning rollers 300 respectively. Sprocket 1 302 and sprocket 2 304 are connected by chain 1 309, sprocket 305 and sprocket 5 307 are connected by chain 2 3090, and sprocket 4 306 and sprocket 6 308 are connected by chain 3 3091.

[0081] The working principle and beneficial effects of the above technical solution are as follows: during operation, the cleaning drive motor 301 drives the sprocket 1 302 to rotate, the sprocket 1 302 drives the chain 1 309 to transmit, the chain 1 309 drives the sprocket 2 304 to rotate, the sprocket 2 304 drives the sprocket shaft 303 to rotate, the sprocket shaft 303 drives the sprocket 3 305 and the sprocket 4 306 to rotate, the sprocket 3 305 and the sprocket 4 306 respectively drive the chain 2 3090 and the chain 3 3091 to transmit, the chain 2 3090 and the chain 3 3091 respectively drive the sprocket 5 307 and the sprocket 6 308 to rotate, the sprocket 5 307 and the sprocket 6 308 respectively drive the two cleaning rollers 300 to rotate, the rotation of the cleaning roller 300 cooperates with the movement of the cleaning mechanism mounting bracket 2 and the traversing bracket 1 to bring the cleaning roller 300 to any position of the photovoltaic panel 104 to clean the photovoltaic panel 104.

[0082] Example 5

[0083] On the basis of Example 4, the cleaning mechanism 3 further includes two groups of hollow brackets 3000, the hollow brackets 3000 are bolted to the front plate 201, the hollow brackets 3000 are rotatably connected to an electric hollow shaft 3001, a plurality of groups of spray nozzles are evenly mounted on the electric hollow shaft 3001, a spray medium inlet 3003 is provided on the hollow brackets 3000, and an image acquisition device 3002 is provided on the top of the hollow brackets 3000;

[0084] A driving belt is rotatably connected to the image acquisition device 3002;

[0085] It also includes an electric flip cover 4, which is rotatably connected to the lower left corner of the photovoltaic component support 100. A cleaning roller friction block 400 is arranged inside the electric flip cover 4, and the cleaning roller friction block 400 is used to assist the cleaning roller 300 in self-cleaning.

[0086] The working principle and beneficial effects of the above technical solution are as follows: during the cleaning process, the image acquisition device 3002 evaluates the degree of cleaning of the surface of the photovoltaic panel 104 in real time, and the control system controls whether to turn on the spray nozzle based on the evaluation value of the degree of cleaning of the surface of the photovoltaic panel 104. The spray medium inlet 3003 is used to connect with the spray medium feed end. The spray medium is a cleaning liquid when cleaning, a fire fighting medium when fire fighting, and cooling water when cooling the surface of the photovoltaic panel. During use, the electric hollow shaft 3001 can be rotated based on actual use needs, and the driving belt can rotate around the image acquisition device 3002 when driving away birds.

[0087] When the cleaning roller 300 needs to be self-cleaned, the cleaning roller 300 is reset, and then the electric flip cover 4 rotates to above the cleaning roller 300. At this time, the upper surface of the cleaning roller 300 is in contact with the cleaning roller friction block 400. Then the cleaning roller 300 rotates, and at the same time the spray nozzle sprays cleaning liquid to the cleaning roller 300, thereby achieving self-cleaning of the cleaning roller 300.

[0088] Example 6

[0089] Based on Example 5, the control system is used to control the operation of the photovoltaic module cleaning device, and the control system includes:

[0090] Tension sensor 1, the tension sensor 1 is installed on the tight side of the power transmission belt 2003, and is used to detect the tension of the tight side of the power transmission belt 2003;

[0091] Tension sensor 2, the tension sensor 2 is installed on the loose side of the power transmission belt 2003, and is used to detect the tension of the loose side of the power transmission belt 2003;

[0092] An inclination sensor is provided on the cleaning mechanism mounting bracket 2 and is used to detect the inclination of the cleaning mechanism mounting bracket 2;

[0093] A pressure sensor, the pressure sensor is arranged on the cleaning roller 300, and is used to detect the squeezing force exerted on the cleaning roller 300;

[0094] The controller is electrically connected to the tension sensor 1, the tension sensor 2, the tilt sensor and the pressure sensor. The controller controls the photovoltaic module cleaning device based on the tension sensor 1, the tension sensor 2, the tilt sensor and the pressure sensor, including the following steps:

