Photovoltaic cleaning equipment, photovoltaic cleaning system and photovoltaic cleaning method

Abstract

The invention discloses photovoltaic cleaning equipment, a photovoltaic cleaning system and a photovoltaic cleaning method, and the photovoltaic cleaning equipment comprises a cleaning device which comprises a passive walking device and a cleaning part, when the cleaning device is subjected to traction force, the passive walking device walks on a photovoltaic module, and the cleaning part cleans the photovoltaic module; the traction device comprises a traction vehicle and a mounting part arranged on the traction vehicle, the traction vehicle is used for walking on the ground, and the mounting part is used for being connected with the sweeping device so as to pull the sweeping device to walk on the photovoltaic module. According to the invention, the sweeping device located on the photovoltaic module only retains passive walking and sweeping functions, and a driving function and an energy storage function are placed on the traction device walking on the ground, so that the weight of the sweeping device is reduced, the lightweight design is achieved, the use of engineering materials of connecting blocks between photovoltaic panels is reduced or even cancelled, and the cost is reduced. And the project operation cost is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic technology, and more specifically, to a photovoltaic cleaning device, a photovoltaic cleaning system and a photovoltaic cleaning method. Background Art

[0002] As a representative of renewable energy, photovoltaic power stations have become an important part of the modern energy structure with their clean, environmentally friendly and renewable advantages. Photovoltaic panels are exposed to the outside for a long time, which easily accumulates dust and dirt, affecting the power generation efficiency. To solve this problem, photovoltaic cleaning equipment came into being. The working principle of photovoltaic cleaning equipment is simple and efficient, and it can independently plan the cleaning path. They use specific brushes and other cleaning devices to easily remove dirt on the surface of photovoltaic panels, ensuring efficient power generation of photovoltaic panels.

[0003] In the prior art, a photovoltaic cleaning device is installed on each row of photovoltaic modules to clean the photovoltaic modules in this row. In order to enable the photovoltaic cleaning device to fully cover all areas of the photovoltaic modules in this row, it is necessary to ensure that the photovoltaic cleaning device can automatically move on the photovoltaic modules. Based on this, the photovoltaic cleaning device in the prior art needs to be equipped with a driving device, a walking device, a control device, an energy storage device, a cleaning device, and a communication device.

[0004] Due to the heavy weight of the drive device and the energy storage device, the photovoltaic cleaning equipment has a large weight, which may cause the risk of bending the photovoltaic modules. In order to improve the supporting strength of the photovoltaic modules, it is usually necessary to connect each photovoltaic module through a connection block, and connect the photovoltaic modules in a row in series to improve the load-bearing capacity of the photovoltaic modules. In actual practice, the connection block is used in large quantities, resulting in a high construction cost for the photovoltaic power station.

[0005] Therefore, how to reduce the pressure on the photovoltaic modules and then reduce the load-bearing capacity requirements of the photovoltaic modules is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0006] In view of this, the object of the present invention is to provide a photovoltaic cleaning device to reduce the pressure on the photovoltaic module, thereby reducing the load-bearing capacity requirements of the photovoltaic module;

[0007] Another object of the present invention is to provide a photovoltaic cleaning system and a photovoltaic cleaning method having the above-mentioned photovoltaic cleaning equipment.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A photovoltaic cleaning device, comprising:

[0010] A cleaning device, comprising a passive walking device and a cleaning member, wherein when the cleaning device is subjected to traction, the passive walking device walks on the photovoltaic assembly, and the cleaning member cleans the photovoltaic assembly;

[0011] The traction device comprises a traction vehicle and a mounting part arranged on the traction vehicle, wherein the traction vehicle is used for walking on the ground, and the mounting part is used for connecting with the cleaning device to pull the cleaning device to walk on the photovoltaic assembly.

[0012] Optionally, in the above-mentioned photovoltaic cleaning device, the mounting component includes a lifting device and a connecting component arranged at a lifting end of the lifting device, and the connecting component is used to be connected to the cleaning device.

[0013] Optionally, in the above-mentioned photovoltaic cleaning equipment, the cleaning devices on the two adjacent rows of photovoltaic modules are connected by a mounting rope, and the mounting member is connected to the cleaning device connected to the mounting rope by mounting the mounting rope, so as to pull the cleaning device to move along the photovoltaic module.

[0014] Optionally, in the above-mentioned photovoltaic cleaning equipment, the cleaning member and the passive walking device are both arranged on a cleaning bracket, and a connecting ring is provided on the cleaning bracket, and the mounting rope is connected to the connecting ring.

[0015] Optionally, in the above-mentioned photovoltaic cleaning equipment, the passive walking device includes walking wheels and limiting wheels, the walking wheels are used to be arranged on the upper surface of the photovoltaic component, and the limiting wheels are used to be arranged on the side of the photovoltaic component.

[0016] Optionally, in the above photovoltaic cleaning equipment, the passive walking device includes at least one set of walking limit assemblies, and each set of the walking limit assemblies includes two walking wheels and two limit wheels;

[0017] The two running wheels are connected via a transmission shaft, and the two limiting wheels are respectively arranged on both sides of the photovoltaic assembly.

[0018] The photovoltaic cleaning device provided by the present invention divides the traditional cleaning robot into two parts, wherein the cleaning device is used to walk on the photovoltaic module and clean the photovoltaic module during the walking process. However, the cleaning device is no longer equipped with a heavy driving device and an energy storage device, and the cleaning device walks on the photovoltaic module in a passive walking manner. The traction device is used to provide traction for the walking of the cleaning device, and the traction device can walk on the ground. Therefore, even if the traction device is equipped with a driving device and an energy storage device, since it does not need to be set on the photovoltaic module, even if it has a certain weight, it will not produce pressure on the photovoltaic module. The present invention reduces the weight of the cleaning device by retaining only the passive walking and cleaning functions of the cleaning device located on the photovoltaic module, while the driving function and the energy storage function are placed on the traction device walking on the ground, thereby achieving a lightweight design, reducing or even eliminating the use of engineering materials for the connecting blocks between the photovoltaic panels, and greatly reducing the cost of project operation.