[0095] S1. Calculate the traction force of the power transmission belt 2003 at the i-th moment based on the tension sensor 1 and the tension sensor 2:

[0096] F qi =T 1i -T 2i (1);

[0097] Among them, F qi is the traction force of the power transmission belt at the i-th moment in 2003, T 1i is the detection value of tension sensor 1 at the i-th moment, T 2i is the detection value of the tension sensor 2 at the i-th moment;

[0098] S2: Based on the detection values ​​of the inclination sensor and the pressure sensor in step S1, the preset squeezing force between the cleaning roller 300 and the photovoltaic panel 104 at the i+1th moment and the preset height to which the cleaning roller 300 needs to move at the i+1th moment are calculated:

[0099]

[0100] Among them, F s(i+1) is the preset squeezing force between the cleaning roller 300 and the photovoltaic panel 104 at the i+1th moment, γ i+1is the coefficient of the degree of cleaning of the surface of the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment, F0 is the reference compensation resistance during the forward movement of the cleaning roller 300, μ is the surface friction coefficient of the photovoltaic panel 104, m is the mass of the cleaning roller 300, g is the gravitational acceleration, b is the angle between the gravity of the cleaning roller 300 and the supporting force it receives, that is, the detection value of the inclination sensor, cosb is the cosine value of b, Δh (i+1) is the preset height that the cleaning roller 300 needs to move to at the i+1th moment, is the actual squeezing force between the cleaning roller 300 and the photovoltaic panel 104 at the i-th moment, that is, the detection value of the pressure sensor at the i-th moment, and δ is the incremental value of the squeezing force exerted on the cleaning roller 300 per unit distance of the cleaning roller 300 moving up and down;

[0101] Based on the calculated Δh (i+1) The height of the cleaning roller 300 is adjusted by the value of Δh. (i+1) If it is a positive number, the bottoms of the front plate 201, the rear plate 202, the left plate 203 and the right plate 204 extend and drive the cleaning roller 300 to move downward Δh at the i+1th time. (i+1) , if Δh (i+1) If it is a negative number, the bottoms of the front plate 201, the rear plate 202, the left plate 203 and the right plate 204 will be shortened, driving the cleaning roller 300 to move upward Δh at the i+1th moment. (i+1) ;

[0102] S3: After the height adjustment of the cleaning roller 300 is completed at the i+1th time, it is determined whether the cleaning roller 300 needs to be returned to the warehouse for self-cleaning:

[0103] If the adjustment is completed, Then the cleaning roller 300 can continue to work;

[0104] Otherwise, the cleaning mechanism mounting bracket driving assembly 200 drives the cleaning roller 300 back to the warehouse, and cleans the surface of the cleaning roller through the cleaning roller friction block 400.

[0105] The working principle and beneficial effects of the above technical solution are as follows: when working, the control system calculates the traction force of the power transmission belt 2003 at the i-th moment based on the tension sensor 1 and the tension sensor 2, and then calculates the preset squeezing force between the cleaning roller 300 and the photovoltaic panel 104 at the i+1-th moment based on the detection values ​​of step S1, the inclination sensor and the pressure sensor, and then calculates the preset height that the cleaning roller 300 needs to move at the i+1-th moment based on the preset squeezing force between the cleaning roller 300 and the photovoltaic panel 104 at the i+1-th moment, thereby realizing flexible adjustment of the cleaning force on the surface of the photovoltaic panels with different degrees of cleaning, extending the service life of the photovoltaic panel 104, and at the same time, after the control system issues a control command and the cleaning roller 300 executes it, it is determined by whether μ is satisfied. To determine whether the cleaning roller 300 is in a slipping state during the cleaning process after the instruction is executed, when the condition is not satisfied This proves that the cleaning roller 300 is in a slipping state at this time. At this time, there are many impurities attached to the cleaning roller 300 due to the long cleaning time. In order to ensure the cleaning quality and avoid damaging the surface of the photovoltaic panel 104, it is necessary to return it to the warehouse in time for self-cleaning before putting it into the cleaning of the photovoltaic panel.

[0106] Example 7

[0107] Based on the fifth embodiment, the method further includes calculating the cleaning degree coefficient γ of the surface of the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment. i+1 :

[0108]

[0109] Among them, γ i+1 is the cleaning degree coefficient of the surface of the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment, ε is the photoelectric conversion efficiency of the photovoltaic panel 104 at the standard temperature and the current irradiance, S i+1 is the surface area of ​​the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment, is the current solar irradiance, σ is the surface transmittance of the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment, P0 is the reference power generation power of the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment, e is a natural number, and the value is 2.71, τ is the evaluation value of the surface cleaning degree of the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment by the image acquisition device 3002.