[0019] A photovoltaic cleaning system, comprising the photovoltaic cleaning device as described in any one of the above items;

[0020] Each of the traction devices corresponds to one of the cleaning devices, or each of the traction devices corresponds to at least one group of cleaning devices, each group of the cleaning devices includes two of the cleaning devices, and the two cleaning devices are respectively arranged on two rows of the photovoltaic components.

[0021] Optionally, in the above photovoltaic cleaning system, it also includes a traction walking sensing component, a walking sensing switch and a control device;

[0022] The traction walking sensing component includes a walking guiding sensing member, and the walking guiding sensing member is arranged between the photovoltaic component rows formed by the photovoltaic component arrangement, and the walking guiding sensing member at least extends from one end of the photovoltaic component row to the other end of the photovoltaic component row;

[0023] The walking sensing switch is arranged on the traction vehicle and is used to sense the walking guide sensing member;

[0024] The control device is used to adjust the direction of the traction vehicle when the walking sensing switch cannot sense the walking guide sensing member, so that the traction vehicle walks along the walking guide sensing member.

[0025] Optionally, in the above-mentioned photovoltaic cleaning system, there are at least two walking sensing switches. When one of the two walking sensing switches cannot sense the walking guide sensing component, the direction of the traction vehicle is adjusted so that each of the walking sensing switches can sense the walking guide sensing component.

[0026] Optionally, in the above photovoltaic cleaning system, the traction walking sensing component further includes an endpoint marking sensing component, two endpoint marking sensing components are arranged on the path of the walking guide sensing component, and the two endpoint marking sensing components are respectively located outside the two ends of the photovoltaic component row;

[0027] The traction vehicle is provided with a starting point sensing switch and an ending point sensing switch;

[0028] When the starting point sensing switch senses one of the end point mark sensing elements, the control device controls the traction vehicle to stop running for a preset time, and controls the mounting element to connect with the cleaning device;

[0029] When the end point sensing switch senses another end point marking sensing element, the control device controls the traction vehicle to stop traveling and controls the mounting element to be disconnected from the cleaning device.

[0030] Optionally, in the above photovoltaic cleaning system, the starting point sensing switch and the ending point sensing switch are arranged at intervals along the width direction of the traction vehicle;

[0031] The two endpoint mark sensors are respectively arranged on both sides of the extension direction of the travel guide sensor, so that when the traction vehicle travels along the travel guide sensor, the starting point sensor switch can only sense one of the endpoint mark sensors, and the ending point sensor switch can only sense one of the endpoint mark sensors.

[0032] Optionally, in the above photovoltaic cleaning system, there are at least two walking sensing switches, and each of the walking sensing switches is arranged at intervals along the head and tail direction of the traction vehicle;

[0033] The starting point sensing switch and the ending point sensing switch are symmetrically arranged along the connecting line of each walking sensing switch.

[0034] Optionally, in the above photovoltaic cleaning system, the traction walking induction component further includes a transition guide induction member, a first end of a walking guide induction member is connected to the walking guide induction member on its first side through a transition guide induction member, and a second end is connected to the walking guide induction member on its second side through another transition guide induction member, and the transition guide induction member is arranged on the outside of the end point marking induction member of the walking guide induction member;

[0035] When the traction vehicle moves along the transition guide sensing member, the walking sensing switch is also used to sense the transition guide sensing member. When the walking sensing switch cannot sense the transition guide sensing member, the control device is used to adjust the direction of the traction vehicle so that the traction vehicle moves along the transition guide sensing member.

[0036] Optionally, in the above photovoltaic cleaning system, an identification code is provided at the intersection of the transition guide induction member and the walking guide induction member;

[0037] The tractor vehicle is provided with an identification camera for identifying the identification code. When the tractor vehicle travels along one of the travel guide sensing elements and the identification camera recognizes the identification code at one end of the transition guide sensing element, the control device controls the tractor vehicle to turn until the travel sensing switch senses the transition guide sensing element and controls the tractor vehicle to travel along the transition guide sensing element.

[0038] When the traction vehicle travels along the transition guide sensing member and the recognition camera recognizes the recognition code at the other end of the transition guide sensing member, the control device controls the traction vehicle to turn until the travel sensing switch senses another travel guide sensing member and controls the traction vehicle to travel along the travel guide sensing member.

[0039] The photovoltaic cleaning system provided by the present invention has all the technical effects of the above-mentioned photovoltaic cleaning equipment, and will not be described in detail herein.

[0040] A photovoltaic cleaning method, using the photovoltaic cleaning device as described in any one of the above items, comprising:

[0041] When the traction vehicle travels to the starting end of the photovoltaic assembly row, the cleaning operation is performed, and the cleaning operation includes connecting with the cleaning device on the current photovoltaic assembly row through the mounting part, and towing the cleaning device to the ending end of the photovoltaic assembly row, and then disconnecting the mounting part from the cleaning device;

[0042] The traction vehicle turns and drives to the starting end of the next photovoltaic component row and performs the cleaning operation.

[0043] The photovoltaic cleaning method provided by the present invention adopts the above-mentioned photovoltaic cleaning equipment for cleaning, and therefore has all the technical effects of the above-mentioned photovoltaic cleaning equipment, which will not be described in detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1A schematic diagram of the structure of a cleaning device disclosed in an embodiment of the present invention;

[0046] Figure 2 It is a structural schematic diagram of a traction device disclosed in an embodiment of the present invention;

[0047] Figure 3 A side view of a traction device disclosed in an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of the bottom structure of the traction device disclosed in an embodiment of the present invention;

[0049] Figure 5 A schematic diagram of the structure of the photovoltaic cleaning device disclosed in an embodiment of the present invention during operation;

[0050] Figure 6 It is a schematic diagram of the structure of the photovoltaic cleaning system disclosed in an embodiment of the present invention.