[0110] The working principle and beneficial effect of the above technical solution are as follows: by calculating the cleaning degree coefficient γ of the surface of the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment i+1 , the area to be cleaned next is evaluated in real time, and the power generation power of the photovoltaic panel 104 area swept by the cleaning roller 300 from the i+1th moment to the i+2th moment and the evaluation value of the surface degree of cleaning of the photovoltaic panel 104 swept by the cleaning roller 300 from the i+1th moment to the i+2th moment by the image acquisition device 3002 are comprehensively considered during the calculation process, thereby calibrating the surface degree of cleaning of the area and improving the reliability of the calculation results.

[0111] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A photovoltaic module cleaning device, characterized in that: The invention comprises a traversing bracket (1), the traversing bracket (1) is rollingly connected to a photovoltaic module bracket (100) along the x-direction, a cleaning mechanism mounting bracket (2) is rollingly connected to the traversing bracket (1), a cleaning mechanism (3) is mounted on the cleaning mechanism mounting bracket (2), the cleaning mechanism (3) comprises a cleaning roller (300), and a cleaning mechanism mounting bracket driving component (200) is provided on the traversing bracket (1), the cleaning mechanism mounting bracket driving component (200) is used to drive the cleaning mechanism mounting bracket (2) to move along the traversing bracket (1); It also includes a control system and a monitoring system, wherein the control system is electrically connected to the monitoring system, the traversing bracket (1), the cleaning mechanism mounting bracket drive assembly (200) and the cleaning mechanism (3), the monitoring system is used to monitor the surface condition of the photovoltaic panel (104), and the control system is used to control the operation of the cleaning mechanism (3) based on the monitoring results of the monitoring system.

2. A photovoltaic module cleaning device according to claim 1, characterized in that: The traversing support (1) comprises a rectangular support frame (101), a driving roller group is installed at one end of the rectangular support frame (101), and a driven roller group is installed at the other end; The active roller group comprises two symmetrically arranged x-direction shifting motors (102), the output end of the x-direction shifting motor (102) is fixedly connected to a side active roller (1020) and a bevel gear 1 (1021), one end of the rectangular support frame (101) is fixedly connected to two symmetrically arranged mounting cylinders (1022), the bevel gear 1 (1021) is located in the mounting cylinder (1022), a driven shaft (1023) is rotatably connected in the mounting cylinder (1022), and a bevel gear 2 (1024) and a surface active roller (1021) are fixedly connected to the driven shaft (1023). 26), the bevel gear 1 (1021) and the bevel gear 2 (1024) are meshed with each other, the top of the photovoltaic module support (100) is composed of two symmetrically arranged x-transverse support rods (1000) and two symmetrically arranged y-longitudinal support rods (1001), one of the x-transverse support rods (1000) is provided with a fixed rack 1 (1025) on the upper surface and a fixed rack 2 (1027) on the side, the surface active roller (1026) is meshed with the fixed rack 1 (1025), and the side active roller (1020) is meshed with the fixed rack 2 (1027); The driven roller group comprises a mounting frame (1028), wherein the mounting frame (1028) is fixedly connected to the other end of the rectangular support frame (101), and two symmetrically arranged surface driven rollers (1029) and side driven rollers (103) are rotatably connected to the mounting frame (1028), and the surface driven rollers (1029) and the side driven rollers (103) are respectively meshed with a fixed rack three (1030) and a fixed rack four (1031) on another x-transverse support rod (1000).

3. A photovoltaic module cleaning device according to claim 1, characterized in that: The cleaning mechanism mounting bracket (2) comprises a front plate (201), a rear plate (202), a left plate (203) and a right plate (204); the front plate (201) and the rear plate (202) are respectively rotatably connected with two groups of symmetrically arranged y-direction rollers (205); the y-direction rollers (205) are rollingly connected to the traversal bracket (1); the front plate (201) and the rear plate (202) are connected to the cleaning mechanism mounting bracket driving assembly (200); The front plate body (201), the rear plate body (202), the left plate body (203) and the right plate body (204) are all liftable plate bodies.