[0051] The meanings of the reference numerals in the figures are as follows:

[0052] 100-cleaning device; 101-cleaning bracket; 102-cleaning member; 103-travel wheel fixing frame; 104-connecting ring; 105-transmission shaft; 106-travel wheel; 107-limiting wheel;

[0053] 110 - a first set of cleaning devices; 120 - a second set of cleaning devices;

[0054] 200-traction device; 201-traction vehicle; 202-mounting part; 2021-lifting device; 2022-connecting part; 204-walking sensing switch; 2041-first walking sensing switch; 2042-second walking sensing switch; 205-end point sensing switch; 2051-end point sensing switch; 2052-start point sensing switch;

[0055] 300-photovoltaic module; 310-first photovoltaic module row; 320-second photovoltaic module row;

[0056] 400-mounting rope;

[0057] 500-traction walking sensing component; 510-operation path sensing component; 511-walking guide sensing component; 512-end point marking sensing component; 520-transition guiding sensing component; 521-first identification code; 522-second identification code. DETAILED DESCRIPTION

[0058] The core of the present invention is to provide a photovoltaic cleaning device to reduce the pressure on the photovoltaic module, thereby reducing the load-bearing capacity requirements of the photovoltaic module;

[0059] Another core of the present invention is to provide a photovoltaic cleaning system and a photovoltaic cleaning method having the above-mentioned photovoltaic cleaning equipment.

[0060] The following embodiments are described with reference to the accompanying drawings. In addition, the embodiments shown below do not limit the invention contents described in the claims. In addition, the entire contents of the structures represented by the following embodiments are not limited to those necessary as solutions to the inventions described in the claims. It should be noted that, for ease of description, only the parts related to the inventions are shown in the accompanying drawings. The embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0061] like Figure 1 , Figure 2 and Figure 5 As shown, the photovoltaic cleaning device disclosed in the embodiment of the present invention includes a cleaning device 100 and a traction device 200. Among them, the cleaning device 100 includes a passive walking device and a cleaning member 102, and the passive walking device is a walking device that does not have a driving device, and needs to rely on the external force of an external device to walk. That is, in this embodiment, when the cleaning device 100 is subjected to traction, the passive walking device can walk on the photovoltaic component 300, so that the cleaning device 100 can cover different areas of the photovoltaic component 300, so as to use the cleaning member 102 to clean different areas of the photovoltaic component 300. It should be noted that the cleaning member 102 can have the same structure as the traditional cleaning member, which has a cleaning brush in contact with the photovoltaic component 300, and realizes the function of cleaning dust and snow through relative movement with the photovoltaic component 300.

[0062] The traction device 200 includes a traction vehicle 201 and a mounting part 202 disposed on the traction vehicle 201. The traction vehicle 201 is used to travel on the ground, and the mounting part 202 is used to connect with the cleaning device 100 to tow the cleaning device 100 to travel on the photovoltaic module 300. The traction force generated by the travel of the traction device 200 acts on the cleaning device 100 through the mounting part 202, so that the cleaning device 100 travels along the photovoltaic module.

[0063] The photovoltaic cleaning device disclosed in the embodiment of the present invention divides the traditional cleaning robot into two parts, wherein the cleaning device 100 is used to walk on the photovoltaic module 300 and clean the photovoltaic module 300 during the walking process. However, the cleaning device 100 is no longer equipped with a heavy driving device and an energy storage device, and the cleaning device 100 walks on the photovoltaic module 300 in a passive walking manner. The traction device 200 is used to provide traction for the walking of the cleaning device 100, and the traction device 200 can walk on the ground. Therefore, even if the traction device 200 is equipped with a driving device and an energy storage device, since it does not need to be set on the photovoltaic module 300, even if it has a certain weight, it will not produce pressure on the photovoltaic module 300.

[0064] In this embodiment, the cleaning device 100 located on the photovoltaic module 300 retains only the passive walking and cleaning functions, while the driving function and energy storage function are placed on the traction device 200 that walks on the ground, thereby reducing the weight of the cleaning device 100, achieving a lightweight design, reducing or even eliminating the use of engineering materials for the connecting blocks between photovoltaic panels, and greatly reducing the cost of project operation.

[0065] like Figure 2 and Figure 3 As shown, the mounting member 202 includes a lifting device 2021 and a connecting member 2022 disposed at the lifting end of the lifting device 2021, and the connecting member 2022 is used to connect with the cleaning device 100. The height of the connecting member 2022 can be raised and lowered by using the lifting device 2021. The lifting device 2021 can be any driving device that can change the height of the connecting member 2022, such as a cylinder, a linear motor, etc., or a swing mechanism, which drives the swing rod to swing and changes the height of the connecting member 2022 at the end of the swing rod.

[0066] For ease of understanding, the part connecting the cleaning device 100 and the connecting member 2022 is defined as the towed part. Since the towed part is connected to the cleaning device 100, and the cleaning device 100 is arranged on the photovoltaic module 300 with a certain height, the towed part also has a certain height. Therefore, by adjusting the height of the connecting member 2022, it is possible to adjust whether the towing vehicle 201 can drive the connecting member 2022 to connect with the towed part when the towing vehicle 201 drives the connecting member 2022 to pass through the cleaning device 100, and then control whether the cleaning device 100 can be towed to follow the movement. For example, when the path is the towed part, the lifting device 2021 can drive the connecting member 2022 to rise to the first preset height, so that the connecting member 2022 can connect to the towed part, and then when the towing vehicle 201 continues to drive, the cleaning device 100 can be driven to follow the movement through the connection between the connecting member 2022 and the towed part to complete the cleaning work of the photovoltaic module 300.

[0067] The connector 2022 may be Figure 3 The hook structure shown is connected to the towed part by hooking the hook. It should be noted that the connector 2022 can also be an electromagnetic adsorption member, an electromagnetic clamp, a magnetic adsorption buckle, etc., so as to achieve connection with the towed part by magnetic attraction. The towed part should be designed as a material and structure that can be attracted by magnetism. It can be understood by those skilled in the art that there are many structural forms to achieve the transmission of traction force by connecting two parts (connector 2022 and towed part). The schemes listed in this embodiment are only some examples. This embodiment does not limit the structural form of the connector 2022 and the towed part, as long as the transmission of traction force can be achieved.

[0068] like Figure 5 As shown, in this embodiment, the cleaning devices 100 on two adjacent rows of photovoltaic modules 300 are connected by a mounting rope 400, and the mounting rope 400 can be used as the towed part of the cleaning device 100. For example, the connecting member 2022 of the mounting member 202 is a hook structure, and the connecting member 2022 can be hooked on the mounting rope 400 to achieve the connection with the cleaning device 100 connected to the mounting rope 400, so as to tow the cleaning device 100 to walk along the photovoltaic module 300. In this embodiment, the cleaning devices 100 on two adjacent rows of photovoltaic modules 300 are connected by the mounting rope 400. After the mounting member 202 hooks the mounting rope 400, the power of the towing vehicle 201 can be transmitted to the two cleaning devices 100 connected to the mounting rope 400 through the mounting rope 400, that is, one towing device 200 can tow two cleaning devices 100 at the same time to complete the cleaning action of the two rows of photovoltaic modules 300.

[0069] It should be noted that the towed part can also be connected to only one of the cleaning devices 100. When connected to one of the cleaning devices 100, the towed part can be a rigid component and extend to one side of the photovoltaic component 300, so that when the traction device 200 passes along its path, the mounting part 202 can hook or resist the towed part to apply traction force to the cleaning device 100.

[0070] like Figure 1 As shown, the cleaning member 102 and the passive walking device are both arranged on the cleaning bracket 101, and the cleaning bracket 101 serves as the installation base of the cleaning member 102 and the passive walking device. The cleaning bracket 101 can extend along the width direction of the photovoltaic module row (for ease of understanding, each row of photovoltaic modules 300 is defined as a photovoltaic module row), so that the cleaning device 100 can span across the photovoltaic module row.

[0071] There may be two cleaning members 102, symmetrically arranged on both sides of the cleaning bracket 101, and also extending along the width direction of the photovoltaic module row. A windproof mechanism 108 may be provided on the cleaning bracket 101, so that when the cleaning device 100 is in the parking position, it can be fixed in the parking position and will not be affected by wind. The windproof mechanism 108 may be the same as the windproof mechanism of a traditional cleaning robot, and will not be described in detail herein.

[0072] The cleaning bracket 101 is provided with a connecting ring 104, and the mounting rope 400 is connected to the connecting ring 104. Specifically, the mounting rope 400 can be tied to the connecting ring 104. Specifically, the connecting ring 104 can be provided at both ends of the cleaning bracket 101, so that the cleaning brackets 101 on any two adjacent photovoltaic component rows can be connected to the two rows of photovoltaic component rows through the mounting rope 400 according to the needs.

[0073] The passive walking device may include a walking wheel 106 and a limiting wheel 107, wherein the walking wheel 106 is arranged on the upper surface of the photovoltaic module 300, and the limiting wheel 107 is arranged on the side of the photovoltaic module 300. The walking wheel 106 may be a conical wheel (the diameter of the end close to the middle part of the cleaning bracket 101 is smaller, and the diameter of the end away from the middle part of the cleaning bracket 101 is larger), so that the cleaning device 100 can walk along the photovoltaic module 300 in a straight line without deflection. The limiting wheel 107 is arranged on the side of the photovoltaic module 300, so that when the cleaning device 100 walks along the photovoltaic module 300, the limiting wheel 107 can prevent the cleaning device 100 from falling off the photovoltaic module 300.

[0074] The passive walking device includes at least one group of walking limit components, and each group of walking limit components includes two walking wheels 106 and two limit wheels 107. In this embodiment, the walking limit components can be two groups, which are respectively arranged on both sides of the cleaning bracket 101, and the cleaning member 102 can be arranged between the two walking limit components. Walking wheel fixing frames 103 can be set at both ends of the cleaning bracket 101, and the two walking wheels 106 are connected by a transmission shaft 105. The transmission shaft 105 is supported on the walking wheel fixing frames 103 at both ends of the cleaning bracket 101, and the limit wheels 107 can also be rotatably set on the walking wheel fixing frames 103. The two limit wheels 107 are respectively used to be arranged on both sides of the photovoltaic component 300.

[0075] During the normal movement of the cleaning device 100 on the photovoltaic module 300, there is a gap between the limiting wheels 107 on both sides of the cleaning device 100 and the side edges of the photovoltaic module 300. When there is an obstacle on any side edge of the photovoltaic module 300, the existence of the gap makes it easier for the cleaning device 100 to pass over the obstacle, thereby preventing the cleaning device 100 from being stuck by the obstacle and causing the movement of the cleaning device 100 to be obstructed.

[0076] When the cleaning device 100 deviates during driving, for example, when the cleaning device 100 deviates to the right, the limiting wheel 107 on the left side will fit with the left side of the photovoltaic assembly 300 to limit the cleaning device 100 from further deviating to the right; similarly, when the cleaning device 100 deviates to the left, the limiting wheel 107 on the right side will fit with the right side of the photovoltaic assembly 300 to limit the cleaning device 100 from further deviating to the left. This embodiment uses the limiting wheels 107 straddling both sides of the photovoltaic assembly 300 to prevent the cleaning device 100 from falling off the photovoltaic assembly 300 due to deviation.

[0077] like Figure 5As shown, the embodiment of the present invention further discloses a photovoltaic cleaning system, which includes the photovoltaic cleaning device disclosed in the above embodiment. Each traction device 200 corresponds to a cleaning device 100, that is, one traction device 200 can only tow one cleaning device 100 to move. In this way, the traction device 200 can always remain connected to the cleaning device 100, and the moving direction of the cleaning device 100 can be changed by changing the moving direction of the traction device 200.

[0078] Each traction device 200 may also correspond to at least one cleaning device group, each cleaning device group includes two cleaning devices 100, and the two cleaning devices 100 are respectively arranged on two rows of photovoltaic modules 300. That is, each traction device 200 can pull two cleaning devices 100 at a time, and the traction device 200 can only pull the two cleaning devices 100, or it can correspond to multiple cleaning device groups at the same time, that is, one traction device 200 can pull multiple cleaning device groups in sequence.