4. A photovoltaic module cleaning device according to claim 3, characterized in that: The cleaning mechanism mounting bracket driving assembly (200) comprises two pulley connecting plates (2000), the two pulley connecting plates (2000) are respectively bolted to the two ends of the traversing bracket (1), the two pulley connecting plates (2000) are respectively rotatably connected with an electric pulley 1 (2001) and an electric pulley 2 (2002), the electric pulley 1 (2001) and the electric pulley 2 (2002) are connected via a power transmission belt (2003), the power transmission belt (2003) is provided with two L-shaped connecting members (2004), one end of the L-shaped connecting member (2004) is connected to the power transmission belt (2003), and the other end of the L-shaped connecting member (2004) is respectively bolted to the front plate body (201) and the rear plate body (202).

5. A photovoltaic module cleaning device according to claim 3, characterized in that: The cleaning roller (300) rotates between the left plate (203) and the right plate (204), and the cleaning mechanism (3) further comprises a cleaning drive motor (301), the cleaning drive motor (301) being mounted on the left plate (203), a sprocket wheel (302) being provided at the output end of the cleaning drive motor (301), a sprocket wheel shaft (303) being rotatably connected to the left plate (203), and a sprocket wheel shaft (303) being fixedly connected to a sprocket wheel shaft (303). 04), sprocket three (305) and sprocket four (306), sprocket five (307) and sprocket six (308) are coaxially installed on the two cleaning rollers (300), the sprocket one (302) and sprocket two (304) are connected by chain one (309), the sprocket three (305) and sprocket five (307) are connected by chain two (3090), and the sprocket four (306) and sprocket six (308) are connected by chain three (3091).

6. A photovoltaic module cleaning device according to claim 5, characterized in that: The cleaning mechanism (3) further comprises two groups of hollow brackets (3000), the hollow brackets (3000) being bolted to the front plate (201), the hollow brackets (3000) being rotatably connected to an electric hollow rotating shaft (3001), a plurality of groups of spray nozzles being evenly mounted on the electric hollow rotating shaft (3001), the hollow brackets (3000) being provided with a spray medium inlet (3003), and an image acquisition device (3002) being provided on the top of the hollow brackets (3000); The image acquisition device (3002) is rotatably connected to a driving belt.

7. A photovoltaic module cleaning device according to claim 6, characterized in that: It also comprises an electric flip cover (4), wherein the electric flip cover (4) is rotatably connected to the lower left corner of the photovoltaic module support (100), and a cleaning roller friction block (400) is arranged inside the electric flip cover (4), and the cleaning roller friction block (400) is used to assist the cleaning roller (300) in self-cleaning.