[0079] like Figure 6 As shown, in order to realize automatic cleaning operation, the photovoltaic cleaning system disclosed in the embodiment of the present invention may also include a traction walking sensing component 500, a walking sensing switch 204 and a control device.

[0080] The traction travel sensing assembly 500 includes an operation path sensing assembly 510, and the operation path sensing assembly 510 includes a travel guide sensing member 511. The travel guide sensing member 511 is disposed between the photovoltaic assembly rows formed by arranging the photovoltaic assemblies 300. The travel guide sensing member 511 is a guiding member for the travel path of the traction vehicle 201, and guides the traction vehicle 201 to travel in the direction of the travel guide sensing member 511.

[0081] The walking guide sensing member 511 extends at least from one end of the photovoltaic module row to the other end of the photovoltaic module row, so that when the traction vehicle 201 travels in the direction of the walking guide sensing member 511, the cleaning device 100 can be towed from one end of the photovoltaic module row to the other end, so that the entire area of ​​the photovoltaic module row can be covered, or most of the area.

[0082] The travel sensing switch 204 is provided on the traction vehicle 201, and is used to sense the travel guide sensing element 511. The travel sensing switch 204 and the travel guide sensing element 511 are commonly used in automatic guided vehicles used in workshops, and the sensing principle is not described in detail herein.

[0083] The control device is used to adjust the direction of the traction vehicle 201 when the walking sensing switch 204 cannot sense the walking guide sensing member 511, so that the traction vehicle 201 walks along the walking guide sensing member 511. In this embodiment, the driving direction of the traction vehicle 201 can be controlled by the control device, so that the walking sensing switch 204 can always sense the walking guide sensing member 511, thereby controlling the traction vehicle 201 to travel along the extension direction of the walking guide sensing member 511. In this embodiment, the traction vehicle 201 can automatically tow the cleaning device 100 along a predetermined path to automatically clean the photovoltaic module 300.

[0084] like Figure 4 As shown, there are at least two walking sensing switches 204. When one of the two walking sensing switches 204 cannot sense the walking guide sensing member 511, the direction of the traction vehicle 201 is adjusted so that each walking sensing switch 204 can sense the walking guide sensing member 511. For ease of understanding, taking the example of two walking sensing switches 204, the two walking sensing switches 204 are respectively a first walking sensing switch 2041 and a second walking sensing switch 2042, and the first walking sensing switch 2041 and the second walking sensing switch 2042 can be arranged at intervals along the head and tail direction of the traction vehicle 201.

[0085] When the first walking sensing switch 2041 and the second walking sensing switch 2042 can both sense the walking guide sensing component 511, it means that the traction vehicle 201 is traveling in a predetermined direction. If the traction vehicle 201 deviates, at least one of the walking sensing switches 204 will not be able to sense the walking guide sensing component 511. At this time, the control device will control the traction vehicle 201 to fine-tune the direction until the first walking sensing switch 2041 and the second walking sensing switch 2042 can both sense the walking guide sensing component 511, and then the direction is corrected.

[0086] When the cleaning device 100 cleans along the row of photovoltaic components, it usually completes one cleaning from the first end of the photovoltaic component row to the second end; if the row of photovoltaic components needs to be cleaned again, the cleaning device 100 needs to be pulled to the second end of the photovoltaic component row, and then pulled in the opposite direction to the first end of the photovoltaic component row.

[0087] Regardless of whether the photovoltaic module row is cleaned only once or repeatedly, the cleaning device 100 needs to stop when it is pulled to the end of the photovoltaic module row (even if it runs in the reverse direction, it needs to stop first and then change the moving direction).

[0088] Based on this, Figure 4 and Figure 6As shown, the traction travel sensing component 500 disclosed in the embodiment of the present invention also includes an endpoint mark sensing component 512, that is, the travel guide sensing component 511 and the endpoint mark sensing component 512 constitute an operation path sensing component 510, so that the operation path sensing component 510 can not only guide the traction vehicle 201 to travel along a predetermined route, but also control the traction vehicle 201 to stop traveling at a specific position.

[0089] The traction walking sensing component 500 also includes an endpoint mark sensing component 512. Two endpoint mark sensing components 512 are arranged on the path of the walking guide sensing component 511. Since the traction vehicle 201 tows the cleaning device 100, the cleaning device 100 is usually located behind the traction vehicle 201. Based on this, in order for the traction vehicle 201 to tow the cleaning device 100 to the end of the photovoltaic module row, the two endpoint mark sensing components 512 need to be located outside the two ends of the photovoltaic module row. When calibrating the specific positions of the two endpoint mark sensing components 512, it should be based on the cleaning device 100 being located at the end of the photovoltaic module row when the traction vehicle 201 senses the endpoint mark sensing component 512 and stops.

[0090] The traction vehicle 201 is provided with an endpoint sensing switch 205, which includes a starting point sensing switch 2052 and an ending point sensing switch 2051. When the starting point sensing switch 2052 senses one of the endpoint mark sensing parts 512, the control device controls the traction vehicle 201 to stop driving for a preset time, and controls the mounting part 202 to connect with the cleaning device 100. The starting point sensing switch 2052 is a sensing switch for sensing the starting point of cleaning. If the starting point sensing switch 2052 senses the endpoint mark sensing part 512, it means that the traction vehicle 201 has driven to the starting point of the photovoltaic module row. At this time, the mounting part 202 needs to be connected with the cleaning device 100. Therefore, the traction vehicle 201 can be controlled to stop driving for a preset time, which is used to prepare for the mounting part 202 to be connected with the cleaning device 100. The preset time can also be used for the cleaning device 100 with a windproof mechanism 108 to open the windproof mechanism 108 so that the cleaning device 100 can be towed.

[0091] The process of connecting the mounting member 202 with the cleaning device 100 may be that the lifting device 2021 drives the connecting member 2022 to rise to a first preset height, so that the connecting member 2022 can hook the mounting rope 400; the process of disconnecting the mounting member 202 from the cleaning device 100 may be that the lifting device 2021 drives the connecting member 2022 to descend to a second preset height, so that the connecting member 2022 is lower than the mounting rope 400 and can no longer drag the mounting rope 400. The first preset height is higher than the second preset height, and the mounting rope 400 is located between the first preset height and the second preset height, so that when the connecting member 2022 is at the first preset height, when it is on the path of the mounting rope 400, it can hook the mounting rope 400 and pull the cleaning device 100 to move; when the connecting member 2022 is at the second preset height, when it is on the path of the mounting rope 400, it is lower than the mounting rope 400 and cannot hook the mounting rope 400, so it cannot pull the cleaning device 100 to move.

[0092] When the end point sensing switch 2051 senses another end point mark sensing element 512, the control device controls the traction vehicle 201 to stop driving, and controls the mounting element 202 to disconnect from the cleaning device 100. The end point sensing switch 2051 is a sensing switch for sensing the end point of cleaning. If the end point sensing switch 2051 senses the end point mark sensing element 512, it means that the traction vehicle 201 has driven to the end point of the photovoltaic module row, and the mounting element 202 needs to be disconnected from the cleaning device 100.

[0093] Furthermore, the starting point sensing switch 2052 and the ending point sensing switch 2051 are arranged at intervals along the width direction of the tractor 201. The two end point mark sensing members 512 are respectively arranged on both sides of the extending direction of the travel guide sensing member 511, so that when the tractor 201 travels along the travel guide sensing member 511, due to the spatial position, the starting point sensing switch 2052 can only sense one of the end point mark sensing members 512, and the end point sensing switch 2051 can only sense one of the end point mark sensing members 512.

[0094] There are at least two walking sensing switches 204 , and the walking sensing switches 204 are arranged at intervals along the head and tail directions of the tractor 201 ; the starting point sensing switch 2052 and the ending point sensing switch 2051 can be symmetrically arranged along the connecting line of the walking sensing switches 204 .

[0095] For ease of understanding, the two endpoint marking sensors 512 are respectively the first endpoint marking sensor and the second endpoint marking sensor. The cleaning device 100 is parked at the first end of the photovoltaic module row. When the traction vehicle 201 travels from the first end of the photovoltaic module row to the second end, the starting point sensor switch 2052 can pass the first endpoint marking sensor and sense the first endpoint marking sensor. At this time, the traction vehicle 201 stops and raises the connecting member 2022 to the first preset height. Then the traction vehicle 201 continues to travel, and the connecting member 2022 will hook the mounting rope 400 and tow the cleaning device 100 to move and complete the cleaning operation until the cleaning device 100 is towed to the second end of the photovoltaic module row.

[0096] When the cleaning device 100 moves toward the second end of the photovoltaic module row, the end point sensing switch 2051 can pass through the second end point marking sensing member and sense the second end point marking sensing member. At this time, the traction vehicle 201 stops and lowers the connecting member 2022 to the second preset height. Then the traction vehicle 201 continues to travel, and the connecting member 2022 will detach from the mounting rope 400, and the cleaning device 100 will be docked at the second end of the photovoltaic module row.

[0097] When the photovoltaic module row is cleaned next time, the towing vehicle 201 is required to tow the cleaning device 100 from the second end of the photovoltaic module row to the first end. The action process can refer to the above (i.e. the process of towing from the first end of the photovoltaic module row to the second end), the difference is that the starting point sensing switch 2052 can pass through the second end point marking sensing member and sense the second end point marking sensing member; correspondingly, the ending point sensing switch 2051 can pass through the first end point marking sensing member and sense the first end point marking sensing member.

[0098] In order to ensure that the traction vehicle 201 can tow multiple groups of cleaning devices, that is, the traction vehicle 201 needs to complete the towing of the cleaning devices 100 on two rows of photovoltaic components, and then it needs to travel to between the next two rows of photovoltaic components to tow the cleaning devices 100 on these two rows of photovoltaic components.

[0099] In order to enable the traction vehicle 201 to automatically travel between the next two rows of photovoltaic components, the traction walking sensing component 500 disclosed in this embodiment may also include a transition guide sensing component 520, wherein the first end of a walking guiding sensing component 511 is connected to the walking guiding sensing component 511 on its first side through a transition guide sensing component 520, and the second end is connected to the walking guiding sensing component 511 on its second side through another transition guide sensing component 520, so that each walking guiding sensing component 511 and each transition guide sensing component 520 are connected to form an S shape, guiding the traction vehicle 201 to shuttle between the rows of photovoltaic components along the S-shaped path.

[0100] The transition guide sensing member 520 is arranged outside the end point mark sensing member of the travel guide sensing member 511, so that after the mounting member 202 is disconnected from the cleaning device 100, it travels to the transition guide sensing member 520. When the tractor 201 travels along the transition guide sensing member 520, the travel sensing switch 204 is also used to sense the transition guide sensing member 520. When the travel sensing switch 204 cannot sense the transition guide sensing member 520, the control device is used to adjust the direction of the tractor 201 so that the tractor 201 travels along the transition guide sensing member 520.

[0101] In order to ensure that when the tractor 201 travels along the travel guide sensing member 511 to the connection point with the transition guide sensing member 520, it can smoothly transition to the transition guide sensing member 520 and continue to travel along the transition guide sensing member 520; at the same time, when the tractor 201 travels along the transition guide sensing member 520 to the connection point with the travel guide sensing member 511, it can smoothly transition to the travel guide sensing member 511. In this embodiment, an identification code is set at the intersection of the transition guide sensing member 520 and the travel guide sensing member 511, and the identification code can be a two-dimensional code or other identification code that can be recognized by a camera.

[0102] The traction vehicle 201 is provided with an identification camera 203 for identifying the identification code. When the traction vehicle 201 travels along one of the walking guide sensing elements 511 (for example, the walking guide sensing element 511 between two rows of first photovoltaic component rows 310), and the identification camera 203 recognizes the identification code at one end of the transition guide sensing element 520 (for example, the first identification code 521 at the first end of the transition guide sensing element 520), the control device controls the traction vehicle 201 to turn until each walking sensing switch 204 can sense the transition guide sensing element 520, and controls the traction vehicle 201 to travel along the transition guide sensing element 520.