8. A photovoltaic module cleaning device according to claim 7, characterized in that: The control system is used to control the operation of the photovoltaic module cleaning device, and the control system includes: A tension sensor 1, the tension sensor 1 being installed on the tight side of the power transmission belt (2003) and used for detecting the tension of the tight side of the power transmission belt (2003); A second tension sensor, the second tension sensor being installed on the loose side of the power transmission belt (2003) and used for detecting the tension of the loose side of the power transmission belt (2003); An inclination sensor, the inclination sensor being arranged on the cleaning mechanism mounting bracket (2) and being used for detecting the inclination of the cleaning mechanism mounting bracket (2); a pressure sensor, the pressure sensor being arranged on the cleaning roller (300) and being used to detect the squeezing force exerted on the cleaning roller (300); A controller is provided, wherein the controller is electrically connected to the tension sensor 1, the tension sensor 2, the tilt sensor and the pressure sensor, and the controller controls the photovoltaic assembly cleaning device based on the tension sensor 1, the tension sensor 2, the tilt sensor and the pressure sensor, and comprises the following steps: S1. Calculate the traction force of the power transmission belt (2003) at the i-th moment based on the tension sensor 1 and the tension sensor 2: F qi =T 1i -T 2i (1); Among them, F qi is the traction force of the power transmission belt (2003) at the i-th moment, T 1i is the detection value of tension sensor 1 at the i-th moment, T 2i is the detection value of the tension sensor 2 at the i-th moment; S2: Based on the detection values ​​of step S1, the tilt sensor and the pressure sensor, the preset squeezing force between the cleaning roller (300) and the photovoltaic panel (104) at the i+1th moment and the preset height to which the cleaning roller (300) needs to move at the i+1th moment are calculated: Among them, F s(i+1) is the preset squeezing force between the cleaning roller (300) and the photovoltaic panel (104) at the i+1th moment, γ i+1 is the coefficient of the degree of cleaning of the surface of the photovoltaic panel (104) swept by the cleaning roller (300) from the i+1th moment to the i+2th moment, F0 is the reference compensation resistance during the forward movement of the cleaning roller (300), μ is the surface friction coefficient of the photovoltaic panel (104), m is the mass of the cleaning roller (300), g is the gravitational acceleration, b is the angle between the gravity of the cleaning roller (300) and the supporting force it receives, that is, the detection value of the inclination sensor, cosb is the cosine value of b, Δh (i+1) is the preset height to which the cleaning roller (300) needs to move at the i+1th moment, is the actual squeezing force between the cleaning roller (300) and the photovoltaic panel (104) at the i-th moment, that is, the detection value of the pressure sensor at the i-th moment, and δ is the incremental value of the squeezing force exerted on the cleaning roller (300) per unit distance of the up and down movement of the cleaning roller (300); Based on the calculated Δh (i+1) The height of the cleaning roller (300) is adjusted by the value of Δh. (i+1) If it is a positive number, the bottoms of the front plate (201), the rear plate (202), the left plate (203) and the right plate (204) extend, driving the cleaning roller (300) to move downward by Δh at the i+1th moment. (i+1) , if Δh (i+1) If it is a negative number, the bottoms of the front plate (201), the rear plate (202), the left plate (203) and the right plate (204) are shortened, driving the cleaning roller (300) to move upward by Δh at the i+1th moment. (i+1) ; S3: After the height adjustment of the cleaning roller (300) is completed at the i+1th moment, it is determined whether the cleaning roller (300) needs to be returned to the warehouse for self-cleaning: If the adjustment is completed, Then the cleaning roller (300) can continue to work; Otherwise, the cleaning mechanism mounting bracket driving assembly (200) drives the cleaning roller (300) back to the warehouse, and cleans the surface of the cleaning roller through the cleaning roller friction block (400).

9. A photovoltaic module cleaning device according to claim 8, characterized in that: The method also includes calculating a coefficient γ of the degree of cleaning of the surface of the photovoltaic panel (104) swept by the cleaning roller (300) from the i+1th moment to the i+2th moment. i+1 : Among them, γ i+1 is the degree of cleaning of the surface of the photovoltaic panel (104) swept by the cleaning roller (300) from the i+1th moment to the i+2th moment, ε is the photoelectric conversion efficiency of the photovoltaic panel (104) at the standard temperature and the current irradiance, S i+1 is the surface area of ​​the photovoltaic panel (104) swept by the cleaning roller (300) from the i+1th moment to the i+2th moment, is the current solar irradiance, σ is the surface transmittance of the photovoltaic panel (104) swept by the cleaning roller (300) from the i+1th moment to the i+2th moment, P0 is the reference power generation power of the photovoltaic panel (104) swept by the cleaning roller (300) from the i+1th moment to the i+2th moment, e is a natural number, the value is 2.71, τ is the evaluation value of the degree of cleaning of the surface of the photovoltaic panel (104) swept by the cleaning roller (300) from the i+1th moment to the i+2th moment by the image acquisition device (3002).

10. A photovoltaic module cleaning method, for cleaning a photovoltaic panel using a photovoltaic module cleaning device as claimed in any one of claims 1 to 9, characterized in that: The steps include: Step 1: The monitoring system monitors the surface condition of the photovoltaic panel (104) in real time. If the coverage degree of the photovoltaic panel (104) surface is greater than a preset coverage degree, or there are birds resting on the surface of the photovoltaic panel (104), the control system controls the cleaning mechanism (3) to start working, cleans the surface of the photovoltaic panel (104), or drives away the birds; Step 2: The cleaning mechanism mounting bracket driving component (200) drives the cleaning mechanism (3) to move in the y direction to clean the surface of the photovoltaic panel (104), and then after the bracket (1) moves in the reverse x direction for a preset unit distance, the cleaning mechanism mounting bracket driving component (200) drives the cleaning mechanism (3) to move in the reverse y direction, and the cycle is repeated until the entire photovoltaic panel (104) is cleaned; Step three: During the operation of the cleaning mechanism (3), the control system controls and monitors the state of the cleaning roller (300) in real time. When the cleaning roller (300) is in a poor state, the cleaning mechanism mounting bracket driving assembly (200) drives the cleaning roller (300) back to the warehouse, and cleans its surface through the cleaning roller friction block (400).

Images