[0103] When the traction vehicle 201 travels along the transition guide sensing member 520 and the recognition camera 203 recognizes the identification code at the other end of the transition guide sensing member 520 (for example, the second identification code 522 at the second end of the transition guide sensing member 520), the control device controls the traction vehicle 201 to turn until each walking sensing switch 204 can sense another walking guide sensing member 511 (for example, the walking guide sensing member 511 between two rows of second photovoltaic component rows 320), and controls the traction vehicle 201 to travel along the walking guide sensing member 511.

[0104] like Figure 6 As shown, the cleaning operation process of the photovoltaic cleaning system disclosed in the embodiment of the present invention is as follows:

[0105] When the traction vehicle 201 travels along the walking guide sensing element 511 between the two rows of first photovoltaic component rows 310 (traveling from the first end to the second end of the first photovoltaic component row 310), when the starting point sensing switch 2052 senses the endpoint marking sensing element 512, the traction vehicle 201 stops for a preset time, opens the windproof mechanism 108 on the first group of cleaning devices 110 (the first group of cleaning devices 110 is the cleaning device 100 on the first photovoltaic component row 310), and drives the connecting member 2022 to rise to the first preset height through the lifting device 2021, so that the connecting member 2022 can hook the mounting rope 400;

[0106] The traction vehicle 201 continues to travel along the walking guide induction member 511 , the connecting member 2022 hooks the mounting rope 400 , and pulls the first group of cleaning devices 110 to move on the first photovoltaic component row 310 to clean the first photovoltaic component row 310 ;

[0107] When the traction vehicle 201 travels to the end point and the induction switch 2051 senses the end point mark induction member 512, the traction vehicle 201 stops for a preset time, and the lifting device 2021 drives the connecting member 2022 to descend to a second preset height, so that the connecting member 2022 is lower than the mounting rope 400, and the first group of cleaning devices 110 is fixed to the second end of the first photovoltaic module row 310 through the windproof mechanism 108, waiting to be connected to the traction vehicle 201 for the next cleaning;

[0108] The traction vehicle 201 continues to travel along the walking guide sensing member 511 between the two rows of first photovoltaic module rows 310. When the to-be-recognized camera 203 recognizes the first identification code 521, the control device controls the traction vehicle 201 to turn until all the walking sensing switches 204 can sense the transitional guiding sensing member 520, and controls the traction vehicle 201 to continue traveling along the transitional guiding sensing member 520.

[0109] The tractor 201 travels along the transition guide sensing member 520 until the camera 203 to be identified recognizes the second identification code 522, and the control device controls the tractor 201 to turn until each walking sensing switch 204 can sense the walking guide sensing member 511 between the two rows of second photovoltaic component rows 320, and then controls the tractor 201 to travel along the walking guide sensing member 511 to connect the second group of cleaning devices 120 and complete the cleaning operation of the second photovoltaic component rows 320. The process of the tractor 201 traveling along the walking guide sensing member 511 between the two rows of second photovoltaic component rows 320 is the same as the process of traveling along the walking guide sensing member 511 between the two rows of first photovoltaic component rows 310, and will not be described in detail herein. According to the same method, the cleaning operation of each row of photovoltaic component rows is completed in sequence along the S-shaped walking path.

[0110] The embodiment of the present invention further discloses a photovoltaic cleaning method, which uses the photovoltaic cleaning device disclosed in the above embodiment, and includes the following steps:

[0111] When the traction vehicle 201 travels to the starting end of the photovoltaic module row, it performs a cleaning operation, which includes connecting with the cleaning device 100 on the current photovoltaic module row through the mounting member 202. The connection method can be the method disclosed in the above embodiment that the lifting device 2021 drives the connecting member 2022 to rise to the first preset height so that the connecting member 2022 can hook the mounting rope 400. Other methods can also be used, such as the connection method in which the operator manually connects the mounting member 202 with the cleaning device 100. After the mounting member 202 is connected to the cleaning device 100, the traction vehicle 201 tows the cleaning device 100 to the terminal end of the photovoltaic module row to complete the cleaning operation of this photovoltaic module row. After the cleaning operation is completed, the mounting member 202 is disconnected from the cleaning device 100.

[0112] The traction vehicle 201 turns and drives to the starting end of the next row of photovoltaic modules and performs cleaning operations. The cleaning operations of any row of photovoltaic modules are the same and will not be described in detail herein.

[0113] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The elements defined by the sentence "includes a..." do not exclude the existence of other identical elements in the process, method, commodity or device that includes the elements.

[0114] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0115] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0116] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A photovoltaic cleaning device, characterized in that: include: A cleaning device (100) comprising a passive walking device and a cleaning member (102); when the cleaning device (100) is subjected to traction, the passive walking device walks on the photovoltaic assembly (300), and the cleaning member (102) cleans the photovoltaic assembly (300); A traction device (200) comprises a traction vehicle (201) and a mounting component (202) arranged on the traction vehicle (201); the traction vehicle (201) is used for traveling on the ground; the mounting component (202) is used for connecting to the cleaning device (100) to tow the cleaning device (100) to travel on the photovoltaic assembly (300).

2. The photovoltaic cleaning device according to claim 1, characterized in that: The mounting member (202) comprises a lifting device (2021) and a connecting member (2022) arranged at a lifting end of the lifting device (2021), wherein the connecting member (2022) is used to be connected to the cleaning device (100).

3. The photovoltaic cleaning device according to claim 1, characterized in that: The cleaning devices (100) on two adjacent rows of photovoltaic modules (300) are connected via a mounting rope (400), and the mounting member (202) is connected to the cleaning device (100) connected to the mounting rope (400) by mounting the mounting rope (400), so as to pull the cleaning device (100) to move along the photovoltaic module (300).

4. The photovoltaic cleaning device according to claim 3, characterized in that: The cleaning member (102) and the passive walking device are both arranged on a cleaning bracket (101); a connecting ring (104) is arranged on the cleaning bracket (101); and the mounting rope (400) is connected to the connecting ring (104).

5. The photovoltaic cleaning device according to any one of claims 1 to 4, characterized in that: The passive walking device comprises a walking wheel (106) and a limiting wheel (107), wherein the walking wheel (106) is used to be arranged on the upper surface of the photovoltaic assembly (300), and the limiting wheel (107) is used to be arranged on the side of the photovoltaic assembly (300).

6. The photovoltaic cleaning device according to claim 5, characterized in that: The passive walking device comprises at least one set of walking position limiting components, and each set of the walking position limiting components comprises two walking wheels (106) and two position limiting wheels (107); The two running wheels (106) are connected via a transmission shaft (105), and the two limiting wheels (107) are respectively arranged on two sides of the photovoltaic assembly (300).

7. A photovoltaic cleaning system, characterized in that: Comprising the photovoltaic cleaning device as described in any one of claims 1 to 6; Each traction device (200) corresponds to one cleaning device (100), or each traction device (200) corresponds to at least one cleaning device group, each cleaning device group includes two cleaning devices (100), and the two cleaning devices (100) are respectively arranged on two rows of photovoltaic modules (300).

8. The photovoltaic cleaning system according to claim 7, characterized in that: It also includes a traction walking sensing component (500), a walking sensing switch (204) and a control device; The traction walking sensing component (500) comprises a walking guiding sensing component (511), wherein the walking guiding sensing component (511) is arranged between photovoltaic component rows formed by arranging the photovoltaic components (300), and the walking guiding sensing component (511) at least extends from one end of the photovoltaic component row to the other end of the photovoltaic component row; The walking sensing switch (204) is arranged on the traction vehicle (201) and is used to sense the walking guide sensing component (511); The control device is used to adjust the direction of the traction vehicle (201) when the walking sensing switch (204) cannot sense the walking guide sensing component (511), so that the traction vehicle (201) walks along the walking guide sensing component (511).

9. The photovoltaic cleaning system according to claim 8, characterized in that: There are at least two walking sensing switches (204), and when one of the two walking sensing switches (204) cannot sense the walking guide sensing component (511), the direction of the traction vehicle (201) is adjusted so that each of the walking sensing switches (204) can sense the walking guide sensing component (511).

10. The photovoltaic cleaning system according to claim 8, characterized in that: The traction walking sensing component (500) further comprises an endpoint marking sensing component (512), two endpoint marking sensing components (512) are arranged on the path of the walking guide sensing component (511), and the two endpoint marking sensing components (512) are respectively located outside the two ends of the photovoltaic component row; The traction vehicle (201) is provided with a starting point sensing switch (2052) and an ending point sensing switch (2051); When the starting point sensing switch (2052) senses one of the end point mark sensing elements (512), the control device controls the traction vehicle (201) to stop driving for a preset time, and controls the mounting element (202) to connect with the cleaning device (100); When the end point sensing switch (2051) senses another end point marking sensing element (512), the control device controls the traction vehicle (201) to stop driving, and controls the mounting element (202) to disconnect from the cleaning device (100).

11. The photovoltaic cleaning system according to claim 10, characterized in that: The starting point sensing switch (2052) and the ending point sensing switch (2051) are arranged at intervals along the width direction of the traction vehicle (201); The two endpoint mark sensing components (512) are respectively arranged on both sides of the travel guide sensing component (511) in the extension direction, so that when the traction vehicle (201) travels along the travel guide sensing component (511), the starting point sensing switch (2052) can only sense one of the endpoint mark sensing components (512), and the ending point sensing switch (2051) can only sense one of the endpoint mark sensing components (512).

12. The photovoltaic cleaning system according to claim 11, characterized in that: There are at least two walking sensing switches (204), and the walking sensing switches (204) are arranged at intervals along the head-to-tail direction of the traction vehicle (201); The starting point sensing switch (2052) and the ending point sensing switch (2051) are symmetrically arranged along a line connecting each of the walking sensing switches (204).

13. The photovoltaic cleaning system according to claim 11, characterized in that: The traction walking sensing component (500) further comprises a transition guide sensing component (520), wherein a first end of a walking guiding sensing component (511) is connected to the walking guiding sensing component (511) on a first side thereof via a transition guide sensing component (520), and a second end thereof is connected to the walking guiding sensing component (511) on a second side thereof via another transition guide sensing component (520), and the transition guide sensing component (520) is arranged outside the end point marking sensing component of the walking guiding sensing component (511); When the traction vehicle (201) moves along the transition guide sensing member (520), the walking sensing switch (204) is also used to sense the transition guide sensing member (520); when the walking sensing switch (204) cannot sense the transition guide sensing member (520), the control device is used to adjust the direction of the traction vehicle (201) so that the traction vehicle (201) moves along the transition guide sensing member (520).

14. The photovoltaic cleaning system according to claim 13, characterized in that: An identification code is provided at the intersection of the transition guide sensing element (520) and the walking guide sensing element (511); The tractor vehicle (201) is provided with an identification camera (203) for identifying the identification code. When the tractor vehicle (201) travels along one of the travel guide sensing components (511) and the identification camera (203) identifies the identification code at one end of the transition guide sensing component (520), the control device controls the tractor vehicle (201) to turn until the travel sensing switch (204) senses the transition guide sensing component (520), and controls the tractor vehicle (201) to travel along the transition guide sensing component (520); When the tractor vehicle (201) travels along the transition guide sensing element (520) and the recognition camera (203) recognizes the recognition code at the other end of the transition guide sensing element (520), the control device controls the tractor vehicle (201) to turn until the travel sensing switch (204) senses another travel guide sensing element (511), thereby controlling the tractor vehicle (201) to travel along the travel guide sensing element (511).

15. A photovoltaic cleaning method, characterized in that: The photovoltaic cleaning device according to any one of claims 1 to 6 comprises: When the traction vehicle (201) travels to the starting end of the photovoltaic assembly row, it performs a cleaning operation, the cleaning operation comprising connecting to the cleaning device (100) on the current photovoltaic assembly row through the mounting component (202), towing the cleaning device (100) to the ending end of the photovoltaic assembly row, and then disconnecting the mounting component (202) from the cleaning device (100); The traction vehicle (201) turns and drives to the starting end of the next photovoltaic component row, and performs the cleaning operation.

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